diff options
Diffstat (limited to 'invensense/mlsdk')
66 files changed, 0 insertions, 22541 deletions
diff --git a/invensense/mlsdk/Android.mk b/invensense/mlsdk/Android.mk deleted file mode 100644 index 3371c1a..0000000 --- a/invensense/mlsdk/Android.mk +++ /dev/null @@ -1,76 +0,0 @@ -LOCAL_PATH := $(call my-dir) - -include $(CLEAR_VARS) -LOCAL_MODULE_TAGS := optional - -LOCAL_MODULE := libmlplatform - -LOCAL_CFLAGS := -D_REENTRANT -DLINUX -DANDROID -LOCAL_CFLAGS += -Wall -Werror - -LOCAL_C_INCLUDES := \ - $(LOCAL_PATH)/platform/include \ - $(LOCAL_PATH)/platform/include/linux \ - $(LOCAL_PATH)/platform/linux \ - $(LOCAL_PATH)/platform/linux/kernel \ - $(LOCAL_PATH)/mllite - -LOCAL_SRC_FILES := \ - platform/linux/mlos_linux.c \ - platform/linux/mlsl_linux_mpu.c - -LOCAL_SHARED_LIBRARIES := liblog libm libutils libcutils -include $(BUILD_SHARED_LIBRARY) - - -include $(CLEAR_VARS) -LOCAL_MODULE := libmllite -LOCAL_MODULE_TAGS := optional - -LOCAL_CFLAGS := -DNDEBUG -D_REENTRANT -DLINUX -DANDROID -LOCAL_CFLAGS += -DUNICODE -D_UNICODE -DSK_RELEASE -LOCAL_CFLAGS += -DI2CDEV=\"/dev/mpu\" -LOCAL_CFLAGS += -Wall -Werror - -# optionally apply the compass filter. this is set in -# BoardConfig.mk -ifeq ($(BOARD_INVENSENSE_APPLY_COMPASS_NOISE_FILTER),true) - LOCAL_CFLAGS += -DAPPLY_COMPASS_FILTER -endif - -LOCAL_C_INCLUDES := \ - $(LOCAL_PATH)/mldmp \ - $(LOCAL_PATH)/mllite \ - $(LOCAL_PATH)/platform/include \ - $(LOCAL_PATH)/platform/include/linux \ - $(LOCAL_PATH)/mlutils \ - $(LOCAL_PATH)/mlapps/common \ - $(LOCAL_PATH)/mllite/akmd \ - $(LOCAL_PATH)/platform/linux - -LOCAL_SRC_FILES := \ - mllite/accel.c \ - mllite/compass.c \ - mllite/pressure.c \ - mllite/mldl_cfg_mpu.c \ - mllite/dmpDefault.c \ - mllite/ml.c \ - mllite/mlarray.c \ - mllite/mlarray_legacy.c \ - mllite/mlFIFO.c \ - mllite/mlFIFOHW.c \ - mllite/mlMathFunc.c \ - mllite/ml_stored_data.c \ - mllite/mlcontrol.c \ - mllite/mldl.c \ - mllite/mldmp.c \ - mllite/mlstates.c \ - mllite/mlsupervisor.c \ - mllite/mlBiasNoMotion.c \ - mllite/mlSetGyroBias.c \ - mllite/ml_mputest.c \ - mlutils/mputest.c \ - mlutils/checksum.c - -LOCAL_SHARED_LIBRARIES := libm libutils libcutils liblog libmlplatform -include $(BUILD_SHARED_LIBRARY) diff --git a/invensense/mlsdk/mllite/accel.c b/invensense/mlsdk/mllite/accel.c deleted file mode 100644 index b8a0ed2..0000000 --- a/invensense/mlsdk/mllite/accel.c +++ /dev/null @@ -1,189 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -/******************************************************************************* - * - * $Id: accel.c 4595 2011-01-25 01:43:03Z mcaramello $ - * - *******************************************************************************/ - -/** - * @defgroup ACCELDL - * @brief Motion Library - Accel Driver Layer. - * Provides the interface to setup and handle an accel - * connected to either the primary or the seconday I2C interface - * of the gyroscope. - * - * @{ - * @file accel.c - * @brief Accel setup and handling methods. -**/ - -/* ------------------ */ -/* - Include Files. - */ -/* ------------------ */ - -#include <string.h> - -#include "ml.h" -#include "mlinclude.h" -#include "dmpKey.h" -#include "mlFIFO.h" -#include "mldl.h" -#include "mldl_cfg.h" -#include "mlMathFunc.h" -#include "mlsl.h" -#include "mlos.h" - -#include "log.h" -#undef MPL_LOG_TAG -#define MPL_LOG_TAG "MPL-accel" - -#define ACCEL_DEBUG 0 - -/* --------------------- */ -/* - Global Variables. - */ -/* --------------------- */ - -/* --------------------- */ -/* - Static Variables. - */ -/* --------------------- */ - -/* --------------- */ -/* - Prototypes. - */ -/* --------------- */ - -/* -------------- */ -/* - Externs. - */ -/* -------------- */ - -/* -------------- */ -/* - Functions. - */ -/* -------------- */ - -/** - * @brief Used to determine if an accel is configured and - * used by the MPL. - * @return INV_SUCCESS if the accel is present. - */ -unsigned char inv_accel_present(void) -{ - INVENSENSE_FUNC_START; - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - if (NULL != mldl_cfg->accel && - NULL != mldl_cfg->accel->resume && - mldl_cfg->requested_sensors & INV_THREE_AXIS_ACCEL) - return TRUE; - else - return FALSE; -} - -/** - * @brief Query the accel slave address. - * @return The 7-bit accel slave address. - */ -unsigned char inv_get_slave_addr(void) -{ - INVENSENSE_FUNC_START; - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - if (NULL != mldl_cfg->pdata) - return mldl_cfg->pdata->accel.address; - else - return 0; -} - -/** - * @brief Get the ID of the accel in use. - * @return ID of the accel in use. - */ -unsigned short inv_get_accel_id(void) -{ - INVENSENSE_FUNC_START; - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - if (NULL != mldl_cfg->accel) { - return mldl_cfg->accel->id; - } - return ID_INVALID; -} - -/** - * @brief Get a sample of accel data from the device. - * @param data - * the buffer to store the accel raw data for - * X, Y, and Z axes. - * @return INV_SUCCESS or a non-zero error code. - */ -inv_error_t inv_get_accel_data(long *data) -{ - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - inv_error_t result; - unsigned char raw_data[2 * ACCEL_NUM_AXES]; - long tmp[ACCEL_NUM_AXES]; - unsigned int ii; - signed char *mtx = mldl_cfg->pdata->accel.orientation; - char accelId = mldl_cfg->accel->id; - - if (NULL == data) - return INV_ERROR_INVALID_PARAMETER; - - if (mldl_cfg->accel->read_len > sizeof(raw_data)) - return INV_ERROR_ASSERTION_FAILURE; - - result = (inv_error_t) inv_mpu_read_accel(mldl_cfg, - inv_get_serial_handle(), - inv_get_serial_handle(), - raw_data); - if (result == INV_ERROR_ACCEL_DATA_NOT_READY) { - return result; - } - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - for (ii = 0; ii < ARRAY_SIZE(tmp); ii++) { - if (EXT_SLAVE_LITTLE_ENDIAN == mldl_cfg->accel->endian) { - tmp[ii] = (long)((signed char)raw_data[2 * ii + 1]) * 256; - tmp[ii] += (long)((unsigned char)raw_data[2 * ii]); - } else if ((EXT_SLAVE_BIG_ENDIAN == mldl_cfg->accel->endian) || - (EXT_SLAVE_FS16_BIG_ENDIAN == mldl_cfg->accel->endian)) { - tmp[ii] = (long)((signed char)raw_data[2 * ii]) * 256; - tmp[ii] += (long)((unsigned char)raw_data[2 * ii + 1]); - if (accelId == ACCEL_ID_KXSD9) { - tmp[ii] = (long)((short)(((unsigned short)tmp[ii]) - + ((unsigned short)0x8000))); - } - } else if (EXT_SLAVE_FS8_BIG_ENDIAN == mldl_cfg->accel->endian) { - tmp[ii] = (long)((signed char)raw_data[ii]) * 256; - } else { - result = INV_ERROR_FEATURE_NOT_IMPLEMENTED; - } - } - - for (ii = 0; ii < ARRAY_SIZE(tmp); ii++) { - data[ii] = ((long)tmp[0] * mtx[3 * ii] + - (long)tmp[1] * mtx[3 * ii + 1] + - (long)tmp[2] * mtx[3 * ii + 2]); - } - - //MPL_LOGI("ACCEL: %8ld, %8ld, %8ld\n", data[0], data[1], data[2]); - return result; -} - -/** - * @} - */ diff --git a/invensense/mlsdk/mllite/accel.h b/invensense/mlsdk/mllite/accel.h deleted file mode 100644 index d3fbc6a..0000000 --- a/invensense/mlsdk/mllite/accel.h +++ /dev/null @@ -1,57 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -/******************************************************************************* - * - * $Id: accel.h 4580 2011-01-22 03:19:23Z prao $ - * - *******************************************************************************/ - -#ifndef ACCEL_H -#define ACCEL_H - -#ifdef __cplusplus -extern "C" { -#endif - -#include "mltypes.h" -#include "mpu.h" -#ifdef INV_INCLUDE_LEGACY_HEADERS -#include "accel_legacy.h" -#endif - - /* ------------ */ - /* - Defines. - */ - /* ------------ */ - - /* --------------- */ - /* - Structures. - */ - /* --------------- */ - - /* --------------------- */ - /* - Function p-types. - */ - /* --------------------- */ - - unsigned char inv_accel_present(void); - unsigned char inv_get_slave_addr(void); - inv_error_t inv_get_accel_data(long *data); - unsigned short inv_get_accel_id(void); - -#ifdef __cplusplus -} -#endif -#endif // ACCEL_H diff --git a/invensense/mlsdk/mllite/compass.c b/invensense/mlsdk/mllite/compass.c deleted file mode 100644 index c008fbf..0000000 --- a/invensense/mlsdk/mllite/compass.c +++ /dev/null @@ -1,538 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -/******************************************************************************* - * - * $Id: compass.c 5641 2011-06-14 02:10:02Z mcaramello $ - * - *******************************************************************************/ - -/** - * @defgroup COMPASSDL - * @brief Motion Library - Compass Driver Layer. - * Provides the interface to setup and handle an compass - * connected to either the primary or the seconday I2C interface - * of the gyroscope. - * - * @{ - * @file compass.c - * @brief Compass setup and handling methods. - */ - -/* ------------------ */ -/* - Include Files. - */ -/* ------------------ */ - -#include <string.h> -#include <stdlib.h> -#include "compass.h" - -#include "ml.h" -#include "mlinclude.h" -#include "dmpKey.h" -#include "mlFIFO.h" -#include "mldl.h" -#include "mldl_cfg.h" -#include "mlMathFunc.h" -#include "mlsl.h" -#include "mlos.h" - -#include "log.h" -#undef MPL_LOG_TAG -#define MPL_LOG_TAG "MPL-compass" - -#define COMPASS_DEBUG 0 - -/* --------------------- */ -/* - Global Variables. - */ -/* --------------------- */ - -/* --------------------- */ -/* - Static Variables. - */ -/* --------------------- */ - -/* --------------- */ -/* - Prototypes. - */ -/* --------------- */ - -/* -------------- */ -/* - Externs. - */ -/* -------------- */ - -/* -------------- */ -/* - Functions. - */ -/* -------------- */ - -static float square(float data) -{ - return data * data; -} - -static void adaptive_filter_init(struct yas_adaptive_filter *adap_filter, int len, float noise) -{ - int i; - - adap_filter->num = 0; - adap_filter->index = 0; - adap_filter->noise = noise; - adap_filter->len = len; - - for (i = 0; i < adap_filter->len; ++i) { - adap_filter->sequence[i] = 0; - } -} - -static int cmpfloat(const void *p1, const void *p2) -{ - return *(float*)p1 - *(float*)p2; -} - - -static float adaptive_filter_filter(struct yas_adaptive_filter *adap_filter, float in) -{ - float avg, sum, median, sorted[YAS_DEFAULT_FILTER_LEN]; - int i; - - if (adap_filter->len <= 1) { - return in; - } - if (adap_filter->num < adap_filter->len) { - adap_filter->sequence[adap_filter->index++] = in; - adap_filter->num++; - return in; - } - if (adap_filter->len <= adap_filter->index) { - adap_filter->index = 0; - } - adap_filter->sequence[adap_filter->index++] = in; - - avg = 0; - for (i = 0; i < adap_filter->len; i++) { - avg += adap_filter->sequence[i]; - } - avg /= adap_filter->len; - - memcpy(sorted, adap_filter->sequence, adap_filter->len * sizeof(float)); - qsort(&sorted, adap_filter->len, sizeof(float), cmpfloat); - median = sorted[adap_filter->len/2]; - - sum = 0; - for (i = 0; i < adap_filter->len; i++) { - sum += square(avg - adap_filter->sequence[i]); - } - sum /= adap_filter->len; - - if (sum <= adap_filter->noise) { - return median; - } - - return ((in - avg) * (sum - adap_filter->noise) / sum + avg); -} - -static void thresh_filter_init(struct yas_thresh_filter *thresh_filter, float threshold) -{ - thresh_filter->threshold = threshold; - thresh_filter->last = 0; -} - -static float thresh_filter_filter(struct yas_thresh_filter *thresh_filter, float in) -{ - if (in < thresh_filter->last - thresh_filter->threshold - || thresh_filter->last + thresh_filter->threshold < in) { - thresh_filter->last = in; - return in; - } - else { - return thresh_filter->last; - } -} - -static int init(yas_filter_handle_t *t) -{ - float noise[] = { - YAS_DEFAULT_FILTER_NOISE, - YAS_DEFAULT_FILTER_NOISE, - YAS_DEFAULT_FILTER_NOISE, - }; - int i; - - if (t == NULL) { - return -1; - } - - for (i = 0; i < 3; i++) { - adaptive_filter_init(&t->adap_filter[i], YAS_DEFAULT_FILTER_LEN, noise[i]); - thresh_filter_init(&t->thresh_filter[i], YAS_DEFAULT_FILTER_THRESH); - } - - return 0; -} - -static int update(yas_filter_handle_t *t, float *input, float *output) -{ - int i; - - if (t == NULL || input == NULL || output == NULL) { - return -1; - } - - for (i = 0; i < 3; i++) { - output[i] = adaptive_filter_filter(&t->adap_filter[i], input[i]); - output[i] = thresh_filter_filter(&t->thresh_filter[i], output[i]); - } - - return 0; -} - -int yas_filter_init(yas_filter_if_s *f) -{ - if (f == NULL) { - return -1; - } - f->init = init; - f->update = update; - - return 0; -} - -/** - * @brief Used to determine if a compass is - * configured and used by the MPL. - * @return INV_SUCCESS if the compass is present. - */ -unsigned char inv_compass_present(void) -{ - INVENSENSE_FUNC_START; - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - if (NULL != mldl_cfg->compass && - NULL != mldl_cfg->compass->resume && - mldl_cfg->requested_sensors & INV_THREE_AXIS_COMPASS) - return TRUE; - else - return FALSE; -} - -/** - * @brief Query the compass slave address. - * @return The 7-bit compass slave address. - */ -unsigned char inv_get_compass_slave_addr(void) -{ - INVENSENSE_FUNC_START; - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - if (NULL != mldl_cfg->pdata) - return mldl_cfg->pdata->compass.address; - else - return 0; -} - -/** - * @brief Get the ID of the compass in use. - * @return ID of the compass in use. - */ -unsigned short inv_get_compass_id(void) -{ - INVENSENSE_FUNC_START; - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - if (NULL != mldl_cfg->compass) { - return mldl_cfg->compass->id; - } - return ID_INVALID; -} - -/** - * @brief Get a sample of compass data from the device. - * @param data - * the buffer to store the compass raw data for - * X, Y, and Z axes. - * @return INV_SUCCESS or a non-zero error code. - */ -inv_error_t inv_get_compass_data(long *data) -{ - inv_error_t result; - int ii; - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - - unsigned char *tmp = inv_obj.compass_raw_data; - - if (mldl_cfg->compass->read_len > sizeof(inv_obj.compass_raw_data)) { - LOG_RESULT_LOCATION(INV_ERROR_INVALID_CONFIGURATION); - return INV_ERROR_INVALID_CONFIGURATION; - } - - if (mldl_cfg->pdata->compass.bus == EXT_SLAVE_BUS_PRIMARY || - !(mldl_cfg->requested_sensors & INV_DMP_PROCESSOR)) { - /*--- read the compass sensor data. - The compass read function may return an INV_ERROR_COMPASS_* errors - when the data is not ready (read/refresh frequency mismatch) or - the internal data sampling timing of the device was not respected. - Returning the error code will make the sensor fusion supervisor - ignore this compass data sample. ---*/ - result = (inv_error_t) inv_mpu_read_compass(mldl_cfg, - inv_get_serial_handle(), - inv_get_serial_handle(), - tmp); - if (result) { - if (COMPASS_DEBUG) { - MPL_LOGV("inv_mpu_read_compass returned %d\n", result); - } - return result; - } - for (ii = 0; ii < 3; ii++) { - if (EXT_SLAVE_BIG_ENDIAN == mldl_cfg->compass->endian) - data[ii] = - ((long)((signed char)tmp[2 * ii]) << 8) + tmp[2 * ii + 1]; - else - data[ii] = - ((long)((signed char)tmp[2 * ii + 1]) << 8) + tmp[2 * ii]; - } - - inv_obj.compass_overunder = (int)tmp[6]; - - } else { - return INV_ERROR_INVALID_CONFIGURATION; - } - data[0] = inv_q30_mult(data[0], inv_obj.compass_asa[0]); - data[1] = inv_q30_mult(data[1], inv_obj.compass_asa[1]); - data[2] = inv_q30_mult(data[2], inv_obj.compass_asa[2]); - - return INV_SUCCESS; -} - -/** - * @brief Sets the compass bias. - * @param bias - * Compass bias, length 3. Scale is micro Tesla's * 2^16. - * Frame is mount frame which may be different from body frame. - * @return INV_SUCCESS = 0 if successful. A non-zero error code otherwise. - */ -inv_error_t inv_set_compass_bias(long *bias) -{ - inv_error_t result = INV_SUCCESS; - long biasC[3]; - struct mldl_cfg *mldlCfg = inv_get_dl_config(); - - inv_obj.compass_bias[0] = bias[0]; - inv_obj.compass_bias[1] = bias[1]; - inv_obj.compass_bias[2] = bias[2]; - - // Find Bias in units of the raw data scaled by 2^16 in chip mounting frame - biasC[0] = - (long)(bias[0] * (1LL << 30) / inv_obj.compass_sens) + - inv_obj.init_compass_bias[0] * (1L << 16); - biasC[1] = - (long)(bias[1] * (1LL << 30) / inv_obj.compass_sens) + - inv_obj.init_compass_bias[1] * (1L << 16); - biasC[2] = - (long)(bias[2] * (1LL << 30) / inv_obj.compass_sens) + - inv_obj.init_compass_bias[2] * (1L << 16); - - if (inv_dmpkey_supported(KEY_CPASS_BIAS_X)) { - unsigned char reg[4]; - long biasB[3]; - signed char *orC = mldlCfg->pdata->compass.orientation; - - // Now transform to body frame - biasB[0] = biasC[0] * orC[0] + biasC[1] * orC[1] + biasC[2] * orC[2]; - biasB[1] = biasC[0] * orC[3] + biasC[1] * orC[4] + biasC[2] * orC[5]; - biasB[2] = biasC[0] * orC[6] + biasC[1] * orC[7] + biasC[2] * orC[8]; - - result = - inv_set_mpu_memory(KEY_CPASS_BIAS_X, 4, - inv_int32_to_big8(biasB[0], reg)); - result = - inv_set_mpu_memory(KEY_CPASS_BIAS_Y, 4, - inv_int32_to_big8(biasB[1], reg)); - result = - inv_set_mpu_memory(KEY_CPASS_BIAS_Z, 4, - inv_int32_to_big8(biasB[2], reg)); - } - return result; -} - -/** - * @brief Write a single register on the compass slave device, regardless - * of the bus it is connected to and the MPU's configuration. - * @param reg - * the register to write to on the slave compass device. - * @param val - * the value to write. - * @return INV_SUCCESS = 0 if successful. A non-zero error code otherwise. - */ -inv_error_t inv_compass_write_reg(unsigned char reg, unsigned char val) -{ - struct ext_slave_config config; - unsigned char data[2]; - inv_error_t result; - - data[0] = reg; - data[1] = val; - - config.key = MPU_SLAVE_WRITE_REGISTERS; - config.len = 2; - config.apply = TRUE; - config.data = data; - - result = inv_mpu_config_compass(inv_get_dl_config(), - inv_get_serial_handle(), - inv_get_serial_handle(), &config); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - return result; -} - -/** - * @brief Read values from the compass slave device registers, regardless - * of the bus it is connected to and the MPU's configuration. - * @param reg - * the register to read from on the slave compass device. - * @param val - * a buffer of 3 elements to store the values read from the - * compass device. - * @return INV_SUCCESS = 0 if successful. A non-zero error code otherwise. - */ -inv_error_t inv_compass_read_reg(unsigned char reg, unsigned char *val) -{ - struct ext_slave_config config; - unsigned char data[2]; - inv_error_t result; - - data[0] = reg; - - config.key = MPU_SLAVE_READ_REGISTERS; - config.len = 2; - config.apply = TRUE; - config.data = data; - - result = inv_mpu_get_compass_config(inv_get_dl_config(), - inv_get_serial_handle(), - inv_get_serial_handle(), &config); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - *val = data[1]; - return result; -} - -/** - * @brief Read values from the compass slave device scale registers, regardless - * of the bus it is connected to and the MPU's configuration. - * @param reg - * the register to read from on the slave compass device. - * @param val - * a buffer of 3 elements to store the values read from the - * compass device. - * @return INV_SUCCESS = 0 if successful. A non-zero error code otherwise. - */ -inv_error_t inv_compass_read_scale(long *val) -{ - struct ext_slave_config config; - unsigned char data[3]; - inv_error_t result; - - config.key = MPU_SLAVE_READ_SCALE; - config.len = 3; - config.apply = TRUE; - config.data = data; - - result = inv_mpu_get_compass_config(inv_get_dl_config(), - inv_get_serial_handle(), - inv_get_serial_handle(), &config); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - val[0] = ((data[0] - 128) << 22) + (1L << 30); - val[1] = ((data[1] - 128) << 22) + (1L << 30); - val[2] = ((data[2] - 128) << 22) + (1L << 30); - return result; -} - -inv_error_t inv_set_compass_offset(void) -{ - struct ext_slave_config config; - unsigned char data[3]; - inv_error_t result; - - config.key = MPU_SLAVE_OFFSET_VALS; - config.len = 3; - config.apply = TRUE; - config.data = data; - - if(inv_obj.flags[INV_COMPASS_OFFSET_VALID]) { - /* push stored values */ - data[0] = (char)inv_obj.compass_offsets[0]; - data[1] = (char)inv_obj.compass_offsets[1]; - data[2] = (char)inv_obj.compass_offsets[2]; - MPL_LOGI("push compass offsets %hhd, %hhd, %hhd", data[0], data[1], data[2]); - result = inv_mpu_config_compass(inv_get_dl_config(), - inv_get_serial_handle(), - inv_get_serial_handle(), &config); - } else { - /* compute new values and store them */ - result = inv_mpu_get_compass_config(inv_get_dl_config(), - inv_get_serial_handle(), - inv_get_serial_handle(), &config); - MPL_LOGI("pulled compass offsets %hhd %hhd %hhd", data[0], data[1], data[2]); - if(result == INV_SUCCESS) { - inv_obj.flags[INV_COMPASS_OFFSET_VALID] = 1; - inv_obj.compass_offsets[0] = data[0]; - inv_obj.compass_offsets[1] = data[1]; - inv_obj.compass_offsets[2] = data[2]; - } - } - - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - return result; -} - -inv_error_t inv_compass_check_range(void) -{ - struct ext_slave_config config; - unsigned char data[3]; - inv_error_t result; - - config.key = MPU_SLAVE_RANGE_CHECK; - config.len = 3; - config.apply = TRUE; - config.data = data; - - result = inv_mpu_get_compass_config(inv_get_dl_config(), - inv_get_serial_handle(), - inv_get_serial_handle(), &config); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - if(data[0] || data[1] || data[2]) { - /* some value clipped */ - return INV_ERROR_COMPASS_DATA_ERROR; - } - return INV_SUCCESS; -} - -/** - * @} - */ diff --git a/invensense/mlsdk/mllite/compass.h b/invensense/mlsdk/mllite/compass.h deleted file mode 100644 index f0bdb58..0000000 --- a/invensense/mlsdk/mllite/compass.h +++ /dev/null @@ -1,92 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -/******************************************************************************* - * - * $Id: compass.h 5629 2011-06-11 03:13:08Z mcaramello $ - * - *******************************************************************************/ - -#ifndef COMPASS_H -#define COMPASS_H - -#ifdef __cplusplus -extern "C" { -#endif - -#include "mltypes.h" -#include "mpu.h" -#ifdef INV_INCLUDE_LEGACY_HEADERS -#include "compass_legacy.h" -#endif - /* ------------ */ - /* - Defines. - */ - /* ------------ */ - -#define YAS_MAX_FILTER_LEN (20) -#define YAS_DEFAULT_FILTER_LEN (20) -#define YAS_DEFAULT_FILTER_THRESH (300) /* 300 nT */ -#define YAS_DEFAULT_FILTER_NOISE (2000 * 2000) /* standard deviation 2000 nT */ - - /* --------------- */ - /* - Structures. - */ - /* --------------- */ - -struct yas_adaptive_filter { - int num; - int index; - int len; - float noise; - float sequence[YAS_MAX_FILTER_LEN]; -}; - -struct yas_thresh_filter { - float threshold; - float last; -}; - -typedef struct { - struct yas_adaptive_filter adap_filter[3]; - struct yas_thresh_filter thresh_filter[3]; -} yas_filter_handle_t; - -typedef struct { - int (*init)(yas_filter_handle_t *t); - int (*update)(yas_filter_handle_t *t, float *input, float *output); -} yas_filter_if_s; - - /* --------------------- */ - /* - Function p-types. - */ - /* --------------------- */ - - unsigned char inv_compass_present(void); - unsigned char inv_get_compass_slave_addr(void); - inv_error_t inv_get_compass_data(long *data); - inv_error_t inv_set_compass_bias(long *bias); - unsigned short inv_get_compass_id(void); - inv_error_t inv_set_compass_offset(void); - inv_error_t inv_compass_check_range(void); - inv_error_t inv_compass_write_reg(unsigned char reg, unsigned char val); - inv_error_t inv_compass_read_reg(unsigned char reg, unsigned char *val); - inv_error_t inv_compass_read_scale(long *val); - - int yas_filter_init(yas_filter_if_s *f); - -#ifdef __cplusplus -} -#endif -#endif // COMPASS_H diff --git a/invensense/mlsdk/mllite/dmpDefault.c b/invensense/mlsdk/mllite/dmpDefault.c deleted file mode 100644 index b649c0d..0000000 --- a/invensense/mlsdk/mllite/dmpDefault.c +++ /dev/null @@ -1,418 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -/***************************************************************************** * - * $Id: dmpDefault.c 5627 2011-06-10 22:34:18Z nroyer $ - ******************************************************************************/ - -/* WARNING: autogenerated code, do not modify */ -/** - * @defgroup DMPDEFAULT - * @brief Data and configuration for MLDmpDefaultOpen. - * - * @{ - * @file inv_setup_dmp.c - * @brief Data and configuration for MLDmpDefaultOpen. - */ - -#include "mltypes.h" -#include "dmpDefault.h" -#include "dmpKey.h" -#include "dmpmap.h" -#include "ml.h" -#include "mpu.h" -#include "mldl.h" -#include "mldl_cfg.h" -#include "accel.h" - -#define CFG_25 703 -#define CFG_24 699 -#define CFG_26 707 -#define CFG_21 802 -#define CFG_20 645 -#define CFG_23 814 -#define CFG_TAP4 808 -#define CFG_TAP5 809 -#define CFG_TAP6 810 -#define CFG_1 783 -#define CFG_TAP0 802 -#define CFG_TAP1 804 -#define CFG_TAP2 805 -#define CFG_TAP3 806 -#define FCFG_AZ 878 -#define CFG_ORIENT_IRQ_1 715 -#define CFG_ORIENT_IRQ_2 738 -#define CFG_ORIENT_IRQ_3 743 -#define CFG_TAP_QUANTIZE 647 -#define FCFG_3 936 -#define CFG_TAP_CLEAR_STICKY 817 -#define FCFG_1 868 -#define CFG_ACCEL_FILTER 968 -#define FCFG_2 872 -#define CFG_3D 521 -#define CFG_3B 517 -#define CFG_3C 519 -#define FCFG_5 942 -#define FCFG_4 857 -#define FCFG_FSCALE 877 -#define CFG_TAP_JERK 639 -#define FCFG_6 996 -#define CFG_12 797 -#define FCFG_7 930 -#define CFG_14 790 -#define CFG_15 790 -#define CFG_16 815 -#define CFG_18 551 -#define CFG_6 823 -#define CFG_7 564 -#define CFG_4 526 -#define CFG_5 749 -#define CFG_3 515 -#define CFG_GYRO_SOURCE 777 -#define CFG_8 772 -#define CFG_9 778 -#define CFG_ORIENT_2 733 -#define CFG_ORIENT_1 713 -#define FCFG_ACCEL_INPUT 904 -#define CFG_TAP7 811 -#define CFG_TAP_SAVE_ACCB 687 -#define FCFG_ACCEL_INIT 831 - - -#define D_0_22 (22) -#define D_0_24 (24) -#define D_0_36 (36) -#define D_0_52 (52) -#define D_0_96 (96) -#define D_0_104 (104) -#define D_0_108 (108) -#define D_0_163 (163) -#define D_0_188 (188) -#define D_0_192 (192) -#define D_0_224 (224) -#define D_0_228 (228) -#define D_0_232 (232) -#define D_0_236 (236) - -#define D_1_2 (256 + 2) -#define D_1_4 (256 + 4) -#define D_1_8 (256 + 8) -#define D_1_10 (256 + 10) -#define D_1_24 (256 + 24) -#define D_1_28 (256 + 28) -#define D_1_92 (256 + 92) -#define D_1_96 (256 + 96) -#define D_1_98 (256 + 98) -#define D_1_106 (256 + 106) -#define D_1_108 (256 + 108) -#define D_1_112 (256 + 112) -#define D_1_128 (256 + 144) -#define D_1_152 (256 + 12) -#define D_1_168 (256 + 168) -#define D_1_175 (256 + 175) -#define D_1_178 (256 + 178) -#define D_1_236 (256 + 236) -#define D_1_244 (256 + 244) - - -static const tKeyLabel dmpTConfig[] = { - {KEY_CFG_25, CFG_25}, - {KEY_CFG_24, CFG_24}, - {KEY_CFG_26, CFG_26}, - {KEY_CFG_21, CFG_21}, - {KEY_CFG_20, CFG_20}, - {KEY_CFG_23, CFG_23}, - {KEY_CFG_TAP4, CFG_TAP4}, - {KEY_CFG_TAP5, CFG_TAP5}, - {KEY_CFG_TAP6, CFG_TAP6}, - {KEY_CFG_1, CFG_1}, - {KEY_CFG_TAP0, CFG_TAP0}, - {KEY_CFG_TAP1, CFG_TAP1}, - {KEY_CFG_TAP2, CFG_TAP2}, - {KEY_CFG_TAP3, CFG_TAP3}, - {KEY_FCFG_AZ, FCFG_AZ}, - {KEY_CFG_ORIENT_IRQ_1, CFG_ORIENT_IRQ_1}, - {KEY_CFG_ORIENT_IRQ_2, CFG_ORIENT_IRQ_2}, - {KEY_CFG_ORIENT_IRQ_3, CFG_ORIENT_IRQ_3}, - {KEY_CFG_TAP_QUANTIZE, CFG_TAP_QUANTIZE}, - {KEY_FCFG_3, FCFG_3}, - {KEY_CFG_TAP_CLEAR_STICKY, CFG_TAP_CLEAR_STICKY}, - {KEY_FCFG_1, FCFG_1}, - //{KEY_CFG_ACCEL_FILTER, CFG_ACCEL_FILTER}, - {KEY_FCFG_2, FCFG_2}, - {KEY_CFG_3D, CFG_3D}, - {KEY_CFG_3B, CFG_3B}, - {KEY_CFG_3C, CFG_3C}, - {KEY_FCFG_5, FCFG_5}, - {KEY_FCFG_4, FCFG_4}, - {KEY_FCFG_FSCALE, FCFG_FSCALE}, - {KEY_CFG_TAP_JERK, CFG_TAP_JERK}, - {KEY_FCFG_6, FCFG_6}, - {KEY_CFG_12, CFG_12}, - {KEY_FCFG_7, FCFG_7}, - {KEY_CFG_14, CFG_14}, - {KEY_CFG_15, CFG_15}, - {KEY_CFG_16, CFG_16}, - {KEY_CFG_18, CFG_18}, - {KEY_CFG_6, CFG_6}, - {KEY_CFG_7, CFG_7}, - {KEY_CFG_4, CFG_4}, - {KEY_CFG_5, CFG_5}, - {KEY_CFG_3, CFG_3}, - {KEY_CFG_GYRO_SOURCE, CFG_GYRO_SOURCE}, - {KEY_CFG_8, CFG_8}, - {KEY_CFG_9, CFG_9}, - {KEY_CFG_ORIENT_2, CFG_ORIENT_2}, - {KEY_CFG_ORIENT_1, CFG_ORIENT_1}, - {KEY_FCFG_ACCEL_INPUT, FCFG_ACCEL_INPUT}, - {KEY_CFG_TAP7, CFG_TAP7}, - {KEY_CFG_TAP_SAVE_ACCB, CFG_TAP_SAVE_ACCB}, - {KEY_FCFG_ACCEL_INIT, FCFG_ACCEL_INIT}, - - {KEY_D_0_22, D_0_22}, - {KEY_D_0_24, D_0_24}, - {KEY_D_0_36, D_0_36}, - {KEY_D_0_52, D_0_52}, - {KEY_D_0_96, D_0_96}, - {KEY_D_0_104, D_0_104}, - {KEY_D_0_108, D_0_108}, - {KEY_D_0_163, D_0_163}, - {KEY_D_0_188, D_0_188}, - {KEY_D_0_192, D_0_192}, - {KEY_D_0_224, D_0_224}, - {KEY_D_0_228, D_0_228}, - {KEY_D_0_232, D_0_232}, - {KEY_D_0_236, D_0_236}, - - {KEY_DMP_PREVPTAT, DMP_PREVPTAT}, - {KEY_D_1_2, D_1_2}, - {KEY_D_1_4, D_1_4}, - {KEY_D_1_8, D_1_8}, - {KEY_D_1_10, D_1_10}, - {KEY_D_1_24, D_1_24}, - {KEY_D_1_28, D_1_28}, - {KEY_D_1_92, D_1_92}, - {KEY_D_1_96, D_1_96}, - {KEY_D_1_98, D_1_98}, - {KEY_D_1_106, D_1_106}, - {KEY_D_1_108, D_1_108}, - {KEY_D_1_112, D_1_112}, - {KEY_D_1_128, D_1_128}, - {KEY_D_1_152, D_1_152}, - {KEY_D_1_168, D_1_168}, - {KEY_D_1_175, D_1_175}, - {KEY_D_1_178, D_1_178}, - {KEY_D_1_236, D_1_236}, - {KEY_D_1_244, D_1_244}, - - {KEY_DMP_TAPW_MIN, DMP_TAPW_MIN}, - {KEY_DMP_TAP_THR_X, DMP_TAP_THX}, - {KEY_DMP_TAP_THR_Y, DMP_TAP_THY}, - {KEY_DMP_TAP_THR_Z, DMP_TAP_THZ}, - {KEY_DMP_SH_TH_Y, DMP_SH_TH_Y}, - {KEY_DMP_SH_TH_X, DMP_SH_TH_X}, - {KEY_DMP_SH_TH_Z, DMP_SH_TH_Z}, - {KEY_DMP_ORIENT, DMP_ORIENT} -}; - -#define NUM_LOCAL_KEYS (sizeof(dmpTConfig)/sizeof(dmpTConfig[0])) -static const unsigned short sConfig = 0x013f; -#define SCD (1024) -static const unsigned char dmpMemory[SCD] = { - 0xfb, 0x00, 0x00, 0x3e, 0x00, 0x0b, 0x00, 0x36, 0x5a, 0xd6, 0x96, 0x06, 0x3f, 0xa3, 0x00, 0x00, - 0x20, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x77, 0x8e, 0x00, 0x01, 0x00, 0x01, - 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x28, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x03, 0xe8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7f, 0xff, 0xff, 0xfe, 0x80, 0x01, - 0x02, 0x00, 0x00, 0x01, 0x04, 0x00, 0x00, 0x03, 0x06, 0x00, 0x00, 0x05, 0x01, 0xe9, 0xa2, 0x0f, - 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, - 0x00, 0x00, 0x00, 0x3e, 0x00, 0x02, 0xb4, 0x8b, 0x00, 0x00, 0x7a, 0xdf, 0x00, 0x02, 0x5b, 0x2f, - 0xfc, 0xba, 0xfa, 0x00, 0x01, 0x00, 0x80, 0x00, 0x02, 0x01, 0x80, 0x00, 0x03, 0x02, 0x80, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0xb4, 0x8b, 0x00, 0x00, 0x7a, 0xdf, 0x00, 0x02, 0x5b, 0x2f, - 0x00, 0x7d, 0x32, 0xba, 0x00, 0x0a, 0x1e, 0xd1, 0x00, 0x3a, 0xe8, 0x25, 0x00, 0x00, 0x00, 0x00, - 0x3f, 0xd7, 0x96, 0x08, 0xff, 0xb3, 0x39, 0xf5, 0xfe, 0x11, 0x1b, 0x62, 0xfb, 0xf4, 0xb4, 0x52, - 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, - 0x0d, 0x68, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xd0, 0xd6, 0x00, 0x00, 0x27, 0x10, - - 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, - 0x3e, 0x80, 0x00, 0x00, 0x3e, 0x80, 0x00, 0x00, 0x3e, 0x80, 0x00, 0x00, 0x12, 0x82, 0x2d, 0x90, - 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x02, 0xff, 0xff, 0x00, 0x05, 0x02, 0x00, 0x00, 0x0c, - 0x00, 0x03, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x03, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 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, 0x20, 0x00, 0xff, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xb2, 0x6a, 0x00, 0x00, 0x00, 0x00, - 0xff, 0xec, 0x3f, 0xc8, 0xff, 0xee, 0x00, 0x00, 0xff, 0xfe, 0x40, 0x00, 0xff, 0xff, 0xff, 0xc8, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0xff, 0xff, 0xff, 0xff, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x33, 0x00, 0x00, 0x03, 0x65, 0x00, 0x00, 0x00, 0x99, 0x00, 0x00, 0x02, 0xf5, - - 0x9e, 0xc5, 0xa3, 0x8a, 0x22, 0x8a, 0x6e, 0x8a, 0x56, 0x8a, 0x5e, 0x9f, 0xc1, 0x83, 0x06, 0x26, - 0x46, 0x66, 0x0e, 0x2e, 0x4e, 0x6e, 0x9d, 0xc4, 0xad, 0x00, 0x2c, 0x54, 0x7c, 0xf9, 0xc5, 0xa3, - 0xc1, 0xc3, 0x8f, 0x96, 0x19, 0xa6, 0x81, 0xda, 0x0c, 0xd9, 0x2e, 0xd8, 0xa3, 0x86, 0x31, 0x81, - 0xa6, 0xd9, 0x30, 0x26, 0xd8, 0xd8, 0xfa, 0xc1, 0x8c, 0xc2, 0x99, 0xc5, 0xa3, 0x2d, 0x55, 0x7d, - 0x81, 0x91, 0xac, 0x38, 0xad, 0x3a, 0xc3, 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, 0xfb, 0x9d, 0xad, 0x00, 0x8d, 0xae, 0x19, 0x81, - 0xad, 0xd9, 0x01, 0xd8, 0xfa, 0xae, 0xda, 0x26, 0xd8, 0x8e, 0x91, 0x29, 0x83, 0xa7, 0xd9, 0xad, - 0xad, 0xad, 0xad, 0xfb, 0x2a, 0xd8, 0xd8, 0xf9, 0xc0, 0xac, 0x89, 0x91, 0x3e, 0x5e, 0x76, 0xfb, - 0xac, 0x2e, 0x2e, 0xf9, 0xc1, 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, 0xfa, - 0xc0, 0x89, 0xac, 0x91, 0x2c, 0x4c, 0x6c, 0x8a, 0x9b, 0x2d, 0xd9, 0xd8, 0xd8, 0x51, 0xd9, 0xd8, - 0xd8, 0x79, 0xd9, 0xd8, 0xd8, 0xf9, 0x9e, 0x88, 0xa3, 0x31, 0xda, 0xd8, 0xd8, 0x91, 0x2d, 0xd9, - 0x28, 0xd8, 0x4d, 0xd9, 0x48, 0xd8, 0x6d, 0xd9, 0x68, 0xd8, 0xc1, 0x83, 0x93, 0x35, 0x3d, 0x80, - 0x25, 0xda, 0xd8, 0xd8, 0x85, 0x69, 0xda, 0xd8, 0xd8, 0xf9, 0xc2, 0x93, 0x81, 0xa3, 0x28, 0x34, - 0x3c, 0xfb, 0x91, 0xab, 0x8b, 0x18, 0xa3, 0x09, 0xd9, 0xab, 0x97, 0x0a, 0x91, 0x3c, 0xc0, 0x87, - - 0x9c, 0xc5, 0xa3, 0xdd, 0xf9, 0xa3, 0xa3, 0xa3, 0xa3, 0x95, 0xf9, 0xa3, 0xa3, 0xa3, 0x9d, 0xf9, - 0xa3, 0xa3, 0xa3, 0xa3, 0xf9, 0x90, 0xa3, 0xa3, 0xa3, 0xa3, 0x91, 0xc3, 0x99, 0xf9, 0xa3, 0xa3, - 0xa3, 0x98, 0xf9, 0xa3, 0xa3, 0xa3, 0xa3, 0x97, 0xa3, 0xa3, 0xa3, 0xa3, 0xfb, 0x9b, 0xa3, 0xa3, - 0xdc, 0xc5, 0xa7, 0xf9, 0x26, 0x26, 0x26, 0xd8, 0xd8, 0xff, 0xd8, 0xd8, 0xd8, 0xd8, 0xd8, 0xc1, - 0xc2, 0xc4, 0x81, 0xa0, 0x90, 0xfa, 0x2c, 0x80, 0x74, 0xfb, 0x70, 0xfa, 0x7c, 0xc0, 0x86, 0x98, - 0xa8, 0xf9, 0xc9, 0x88, 0xa1, 0xfa, 0x0e, 0x97, 0x80, 0xf9, 0xa9, 0x2e, 0x2e, 0x2e, 0xaa, 0x2e, - 0x2e, 0x2e, 0xfa, 0xaa, 0xc9, 0x2c, 0xcb, 0xa9, 0x4c, 0xcd, 0x6c, 0xf9, 0x89, 0xa5, 0xca, 0xcd, - 0xcf, 0xc3, 0x9e, 0xa9, 0x3e, 0x5e, 0x7e, 0x85, 0xa5, 0x1a, 0x3e, 0x5e, 0xc2, 0xa5, 0x99, 0xfb, - 0x08, 0x34, 0x5c, 0xf9, 0xa9, 0xc9, 0xcb, 0xcd, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, - 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0xa9, - 0xf9, 0x89, 0x26, 0x46, 0x66, 0x8a, 0xa8, 0x96, 0x36, 0x56, 0x76, 0xaa, 0x98, 0x82, 0x87, 0x2d, - 0x35, 0x3d, 0xc5, 0xa3, 0xc2, 0xc1, 0x97, 0x80, 0x4a, 0x4e, 0x4e, 0xa3, 0xfa, 0x48, 0xcd, 0xc9, - 0xf9, 0xc4, 0xa9, 0x99, 0x83, 0x0d, 0x35, 0x5d, 0x89, 0xc5, 0xa3, 0x2d, 0x55, 0x7d, 0xc3, 0x93, - 0xa3, 0x0e, 0x16, 0x1e, 0xa9, 0x2c, 0x54, 0x7c, 0xc0, 0xc2, 0x83, 0x97, 0xaf, 0x08, 0xc4, 0xa8, - 0x11, 0xc1, 0x8f, 0xc5, 0xaf, 0x98, 0xf8, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xf9, 0xa3, 0x29, - 0x55, 0x7d, 0xaf, 0x83, 0xc3, 0x93, 0xaf, 0xf8, 0x00, 0x28, 0x50, 0xc4, 0xc2, 0xc0, 0xf9, 0x97, -}; -static tKeyLabel keys[NUM_KEYS]; - -static unsigned short inv_setup_dmpGetAddress(unsigned short key) -{ - static int isSorted = 0; - if ( !isSorted ) { - unsigned short kk; - for (kk=0; kk<NUM_KEYS; ++kk) { - keys[ kk ].addr = 0xffff; - keys[ kk ].key = kk; - } - for (kk=0; kk<NUM_LOCAL_KEYS; ++kk) { - keys[ dmpTConfig[kk].key ].addr = dmpTConfig[kk].addr; - } - isSorted = 1; - } - if ( key >= NUM_KEYS ) - return 0xffff; - return keys[ key ].addr; -} - - -/** - * @brief - * @return INV_SUCCESS or a non-zero error code. - */ -inv_error_t inv_setup_dmp(void) -{ - inv_error_t result; - inv_set_get_address( inv_setup_dmpGetAddress ); - - result = inv_clock_source(MPU_CLK_SEL_PLLGYROZ); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_dl_cfg_sampling(MPU_FILTER_42HZ, 4); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_set_full_scale(2000.f); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_load_dmp(dmpMemory, SCD, sConfig); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_set_ignore_system_suspend(FALSE); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - if (inv_accel_present()) - { - struct ext_slave_config config; - long odr; - config.key = MPU_SLAVE_CONFIG_ODR_SUSPEND; - config.len = sizeof(long); - config.apply = FALSE; - config.data = &odr; - - odr = 0; - result = inv_mpu_config_accel(inv_get_dl_config(), - inv_get_serial_handle(), - inv_get_serial_handle(), - &config); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - config.key = MPU_SLAVE_CONFIG_ODR_RESUME; - odr = 200000; - result = inv_mpu_config_accel(inv_get_dl_config(), - inv_get_serial_handle(), - inv_get_serial_handle(), - &config); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - config.key = MPU_SLAVE_CONFIG_IRQ_SUSPEND; - odr = MPU_SLAVE_IRQ_TYPE_NONE; - result = inv_mpu_config_accel(inv_get_dl_config(), - inv_get_serial_handle(), - inv_get_serial_handle(), - &config); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - config.key = MPU_SLAVE_CONFIG_IRQ_RESUME; - odr = MPU_SLAVE_IRQ_TYPE_NONE; - result = inv_mpu_config_accel(inv_get_dl_config(), - inv_get_serial_handle(), - inv_get_serial_handle(), - &config); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - } - - return result; -} -/** - * @} - */ - diff --git a/invensense/mlsdk/mllite/dmpDefault.h b/invensense/mlsdk/mllite/dmpDefault.h deleted file mode 100644 index 1fc7ca6..0000000 --- a/invensense/mlsdk/mllite/dmpDefault.h +++ /dev/null @@ -1,42 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -#ifndef ML_DMPDEFAULT_H__ -#define ML_DMPDEFAULT_H__ - -/** - * @defgroup DEFAULT - * @brief Default DMP assembly listing header file - * - * @{ - * @file inv_setup_dmp.c - * @brief Default DMP assembly listing header file - */ - - -#ifdef __cplusplus -extern "C" -{ -#endif - inv_error_t inv_setup_dmp(void); - -#ifdef __cplusplus -} -#endif - - -#endif // ML_DMPDEFAULT_H__ diff --git a/invensense/mlsdk/mllite/dmpDefaultMantis.c b/invensense/mlsdk/mllite/dmpDefaultMantis.c deleted file mode 100644 index 5282dd9..0000000 --- a/invensense/mlsdk/mllite/dmpDefaultMantis.c +++ /dev/null @@ -1,467 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -/* WARNING: autogenerated code, do not modify */ -/** - * @defgroup DMPDEFAULT - * @brief - * - * @{ - * @file inv_setup_dmpMantis.c - * @brief - * - * - */ - -#include "mltypes.h" -#include "dmpDefault.h" -#include "dmpKey.h" -#include "dmpmap.h" -#include "mldl.h" - -#define CFG_25 1786 -#define CFG_24 1782 -#define CFG_26 1790 -#define CFG_21 1899 -#define CFG_20 1728 -#define CFG_23 1911 -#define CFG_TAP4 1905 -#define CFG_TAP5 1906 -#define CFG_TAP6 1907 -#define CFG_1 1865 -#define CFG_TAP0 1899 -#define CFG_TAP1 1901 -#define CFG_TAP2 1902 -#define CFG_TAP_SAVE_ACCB 1770 -#define CFG_ORIENT_IRQ_1 1798 -#define CFG_ORIENT_IRQ_2 1821 -#define CFG_ORIENT_IRQ_3 1826 -#define FCFG_MAG_VAL 774 -#define CFG_TAP_QUANTIZE 1730 -#define FCFG_3 936 -#define FCFG_1 891 -#define CFG_ACCEL_FILTER 1076 -#define FCFG_2 895 -#define CFG_3D 1629 -#define FCFG_7 902 -#define CFG_3C 1627 -#define FCFG_5 1030 -#define FCFG_4 880 -#define CFG_3B 1625 -#define CFG_TAP_JERK 1722 -#define FCFG_6 954 -#define CFG_12 1894 -#define CFG_TAP7 1908 -#define CFG_14 1871 -#define CFG_15 1876 -#define CFG_16 1912 -#define CFG_TAP_CLEAR_STICKY 1914 -#define CFG_6 1920 -#define CFG_7 1014 -#define CFG_4 1634 -#define CFG_5 1831 -#define CFG_3 1623 -#define CFG_GYRO_SOURCE 1859 -#define CFG_TAP3 1903 -#define CFG_EXTERNAL 1884 -#define CFG_8 1854 -#define CFG_9 1860 -#define CFG_ORIENT_2 1816 -#define CFG_ORIENT_1 1796 -#define CFG_MOTION_BIAS 1023 -#define FCFG_MAG_MOV 791 -#define TEMPLABEL 1491 -#define FCFG_ACCEL_INIT 847 - - -#define D_0_22 (22+512) -#define D_0_24 (24+512) - -#define D_0_36 (36) -#define D_0_52 (52) -#define D_0_96 (96) -#define D_0_104 (104) -#define D_0_108 (108) -#define D_0_163 (163) -#define D_0_188 (188) -#define D_0_192 (192) -#define D_0_224 (224) -#define D_0_228 (228) -#define D_0_232 (232) -#define D_0_236 (236) - -#define D_1_2 (256 + 2) -#define D_1_4 (256 + 4) -#define D_1_8 (256 + 8) -#define D_1_10 (256 + 10) -#define D_1_24 (256 + 24) -#define D_1_28 (256 + 28) -#define D_1_92 (256 + 92) -#define D_1_96 (256 + 96) -#define D_1_98 (256 + 98) -#define D_1_106 (256 + 106) -#define D_1_108 (256 + 108) -#define D_1_112 (256 + 112) -#define D_1_128 (256 + 144) -#define D_1_152 (256 + 12) -#define D_1_168 (256 + 168) -#define D_1_175 (256 + 175) -#define D_1_178 (256 + 178) -#define D_1_236 (256 + 236) -#define D_1_244 (256 + 244) -#define D_2_12 (512+12) -#define D_2_96 (512+96) -#define D_2_108 (512+108) -#define D_2_244 (512+244) -#define D_2_248 (512+248) -#define D_2_252 (512+252) - -#define CPASS_BIAS_X (35*16+4) -#define CPASS_BIAS_Y (35*16+8) -#define CPASS_BIAS_Z (35*16+12) -#define CPASS_MTX_00 (36*16) -#define CPASS_MTX_01 (36*16+4) -#define CPASS_MTX_02 (36*16+8) -#define CPASS_MTX_10 (36*16+12) -#define CPASS_MTX_11 (37*16) -#define CPASS_MTX_12 (37*16+4) -#define CPASS_MTX_20 (37*16+8) -#define CPASS_MTX_21 (37*16+12) -#define CPASS_MTX_22 (43*16+12) -#define D_ACT0 (40*16) -#define D_ACSX (40*16+4) -#define D_ACSY (40*16+8) -#define D_ACSZ (40*16+12) - -static const tKeyLabel dmpTConfig[] = { - {KEY_CFG_25, CFG_25}, - {KEY_CFG_24, CFG_24}, - {KEY_CFG_26, CFG_26}, - {KEY_CFG_21, CFG_21}, - {KEY_CFG_20, CFG_20}, - {KEY_CFG_23, CFG_23}, - {KEY_CFG_TAP4, CFG_TAP4}, - {KEY_CFG_TAP5, CFG_TAP5}, - {KEY_CFG_TAP6, CFG_TAP6}, - {KEY_CFG_1, CFG_1}, - {KEY_CFG_TAP0, CFG_TAP0}, - {KEY_CFG_TAP1, CFG_TAP1}, - {KEY_CFG_TAP2, CFG_TAP2}, - {KEY_CFG_TAP_SAVE_ACCB, CFG_TAP_SAVE_ACCB}, - {KEY_CFG_ORIENT_IRQ_1, CFG_ORIENT_IRQ_1}, - {KEY_CFG_ORIENT_IRQ_2, CFG_ORIENT_IRQ_2}, - {KEY_CFG_ORIENT_IRQ_3, CFG_ORIENT_IRQ_3}, - {KEY_FCFG_MAG_VAL, FCFG_MAG_VAL}, - {KEY_CFG_TAP_QUANTIZE, CFG_TAP_QUANTIZE}, - {KEY_FCFG_3, FCFG_3}, - {KEY_FCFG_1, FCFG_1}, -// {KEY_CFG_ACCEL_FILTER, CFG_ACCEL_FILTER}, - {KEY_FCFG_2, FCFG_2}, - {KEY_CFG_3D, CFG_3D}, - {KEY_FCFG_7, FCFG_7}, - {KEY_CFG_3C, CFG_3C}, - {KEY_FCFG_5, FCFG_5}, - {KEY_FCFG_4, FCFG_4}, - {KEY_CFG_3B, CFG_3B}, - {KEY_CFG_TAP_JERK, CFG_TAP_JERK}, - {KEY_FCFG_6, FCFG_6}, - {KEY_CFG_12, CFG_12}, - {KEY_CFG_TAP7, CFG_TAP7}, - {KEY_CFG_14, CFG_14}, - {KEY_CFG_15, CFG_15}, - {KEY_CFG_16, CFG_16}, - {KEY_CFG_TAP_CLEAR_STICKY, CFG_TAP_CLEAR_STICKY}, - {KEY_CFG_6, CFG_6}, - {KEY_CFG_7, CFG_7}, - {KEY_CFG_4, CFG_4}, - {KEY_CFG_5, CFG_5}, - {KEY_CFG_3, CFG_3}, - {KEY_CFG_GYRO_SOURCE, CFG_GYRO_SOURCE}, - {KEY_CFG_TAP3, CFG_TAP3}, - {KEY_CFG_EXTERNAL, CFG_EXTERNAL}, - {KEY_CFG_8, CFG_8}, - {KEY_CFG_9, CFG_9}, - {KEY_CFG_ORIENT_2, CFG_ORIENT_2}, - {KEY_CFG_ORIENT_1, CFG_ORIENT_1}, - {KEY_CFG_MOTION_BIAS, CFG_MOTION_BIAS}, - {KEY_FCFG_MAG_MOV, FCFG_MAG_MOV}, -// {KEY_TEMPLABEL, TEMPLABEL}, - {KEY_FCFG_ACCEL_INIT, FCFG_ACCEL_INIT}, - {KEY_D_0_22, D_0_22}, - {KEY_D_0_24, D_0_24}, - {KEY_D_0_36, D_0_36}, - {KEY_D_0_52, D_0_52}, - {KEY_D_0_96, D_0_96}, - {KEY_D_0_104, D_0_104}, - {KEY_D_0_108, D_0_108}, - {KEY_D_0_163, D_0_163}, - {KEY_D_0_188, D_0_188}, - {KEY_D_0_192, D_0_192}, - {KEY_D_0_224, D_0_224}, - {KEY_D_0_228, D_0_228}, - {KEY_D_0_232, D_0_232}, - {KEY_D_0_236, D_0_236}, - - {KEY_DMP_PREVPTAT, DMP_PREVPTAT}, - {KEY_D_1_2, D_1_2}, - {KEY_D_1_4, D_1_4}, - {KEY_D_1_8, D_1_8}, - {KEY_D_1_10, D_1_10}, - {KEY_D_1_24, D_1_24}, - {KEY_D_1_28, D_1_28}, - {KEY_D_1_92, D_1_92}, - {KEY_D_1_96, D_1_96}, - {KEY_D_1_98, D_1_98}, - {KEY_D_1_106, D_1_106}, - {KEY_D_1_108, D_1_108}, - {KEY_D_1_112, D_1_112}, - {KEY_D_1_128, D_1_128}, - {KEY_D_1_152, D_1_152}, - {KEY_D_1_168, D_1_168}, - {KEY_D_1_175, D_1_175}, - {KEY_D_1_178, D_1_178}, - {KEY_D_1_236, D_1_236}, - {KEY_D_1_244, D_1_244}, - - {KEY_D_2_12, D_2_12}, - {KEY_D_2_96, D_2_96}, - {KEY_D_2_108, D_2_108}, - {KEY_D_2_244, D_2_244}, - {KEY_D_2_248, D_2_248}, - {KEY_D_2_252, D_2_252}, - - {KEY_DMP_TAPW_MIN, DMP_TAPW_MIN}, - {KEY_DMP_TAP_THR_X, DMP_TAP_THX}, - {KEY_DMP_TAP_THR_Y, DMP_TAP_THY}, - {KEY_DMP_TAP_THR_Z, DMP_TAP_THZ}, - {KEY_DMP_SH_TH_Y, DMP_SH_TH_Y}, - {KEY_DMP_SH_TH_X, DMP_SH_TH_X}, - {KEY_DMP_SH_TH_Z, DMP_SH_TH_Z}, - {KEY_DMP_ORIENT, DMP_ORIENT}, - - {KEY_CPASS_BIAS_X, CPASS_BIAS_X}, - {KEY_CPASS_BIAS_Y, CPASS_BIAS_Y}, - {KEY_CPASS_BIAS_Z, CPASS_BIAS_Z}, - {KEY_CPASS_MTX_00, CPASS_MTX_00}, - {KEY_CPASS_MTX_01, CPASS_MTX_01}, - {KEY_CPASS_MTX_02, CPASS_MTX_02}, - {KEY_CPASS_MTX_10, CPASS_MTX_10}, - {KEY_CPASS_MTX_11, CPASS_MTX_11}, - {KEY_CPASS_MTX_12, CPASS_MTX_12}, - {KEY_CPASS_MTX_20, CPASS_MTX_20}, - {KEY_CPASS_MTX_21, CPASS_MTX_21}, - {KEY_CPASS_MTX_22, CPASS_MTX_22}, - {KEY_D_ACT0, D_ACT0}, - {KEY_D_ACSX, D_ACSX}, - {KEY_D_ACSY, D_ACSY}, - {KEY_D_ACSZ, D_ACSZ} -}; -#define NUM_LOCAL_KEYS (sizeof(dmpTConfig)/sizeof(dmpTConfig[0])) - -#define DMP_CODE_SIZE 1923 - -static const unsigned char dmpMemory[DMP_CODE_SIZE] = { - 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, 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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, 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, 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, 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 -}; - -static unsigned short sStartAddress = 0x0300; - - -static tKeyLabel keys[NUM_KEYS]; - -static unsigned short inv_setup_dmpGetAddress( unsigned short key ) -{ - static int isSorted = 0; - if ( !isSorted ) { - int kk; - for (kk=0; kk<NUM_KEYS; ++kk) { - keys[ kk ].addr = 0xffff; - keys[ kk ].key = kk; - } - for (kk=0; kk<NUM_LOCAL_KEYS; ++kk) { - keys[ dmpTConfig[kk].key ].addr = dmpTConfig[kk].addr; - } - isSorted = 1; - } - if ( key >= NUM_KEYS ) - return 0xffff; - return keys[ key ].addr; -} - -/** - * @brief - * @return INV_SUCCESS or a non-zero error code. - */ -inv_error_t inv_setup_dmp(void) - -{ - inv_error_t result; - - inv_set_get_address(inv_setup_dmpGetAddress); - result = inv_clock_source(MPU_CLK_SEL_PLLGYROZ); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_dl_cfg_sampling(MPU_FILTER_42HZ, 4); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_set_full_scale(2000.f); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_load_dmp(dmpMemory, DMP_CODE_SIZE, sStartAddress); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_set_external_sync(MPU_EXT_SYNC_TEMP); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - return result; -} -/** - *@} - */ diff --git a/invensense/mlsdk/mllite/dmpKey.h b/invensense/mlsdk/mllite/dmpKey.h deleted file mode 100644 index 3e2e667..0000000 --- a/invensense/mlsdk/mllite/dmpKey.h +++ /dev/null @@ -1,398 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -#ifndef DMPKEY_H__ -#define DMPKEY_H__ - -#define KEY_CFG_25 0 -#define KEY_CFG_24 (KEY_CFG_25+1) -#define KEY_CFG_26 (KEY_CFG_24+1) -#define KEY_CFG_21 (KEY_CFG_26+1) -#define KEY_CFG_20 (KEY_CFG_21+1) -#define KEY_CFG_TAP4 (KEY_CFG_20+1) -#define KEY_CFG_TAP5 (KEY_CFG_TAP4+1) -#define KEY_CFG_TAP6 (KEY_CFG_TAP5+1) -#define KEY_CFG_TAP7 (KEY_CFG_TAP6+1) -#define KEY_CFG_TAP0 (KEY_CFG_TAP7+1) -#define KEY_CFG_TAP1 (KEY_CFG_TAP0+1) -#define KEY_CFG_TAP2 (KEY_CFG_TAP1+1) -#define KEY_CFG_TAP3 (KEY_CFG_TAP2+1) -#define KEY_CFG_TAP_QUANTIZE (KEY_CFG_TAP3+1) -#define KEY_CFG_TAP_JERK (KEY_CFG_TAP_QUANTIZE+1) -#define KEY_CFG_TAP_SAVE_ACCB (KEY_CFG_TAP_JERK+1) -#define KEY_CFG_TAP_CLEAR_STICKY (KEY_CFG_TAP_SAVE_ACCB+1) -#define KEY_FCFG_ACCEL_INPUT (KEY_CFG_TAP_CLEAR_STICKY +1) -#define KEY_FCFG_ACCEL_INIT (KEY_FCFG_ACCEL_INPUT+1) -#define KEY_CFG_23 (KEY_FCFG_ACCEL_INIT+1) -#define KEY_FCFG_1 (KEY_CFG_23+1) -#define KEY_FCFG_3 (KEY_FCFG_1+1) -#define KEY_FCFG_2 (KEY_FCFG_3+1) -#define KEY_CFG_3D (KEY_FCFG_2+1) -#define KEY_CFG_3B (KEY_CFG_3D+1) -#define KEY_CFG_3C (KEY_CFG_3B+1) -#define KEY_FCFG_5 (KEY_CFG_3C+1) -#define KEY_FCFG_4 (KEY_FCFG_5+1) -#define KEY_FCFG_7 (KEY_FCFG_4+1) -#define KEY_FCFG_FSCALE (KEY_FCFG_7+1) -#define KEY_FCFG_AZ (KEY_FCFG_FSCALE+1) -#define KEY_FCFG_6 (KEY_FCFG_AZ+1) -#define KEY_FCFG_LSB4 (KEY_FCFG_6+1) -#define KEY_CFG_12 (KEY_FCFG_LSB4+1) -#define KEY_CFG_14 (KEY_CFG_12+1) -#define KEY_CFG_15 (KEY_CFG_14+1) -#define KEY_CFG_16 (KEY_CFG_15+1) -#define KEY_CFG_18 (KEY_CFG_16+1) -#define KEY_CFG_6 (KEY_CFG_18 + 1) -#define KEY_CFG_7 (KEY_CFG_6+1) -#define KEY_CFG_4 (KEY_CFG_7+1) -#define KEY_CFG_5 (KEY_CFG_4+1) -#define KEY_CFG_2 (KEY_CFG_5+1) -#define KEY_CFG_3 (KEY_CFG_2+1) -#define KEY_CFG_1 (KEY_CFG_3+1) -#define KEY_CFG_EXTERNAL (KEY_CFG_1+1) -#define KEY_CFG_8 (KEY_CFG_EXTERNAL+1) -#define KEY_CFG_9 (KEY_CFG_8+1) -#define KEY_CFG_ORIENT_3 (KEY_CFG_9 + 1) -#define KEY_CFG_ORIENT_2 (KEY_CFG_ORIENT_3 + 1) -#define KEY_CFG_ORIENT_1 (KEY_CFG_ORIENT_2 + 1) -#define KEY_CFG_GYRO_SOURCE (KEY_CFG_ORIENT_1 + 1) -#define KEY_CFG_ORIENT_IRQ_1 (KEY_CFG_GYRO_SOURCE + 1) -#define KEY_CFG_ORIENT_IRQ_2 (KEY_CFG_ORIENT_IRQ_1 + 1) -#define KEY_CFG_ORIENT_IRQ_3 (KEY_CFG_ORIENT_IRQ_2 + 1) -#define KEY_FCFG_MAG_VAL (KEY_CFG_ORIENT_IRQ_3 + 1) -#define KEY_FCFG_MAG_MOV (KEY_FCFG_MAG_VAL + 1) - -#define KEY_D_0_22 (KEY_FCFG_MAG_MOV + 1) -#define KEY_D_0_24 (KEY_D_0_22+1) -#define KEY_D_0_36 (KEY_D_0_24+1) -#define KEY_D_0_52 (KEY_D_0_36+1) -#define KEY_D_0_96 (KEY_D_0_52+1) -#define KEY_D_0_104 (KEY_D_0_96+1) -#define KEY_D_0_108 (KEY_D_0_104+1) -#define KEY_D_0_163 (KEY_D_0_108+1) -#define KEY_D_0_188 (KEY_D_0_163+1) -#define KEY_D_0_192 (KEY_D_0_188+1) -#define KEY_D_0_224 (KEY_D_0_192+1) -#define KEY_D_0_228 (KEY_D_0_224+1) -#define KEY_D_0_232 (KEY_D_0_228+1) -#define KEY_D_0_236 (KEY_D_0_232+1) - -#define KEY_DMP_PREVPTAT (KEY_D_0_236+1) -#define KEY_D_1_2 (KEY_DMP_PREVPTAT+1) -#define KEY_D_1_4 (KEY_D_1_2 + 1) -#define KEY_D_1_8 (KEY_D_1_4 + 1) -#define KEY_D_1_10 (KEY_D_1_8+1) -#define KEY_D_1_24 (KEY_D_1_10+1) -#define KEY_D_1_28 (KEY_D_1_24+1) -#define KEY_D_1_92 (KEY_D_1_28+1) -#define KEY_D_1_96 (KEY_D_1_92+1) -#define KEY_D_1_98 (KEY_D_1_96+1) -#define KEY_D_1_106 (KEY_D_1_98+1) -#define KEY_D_1_108 (KEY_D_1_106+1) -#define KEY_D_1_112 (KEY_D_1_108+1) -#define KEY_D_1_128 (KEY_D_1_112+1) -#define KEY_D_1_152 (KEY_D_1_128+1) -#define KEY_D_1_168 (KEY_D_1_152+1) -#define KEY_D_1_175 (KEY_D_1_168+1) -#define KEY_D_1_178 (KEY_D_1_175+1) -#define KEY_D_1_179 (KEY_D_1_178+1) -#define KEY_D_1_236 (KEY_D_1_179+1) -#define KEY_D_1_244 (KEY_D_1_236+1) -#define KEY_D_2_12 (KEY_D_1_244+1) -#define KEY_D_2_96 (KEY_D_2_12+1) -#define KEY_D_2_108 (KEY_D_2_96+1) -#define KEY_D_2_244 (KEY_D_2_108+1) -#define KEY_D_2_248 (KEY_D_2_244+1) -#define KEY_D_2_252 (KEY_D_2_248+1) - -// Compass Keys -#define KEY_CPASS_BIAS_X (KEY_D_2_252+1) -#define KEY_CPASS_BIAS_Y (KEY_CPASS_BIAS_X+1) -#define KEY_CPASS_BIAS_Z (KEY_CPASS_BIAS_Y+1) -#define KEY_CPASS_MTX_00 (KEY_CPASS_BIAS_Z+1) -#define KEY_CPASS_MTX_01 (KEY_CPASS_MTX_00+1) -#define KEY_CPASS_MTX_02 (KEY_CPASS_MTX_01+1) -#define KEY_CPASS_MTX_10 (KEY_CPASS_MTX_02+1) -#define KEY_CPASS_MTX_11 (KEY_CPASS_MTX_10+1) -#define KEY_CPASS_MTX_12 (KEY_CPASS_MTX_11+1) -#define KEY_CPASS_MTX_20 (KEY_CPASS_MTX_12+1) -#define KEY_CPASS_MTX_21 (KEY_CPASS_MTX_20+1) -#define KEY_CPASS_MTX_22 (KEY_CPASS_MTX_21+1) - -// Mantis Keys -#define KEY_CFG_MOTION_BIAS (KEY_CPASS_MTX_22+1) - -#define KEY_DMP_TAPW_MIN (KEY_CFG_MOTION_BIAS+1) -#define KEY_DMP_TAP_THR_X (KEY_DMP_TAPW_MIN+1) -#define KEY_DMP_TAP_THR_Y (KEY_DMP_TAP_THR_X+1) -#define KEY_DMP_TAP_THR_Z (KEY_DMP_TAP_THR_Y+1) -#define KEY_DMP_SH_TH_Y (KEY_DMP_TAP_THR_Z+1) -#define KEY_DMP_SH_TH_X (KEY_DMP_SH_TH_Y+1) -#define KEY_DMP_SH_TH_Z (KEY_DMP_SH_TH_X+1) -#define KEY_DMP_ORIENT (KEY_DMP_SH_TH_Z+1) -#define KEY_D_ACT0 (KEY_DMP_ORIENT+1) -#define KEY_D_ACSX (KEY_D_ACT0+1) -#define KEY_D_ACSY (KEY_D_ACSX+1) -#define KEY_D_ACSZ (KEY_D_ACSY+1) - -// Pedometer Standalone only keys -#define KEY_D_PEDSTD_BP_B (KEY_D_ACSZ+1) -#define KEY_D_PEDSTD_HP_A (KEY_D_PEDSTD_BP_B+1) -#define KEY_D_PEDSTD_HP_B (KEY_D_PEDSTD_HP_A+1) -#define KEY_D_PEDSTD_BP_A4 (KEY_D_PEDSTD_HP_B+1) -#define KEY_D_PEDSTD_BP_A3 (KEY_D_PEDSTD_BP_A4+1) -#define KEY_D_PEDSTD_BP_A2 (KEY_D_PEDSTD_BP_A3+1) -#define KEY_D_PEDSTD_BP_A1 (KEY_D_PEDSTD_BP_A2+1) -#define KEY_D_PEDSTD_INT_THRSH (KEY_D_PEDSTD_BP_A1+1) -#define KEY_D_PEDSTD_CLIP (KEY_D_PEDSTD_INT_THRSH+1) -#define KEY_D_PEDSTD_SB (KEY_D_PEDSTD_CLIP+1) -#define KEY_D_PEDSTD_SB_TIME (KEY_D_PEDSTD_SB+1) -#define KEY_D_PEDSTD_PEAKTHRSH (KEY_D_PEDSTD_SB_TIME+1) -#define KEY_D_PEDSTD_TIML (KEY_D_PEDSTD_PEAKTHRSH+1) -#define KEY_D_PEDSTD_TIMH (KEY_D_PEDSTD_TIML+1) -#define KEY_D_PEDSTD_PEAK (KEY_D_PEDSTD_TIMH+1) -#define KEY_D_PEDSTD_TIMECTR (KEY_D_PEDSTD_PEAK+1) -#define KEY_D_PEDSTD_STEPCTR (KEY_D_PEDSTD_TIMECTR+1) -#define KEY_D_PEDSTD_WALKTIME (KEY_D_PEDSTD_STEPCTR+1) - -// EIS Keys -#define KEY_P_EIS_FIFO_FOOTER (KEY_D_PEDSTD_WALKTIME+1) -#define KEY_P_EIS_FIFO_YSHIFT (KEY_P_EIS_FIFO_FOOTER+1) -#define KEY_P_EIS_DATA_RATE (KEY_P_EIS_FIFO_YSHIFT+1) -#define KEY_P_EIS_FIFO_XSHIFT (KEY_P_EIS_DATA_RATE+1) -#define KEY_P_EIS_FIFO_SYNC (KEY_P_EIS_FIFO_XSHIFT+1) -#define KEY_P_EIS_FIFO_ZSHIFT (KEY_P_EIS_FIFO_SYNC+1) -#define KEY_P_EIS_FIFO_READY (KEY_P_EIS_FIFO_ZSHIFT+1) -#define KEY_DMP_FOOTER (KEY_P_EIS_FIFO_READY+1) -#define KEY_DMP_INTX_HC (KEY_DMP_FOOTER+1) -#define KEY_DMP_INTX_PH (KEY_DMP_INTX_HC+1) -#define KEY_DMP_INTX_SH (KEY_DMP_INTX_PH+1) -#define KEY_DMP_AINV_SH (KEY_DMP_INTX_SH +1) -#define KEY_DMP_A_INV_XH (KEY_DMP_AINV_SH+1) -#define KEY_DMP_AINV_PH (KEY_DMP_A_INV_XH+1) -#define KEY_DMP_CTHX_H (KEY_DMP_AINV_PH+1) -#define KEY_DMP_CTHY_H (KEY_DMP_CTHX_H+1) -#define KEY_DMP_CTHZ_H (KEY_DMP_CTHY_H+1) -#define KEY_DMP_NCTHX_H (KEY_DMP_CTHZ_H+1) -#define KEY_DMP_NCTHY_H (KEY_DMP_NCTHX_H+1) -#define KEY_DMP_NCTHZ_H (KEY_DMP_NCTHY_H+1) -#define KEY_DMP_CTSQ_XH (KEY_DMP_NCTHZ_H+1) -#define KEY_DMP_CTSQ_YH (KEY_DMP_CTSQ_XH+1) -#define KEY_DMP_CTSQ_ZH (KEY_DMP_CTSQ_YH+1) -#define KEY_DMP_INTX_H (KEY_DMP_CTSQ_ZH+1) -#define KEY_DMP_INTY_H (KEY_DMP_INTX_H+1) -#define KEY_DMP_INTZ_H (KEY_DMP_INTY_H+1) -#define KEY_DMP_HPX_H (KEY_DMP_INTZ_H+1) -#define KEY_DMP_HPY_H (KEY_DMP_HPX_H+1) -#define KEY_DMP_HPZ_H (KEY_DMP_HPY_H+1) - -// Stream Keys -#define KEY_STREAM_P_GYRO_Z (KEY_DMP_HPZ_H + 1) -#define KEY_STREAM_P_GYRO_Y (KEY_STREAM_P_GYRO_Z+1) -#define KEY_STREAM_P_GYRO_X (KEY_STREAM_P_GYRO_Y+1) -#define KEY_STREAM_P_TEMP (KEY_STREAM_P_GYRO_X+1) -#define KEY_STREAM_P_AUX_Y (KEY_STREAM_P_TEMP+1) -#define KEY_STREAM_P_AUX_X (KEY_STREAM_P_AUX_Y+1) -#define KEY_STREAM_P_AUX_Z (KEY_STREAM_P_AUX_X+1) -#define KEY_STREAM_P_ACCEL_Y (KEY_STREAM_P_AUX_Z+1) -#define KEY_STREAM_P_ACCEL_X (KEY_STREAM_P_ACCEL_Y+1) -#define KEY_STREAM_P_FOOTER (KEY_STREAM_P_ACCEL_X+1) -#define KEY_STREAM_P_ACCEL_Z (KEY_STREAM_P_FOOTER+1) - -#define NUM_KEYS (KEY_STREAM_P_ACCEL_Z+1) - - typedef struct { - unsigned short key; - unsigned short addr; - } tKeyLabel; - -#define DINA0A 0x0a -#define DINA22 0x22 -#define DINA42 0x42 -#define DINA5A 0x5a - -#define DINA06 0x06 -#define DINA0E 0x0e -#define DINA16 0x16 -#define DINA1E 0x1e -#define DINA26 0x26 -#define DINA2E 0x2e -#define DINA36 0x36 -#define DINA3E 0x3e -#define DINA46 0x46 -#define DINA4E 0x4e -#define DINA56 0x56 -#define DINA5E 0x5e -#define DINA66 0x66 -#define DINA6E 0x6e -#define DINA76 0x76 -#define DINA7E 0x7e - -#define DINA00 0x00 -#define DINA08 0x08 -#define DINA10 0x10 -#define DINA18 0x18 -#define DINA20 0x20 -#define DINA28 0x28 -#define DINA30 0x30 -#define DINA38 0x38 -#define DINA40 0x40 -#define DINA48 0x48 -#define DINA50 0x50 -#define DINA58 0x58 -#define DINA60 0x60 -#define DINA68 0x68 -#define DINA70 0x70 -#define DINA78 0x78 - -#define DINA04 0x04 -#define DINA0C 0x0c -#define DINA14 0x14 -#define DINA1C 0x1C -#define DINA24 0x24 -#define DINA2C 0x2c -#define DINA34 0x34 -#define DINA3C 0x3c -#define DINA44 0x44 -#define DINA4C 0x4c -#define DINA54 0x54 -#define DINA5C 0x5c -#define DINA64 0x64 -#define DINA6C 0x6c -#define DINA74 0x74 -#define DINA7C 0x7c - -#define DINA01 0x01 -#define DINA09 0x09 -#define DINA11 0x11 -#define DINA19 0x19 -#define DINA21 0x21 -#define DINA29 0x29 -#define DINA31 0x31 -#define DINA39 0x39 -#define DINA41 0x41 -#define DINA49 0x49 -#define DINA51 0x51 -#define DINA59 0x59 -#define DINA61 0x61 -#define DINA69 0x69 -#define DINA71 0x71 -#define DINA79 0x79 - -#define DINA25 0x25 -#define DINA2D 0x2d -#define DINA35 0x35 -#define DINA3D 0x3d -#define DINA4D 0x4d -#define DINA55 0x55 -#define DINA5D 0x5D -#define DINA6D 0x6d -#define DINA75 0x75 -#define DINA7D 0x7d - -#define DINC00 0x00 -#define DINC01 0x01 -#define DINC02 0x02 -#define DINC03 0x03 -#define DINC08 0x08 -#define DINC09 0x09 -#define DINC0A 0x0a -#define DINC0B 0x0b -#define DINC10 0x10 -#define DINC11 0x11 -#define DINC12 0x12 -#define DINC13 0x13 -#define DINC18 0x18 -#define DINC19 0x19 -#define DINC1A 0x1a -#define DINC1B 0x1b - -#define DINC20 0x20 -#define DINC21 0x21 -#define DINC22 0x22 -#define DINC23 0x23 -#define DINC28 0x28 -#define DINC29 0x29 -#define DINC2A 0x2a -#define DINC2B 0x2b -#define DINC30 0x30 -#define DINC31 0x31 -#define DINC32 0x32 -#define DINC33 0x33 -#define DINC38 0x38 -#define DINC39 0x39 -#define DINC3A 0x3a -#define DINC3B 0x3b - -#define DINC40 0x40 -#define DINC41 0x41 -#define DINC42 0x42 -#define DINC43 0x43 -#define DINC48 0x48 -#define DINC49 0x49 -#define DINC4A 0x4a -#define DINC4B 0x4b -#define DINC50 0x50 -#define DINC51 0x51 -#define DINC52 0x52 -#define DINC53 0x53 -#define DINC58 0x58 -#define DINC59 0x59 -#define DINC5A 0x5a -#define DINC5B 0x5b - -#define DINC60 0x60 -#define DINC61 0x61 -#define DINC62 0x62 -#define DINC63 0x63 -#define DINC68 0x68 -#define DINC69 0x69 -#define DINC6A 0x6a -#define DINC6B 0x6b -#define DINC70 0x70 -#define DINC71 0x71 -#define DINC72 0x72 -#define DINC73 0x73 -#define DINC78 0x78 -#define DINC79 0x79 -#define DINC7A 0x7a -#define DINC7B 0x7b - -#define DINA80 0x80 -#define DINA90 0x90 -#define DINAA0 0xa0 -#define DINAC9 0xc9 -#define DINACB 0xcb -#define DINACD 0xcd -#define DINACF 0xcf -#define DINAC8 0xc8 -#define DINACA 0xca -#define DINACC 0xcc -#define DINACE 0xce -#define DINAD8 0xd8 -#define DINADD 0xdd -#define DINAF8 0xf8 -#define DINAFE 0xfe -#define DINAC0 0xc0 -#define DINAC1 0xc1 -#define DINAC2 0xc2 -#define DINAC3 0xc3 -#define DINAC4 0xc4 -#define DINAC5 0xc5 - - -#endif // DMPKEY_H__ diff --git a/invensense/mlsdk/mllite/dmpconfig.txt b/invensense/mlsdk/mllite/dmpconfig.txt deleted file mode 100644 index 4643ed5..0000000 --- a/invensense/mlsdk/mllite/dmpconfig.txt +++ /dev/null @@ -1,3 +0,0 @@ -major version = 1 -minor version = 0 -startAddr = 0 diff --git a/invensense/mlsdk/mllite/dmpmap.h b/invensense/mlsdk/mllite/dmpmap.h deleted file mode 100644 index cb53c7c..0000000 --- a/invensense/mlsdk/mllite/dmpmap.h +++ /dev/null @@ -1,276 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -#ifndef DMPMAP_H -#define DMPMAP_H - -#ifdef __cplusplus -extern "C" -{ -#endif - -#define DMP_PTAT 0 -#define DMP_XGYR 2 -#define DMP_YGYR 4 -#define DMP_ZGYR 6 -#define DMP_XACC 8 -#define DMP_YACC 10 -#define DMP_ZACC 12 -#define DMP_ADC1 14 -#define DMP_ADC2 16 -#define DMP_ADC3 18 -#define DMP_BIASUNC 20 -#define DMP_FIFORT 22 -#define DMP_INVGSFH 24 -#define DMP_INVGSFL 26 -#define DMP_1H 28 -#define DMP_1L 30 -#define DMP_BLPFSTCH 32 -#define DMP_BLPFSTCL 34 -#define DMP_BLPFSXH 36 -#define DMP_BLPFSXL 38 -#define DMP_BLPFSYH 40 -#define DMP_BLPFSYL 42 -#define DMP_BLPFSZH 44 -#define DMP_BLPFSZL 46 -#define DMP_BLPFMTC 48 -#define DMP_SMC 50 -#define DMP_BLPFMXH 52 -#define DMP_BLPFMXL 54 -#define DMP_BLPFMYH 56 -#define DMP_BLPFMYL 58 -#define DMP_BLPFMZH 60 -#define DMP_BLPFMZL 62 -#define DMP_BLPFC 64 -#define DMP_SMCTH 66 -#define DMP_0H2 68 -#define DMP_0L2 70 -#define DMP_BERR2H 72 -#define DMP_BERR2L 74 -#define DMP_BERR2NH 76 -#define DMP_SMCINC 78 -#define DMP_ANGVBXH 80 -#define DMP_ANGVBXL 82 -#define DMP_ANGVBYH 84 -#define DMP_ANGVBYL 86 -#define DMP_ANGVBZH 88 -#define DMP_ANGVBZL 90 -#define DMP_BERR1H 92 -#define DMP_BERR1L 94 -#define DMP_ATCH 96 -#define DMP_BIASUNCSF 98 -#define DMP_ACT2H 100 -#define DMP_ACT2L 102 -#define DMP_GSFH 104 -#define DMP_GSFL 106 -#define DMP_GH 108 -#define DMP_GL 110 -#define DMP_0_5H 112 -#define DMP_0_5L 114 -#define DMP_0_0H 116 -#define DMP_0_0L 118 -#define DMP_1_0H 120 -#define DMP_1_0L 122 -#define DMP_1_5H 124 -#define DMP_1_5L 126 -#define DMP_TMP1AH 128 -#define DMP_TMP1AL 130 -#define DMP_TMP2AH 132 -#define DMP_TMP2AL 134 -#define DMP_TMP3AH 136 -#define DMP_TMP3AL 138 -#define DMP_TMP4AH 140 -#define DMP_TMP4AL 142 -#define DMP_XACCW 144 -#define DMP_TMP5 146 -#define DMP_XACCB 148 -#define DMP_TMP8 150 -#define DMP_YACCB 152 -#define DMP_TMP9 154 -#define DMP_ZACCB 156 -#define DMP_TMP10 158 -#define DMP_DZH 160 -#define DMP_DZL 162 -#define DMP_XGCH 164 -#define DMP_XGCL 166 -#define DMP_YGCH 168 -#define DMP_YGCL 170 -#define DMP_ZGCH 172 -#define DMP_ZGCL 174 -#define DMP_YACCW 176 -#define DMP_TMP7 178 -#define DMP_AFB1H 180 -#define DMP_AFB1L 182 -#define DMP_AFB2H 184 -#define DMP_AFB2L 186 -#define DMP_MAGFBH 188 -#define DMP_MAGFBL 190 -#define DMP_QT1H 192 -#define DMP_QT1L 194 -#define DMP_QT2H 196 -#define DMP_QT2L 198 -#define DMP_QT3H 200 -#define DMP_QT3L 202 -#define DMP_QT4H 204 -#define DMP_QT4L 206 -#define DMP_CTRL1H 208 -#define DMP_CTRL1L 210 -#define DMP_CTRL2H 212 -#define DMP_CTRL2L 214 -#define DMP_CTRL3H 216 -#define DMP_CTRL3L 218 -#define DMP_CTRL4H 220 -#define DMP_CTRL4L 222 -#define DMP_CTRLS1 224 -#define DMP_CTRLSF1 226 -#define DMP_CTRLS2 228 -#define DMP_CTRLSF2 230 -#define DMP_CTRLS3 232 -#define DMP_CTRLSFNLL 234 -#define DMP_CTRLS4 236 -#define DMP_CTRLSFNL2 238 -#define DMP_CTRLSFNL 240 -#define DMP_TMP30 242 -#define DMP_CTRLSFJT 244 -#define DMP_TMP31 246 -#define DMP_TMP11 248 -#define DMP_CTRLSF2_2 250 -#define DMP_TMP12 252 -#define DMP_CTRLSF1_2 254 -#define DMP_PREVPTAT 256 -#define DMP_ACCZB 258 -#define DMP_ACCXB 264 -#define DMP_ACCYB 266 -#define DMP_1HB 272 -#define DMP_1LB 274 -#define DMP_0H 276 -#define DMP_0L 278 -#define DMP_ASR22H 280 -#define DMP_ASR22L 282 -#define DMP_ASR6H 284 -#define DMP_ASR6L 286 -#define DMP_TMP13 288 -#define DMP_TMP14 290 -#define DMP_FINTXH 292 -#define DMP_FINTXL 294 -#define DMP_FINTYH 296 -#define DMP_FINTYL 298 -#define DMP_FINTZH 300 -#define DMP_FINTZL 302 -#define DMP_TMP1BH 304 -#define DMP_TMP1BL 306 -#define DMP_TMP2BH 308 -#define DMP_TMP2BL 310 -#define DMP_TMP3BH 312 -#define DMP_TMP3BL 314 -#define DMP_TMP4BH 316 -#define DMP_TMP4BL 318 -#define DMP_STXG 320 -#define DMP_ZCTXG 322 -#define DMP_STYG 324 -#define DMP_ZCTYG 326 -#define DMP_STZG 328 -#define DMP_ZCTZG 330 -#define DMP_CTRLSFJT2 332 -#define DMP_CTRLSFJTCNT 334 -#define DMP_PVXG 336 -#define DMP_TMP15 338 -#define DMP_PVYG 340 -#define DMP_TMP16 342 -#define DMP_PVZG 344 -#define DMP_TMP17 346 -#define DMP_MNMFLAGH 352 -#define DMP_MNMFLAGL 354 -#define DMP_MNMTMH 356 -#define DMP_MNMTML 358 -#define DMP_MNMTMTHRH 360 -#define DMP_MNMTMTHRL 362 -#define DMP_MNMTHRH 364 -#define DMP_MNMTHRL 366 -#define DMP_ACCQD4H 368 -#define DMP_ACCQD4L 370 -#define DMP_ACCQD5H 372 -#define DMP_ACCQD5L 374 -#define DMP_ACCQD6H 376 -#define DMP_ACCQD6L 378 -#define DMP_ACCQD7H 380 -#define DMP_ACCQD7L 382 -#define DMP_ACCQD0H 384 -#define DMP_ACCQD0L 386 -#define DMP_ACCQD1H 388 -#define DMP_ACCQD1L 390 -#define DMP_ACCQD2H 392 -#define DMP_ACCQD2L 394 -#define DMP_ACCQD3H 396 -#define DMP_ACCQD3L 398 -#define DMP_XN2H 400 -#define DMP_XN2L 402 -#define DMP_XN1H 404 -#define DMP_XN1L 406 -#define DMP_YN2H 408 -#define DMP_YN2L 410 -#define DMP_YN1H 412 -#define DMP_YN1L 414 -#define DMP_YH 416 -#define DMP_YL 418 -#define DMP_B0H 420 -#define DMP_B0L 422 -#define DMP_A1H 424 -#define DMP_A1L 426 -#define DMP_A2H 428 -#define DMP_A2L 430 -#define DMP_SEM1 432 -#define DMP_FIFOCNT 434 -#define DMP_SH_TH_X 436 -#define DMP_PACKET 438 -#define DMP_SH_TH_Y 440 -#define DMP_FOOTER 442 -#define DMP_SH_TH_Z 444 -#define DMP_TEMP29 448 -#define DMP_TEMP30 450 -#define DMP_XACCB_PRE 452 -#define DMP_XACCB_PREL 454 -#define DMP_YACCB_PRE 456 -#define DMP_YACCB_PREL 458 -#define DMP_ZACCB_PRE 460 -#define DMP_ZACCB_PREL 462 -#define DMP_TMP22 464 -#define DMP_TAP_TIMER 466 -#define DMP_TAP_THX 468 -#define DMP_TAP_THY 472 -#define DMP_TAP_THZ 476 -#define DMP_TAPW_MIN 478 -#define DMP_TMP25 480 -#define DMP_TMP26 482 -#define DMP_TMP27 484 -#define DMP_TMP28 486 -#define DMP_ORIENT 488 -#define DMP_THRSH 490 -#define DMP_ENDIANH 492 -#define DMP_ENDIANL 494 -#define DMP_BLPFNMTCH 496 -#define DMP_BLPFNMTCL 498 -#define DMP_BLPFNMXH 500 -#define DMP_BLPFNMXL 502 -#define DMP_BLPFNMYH 504 -#define DMP_BLPFNMYL 506 -#define DMP_BLPFNMZH 508 -#define DMP_BLPFNMZL 510 -#ifdef __cplusplus -} -#endif -#endif // DMPMAP_H diff --git a/invensense/mlsdk/mllite/invensense.h b/invensense/mlsdk/mllite/invensense.h deleted file mode 100644 index 586dd25..0000000 --- a/invensense/mlsdk/mllite/invensense.h +++ /dev/null @@ -1,24 +0,0 @@ -/** Main header file for Invensense's basic library. - */ -#include "accel.h" -#include "compass.h" -#include "dmpDefault.h" -#include "dmpKey.h" -#include "dmpmap.h" -#include "ml.h" -#include "mlBiasNoMotion.h" -#include "mlFIFO.h" -#include "mlFIFOHW.h" -#include "mlMathFunc.h" -#include "mlSetGyroBias.h" -#include "ml_legacy.h" -#include "ml_mputest.h" -#include "ml_stored_data.h" -#include "mlcontrol.h" -#include "mldl.h" -#include "mldl_cfg.h" -#include "mldmp.h" -#include "mlinclude.h" -#include "mlstates.h" -#include "mlsupervisor.h" -#include "pressure.h" diff --git a/invensense/mlsdk/mllite/ml.c b/invensense/mlsdk/mllite/ml.c deleted file mode 100644 index d830be7..0000000 --- a/invensense/mlsdk/mllite/ml.c +++ /dev/null @@ -1,1791 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -/****************************************************************************** - * - * $Id: ml.c 5642 2011-06-14 02:26:20Z mcaramello $ - * - *****************************************************************************/ - -/** - * @defgroup ML - * @brief Motion Library APIs. - * The Motion Library processes gyroscopes, accelerometers, and - * compasses to provide a physical model of the movement for the - * sensors. - * The results of this processing may be used to control objects - * within a user interface environment, detect gestures, track 3D - * movement for gaming applications, and analyze the blur created - * due to hand movement while taking a picture. - * - * @{ - * @file ml.c - * @brief The Motion Library APIs. - */ - -/* ------------------ */ -/* - Include Files. - */ -/* ------------------ */ - -#include <string.h> - -#include "ml.h" -#include "mldl.h" -#include "mltypes.h" -#include "mlinclude.h" -#include "compass.h" -#include "dmpKey.h" -#include "dmpDefault.h" -#include "mlstates.h" -#include "mlFIFO.h" -#include "mlFIFOHW.h" -#include "mlMathFunc.h" -#include "mlsupervisor.h" -#include "mlmath.h" -#include "mlcontrol.h" -#include "mldl_cfg.h" -#include "mpu.h" -#include "accel.h" -#include "mlos.h" -#include "mlsl.h" -#include "mlos.h" -#include "mlBiasNoMotion.h" -#include "mlSetGyroBias.h" -#include "log.h" -#undef MPL_LOG_TAG -#define MPL_LOG_TAG "MPL-ml" - -#define ML_MOT_TYPE_NONE 0 -#define ML_MOT_TYPE_NO_MOTION 1 -#define ML_MOT_TYPE_MOTION_DETECTED 2 - -#define ML_MOT_STATE_MOVING 0 -#define ML_MOT_STATE_NO_MOTION 1 -#define ML_MOT_STATE_BIAS_IN_PROG 2 - -#define _mlDebug(x) //{x} - -/* Global Variables */ -const unsigned char mlVer[] = { INV_VERSION }; - -struct inv_params_obj inv_params_obj = { - INV_BIAS_UPDATE_FUNC_DEFAULT, // bias_mode - INV_ORIENTATION_MASK_DEFAULT, // orientation_mask - INV_PROCESSED_DATA_CALLBACK_DEFAULT, // fifo_processed_func - INV_ORIENTATION_CALLBACK_DEFAULT, // orientation_cb_func - INV_MOTION_CALLBACK_DEFAULT, // motion_cb_func - INV_STATE_SERIAL_CLOSED // starting state -}; - -struct inv_obj_t inv_obj; -void *g_mlsl_handle; - -typedef struct { - // These describe callbacks happening everythime a DMP interrupt is processed - int_fast8_t numInterruptProcesses; - // Array of function pointers, function being void function taking void - inv_obj_func processInterruptCb[MAX_INTERRUPT_PROCESSES]; - -} tMLXCallbackInterrupt; // MLX_callback_t - -tMLXCallbackInterrupt mlxCallbackInterrupt; - -/* --------------- */ -/* - Functions. - */ -/* --------------- */ - -inv_error_t inv_freescale_sensor_fusion_16bit(unsigned short orient); -inv_error_t inv_freescale_sensor_fusion_8bit(unsigned short orient); -unsigned short inv_orientation_matrix_to_scalar(const signed char *mtx); - -/** - * @brief Open serial connection with the MPU device. - * This is the entry point of the MPL and must be - * called prior to any other function call. - * - * @param port System handle for 'port' MPU device is found on. - * The significance of this parameter varies by - * platform. It is passed as 'port' to MLSLSerialOpen. - * - * @return INV_SUCCESS or error code. - */ -inv_error_t inv_serial_start(char const *port) -{ - INVENSENSE_FUNC_START; - inv_error_t result; - - if (inv_get_state() >= INV_STATE_SERIAL_OPENED) - return INV_SUCCESS; - - result = inv_state_transition(INV_STATE_SERIAL_OPENED); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - result = inv_serial_open(port, &g_mlsl_handle); - if (INV_SUCCESS != result) { - (void)inv_state_transition(INV_STATE_SERIAL_CLOSED); - } - - return result; -} - -/** - * @brief Close the serial communication. - * This function needs to be called explicitly to shut down - * the communication with the device. Calling inv_dmp_close() - * won't affect the established serial communication. - * @return INV_SUCCESS; non-zero error code otherwise. - */ -inv_error_t inv_serial_stop(void) -{ - INVENSENSE_FUNC_START; - inv_error_t result = INV_SUCCESS; - - if (inv_get_state() == INV_STATE_SERIAL_CLOSED) - return INV_SUCCESS; - - result = inv_state_transition(INV_STATE_SERIAL_CLOSED); - if (INV_SUCCESS != result) { - MPL_LOGE("State Transition Failure in %s: %d\n", __func__, result); - } - result = inv_serial_close(g_mlsl_handle); - if (INV_SUCCESS != result) { - MPL_LOGE("Unable to close Serial Handle %s: %d\n", __func__, result); - } - return result; -} - -/** - * @brief Get the serial file handle to the device. - * @return The serial file handle. - */ -void *inv_get_serial_handle(void) -{ - INVENSENSE_FUNC_START; - return g_mlsl_handle; -} - -/** - * @brief apply the choosen orientation and full scale range - * for gyroscopes, accelerometer, and compass. - * @return INV_SUCCESS if successful, a non-zero code otherwise. - */ -inv_error_t inv_apply_calibration(void) -{ - INVENSENSE_FUNC_START; - signed char gyroCal[9] = { 0 }; - signed char accelCal[9] = { 0 }; - signed char magCal[9] = { 0 }; - float gyroScale = 2000.f; - float accelScale = 0.f; - float magScale = 0.f; - - inv_error_t result; - int ii; - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - - for (ii = 0; ii < 9; ii++) { - gyroCal[ii] = mldl_cfg->pdata->orientation[ii]; - if (NULL != mldl_cfg->accel){ - accelCal[ii] = mldl_cfg->pdata->accel.orientation[ii]; - } - if (NULL != mldl_cfg->compass){ - magCal[ii] = mldl_cfg->pdata->compass.orientation[ii]; - } - } - - switch (mldl_cfg->full_scale) { - case MPU_FS_250DPS: - gyroScale = 250.f; - break; - case MPU_FS_500DPS: - gyroScale = 500.f; - break; - case MPU_FS_1000DPS: - gyroScale = 1000.f; - break; - case MPU_FS_2000DPS: - gyroScale = 2000.f; - break; - default: - MPL_LOGE("Unrecognized full scale setting for gyros : %02X\n", - mldl_cfg->full_scale); - return INV_ERROR_INVALID_PARAMETER; - break; - } - - if (NULL != mldl_cfg->accel){ - RANGE_FIXEDPOINT_TO_FLOAT(mldl_cfg->accel->range, accelScale); - inv_obj.accel_sens = (long)(accelScale * 65536L); - /* sensitivity adjustment, typically = 2 (for +/- 2 gee) */ - inv_obj.accel_sens /= 2; - } - if (NULL != mldl_cfg->compass){ - RANGE_FIXEDPOINT_TO_FLOAT(mldl_cfg->compass->range, magScale); - inv_obj.compass_sens = (long)(magScale * 32768); - } - - if (inv_get_state() == INV_STATE_DMP_OPENED) { - result = inv_set_gyro_calibration(gyroScale, gyroCal); - if (INV_SUCCESS != result) { - MPL_LOGE("Unable to set Gyro Calibration\n"); - return result; - } - if (NULL != mldl_cfg->accel){ - result = inv_set_accel_calibration(accelScale, accelCal); - if (INV_SUCCESS != result) { - MPL_LOGE("Unable to set Accel Calibration\n"); - return result; - } - } - if (NULL != mldl_cfg->compass){ - result = inv_set_compass_calibration(magScale, magCal); - if (INV_SUCCESS != result) { - MPL_LOGE("Unable to set Mag Calibration\n"); - return result; - } - } - } - return INV_SUCCESS; -} - -/** - * @brief Setup the DMP to handle the accelerometer endianess. - * @return INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_apply_endian_accel(void) -{ - INVENSENSE_FUNC_START; - unsigned char regs[4] = { 0 }; - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - int endian = mldl_cfg->accel->endian; - - if (mldl_cfg->pdata->accel.bus != EXT_SLAVE_BUS_SECONDARY) { - endian = EXT_SLAVE_BIG_ENDIAN; - } - switch (endian) { - case EXT_SLAVE_FS8_BIG_ENDIAN: - case EXT_SLAVE_FS16_BIG_ENDIAN: - case EXT_SLAVE_LITTLE_ENDIAN: - regs[0] = 0; - regs[1] = 64; - regs[2] = 0; - regs[3] = 0; - break; - case EXT_SLAVE_BIG_ENDIAN: - default: - regs[0] = 0; - regs[1] = 0; - regs[2] = 64; - regs[3] = 0; - } - - return inv_set_mpu_memory(KEY_D_1_236, 4, regs); -} - -/** - * @internal - * @brief Initialize MLX data. This should be called to setup the mlx - * output buffers before any motion processing is done. - */ -void inv_init_ml(void) -{ - INVENSENSE_FUNC_START; - int ii; - long tmp[COMPASS_NUM_AXES]; - // Set all values to zero by default - memset(&inv_obj, 0, sizeof(struct inv_obj_t)); - memset(&mlxCallbackInterrupt, 0, sizeof(tMLXCallbackInterrupt)); - - inv_obj.compass_correction[0] = 1073741824L; - inv_obj.compass_correction_relative[0] = 1073741824L; - inv_obj.compass_disturb_correction[0] = 1073741824L; - inv_obj.compass_correction_offset[0] = 1073741824L; - inv_obj.relative_quat[0] = 1073741824L; - - //Not used with the ST accelerometer - inv_obj.no_motion_threshold = 20; // noMotionThreshold - //Not used with the ST accelerometer - inv_obj.motion_duration = 1536; // motionDuration - - inv_obj.motion_state = INV_MOTION; // Motion state - - inv_obj.bias_update_time = 8000; - inv_obj.bias_calc_time = 2000; - - inv_obj.internal_motion_state = ML_MOT_STATE_MOVING; - - inv_obj.start_time = inv_get_tick_count(); - - inv_obj.compass_cal[0] = 322122560L; - inv_obj.compass_cal[4] = 322122560L; - inv_obj.compass_cal[8] = 322122560L; - inv_obj.compass_sens = 322122560L; // Should only change when the sensor full-scale range (FSR) is changed. - - for (ii = 0; ii < COMPASS_NUM_AXES; ii++) { - inv_obj.compass_scale[ii] = 65536L; - inv_obj.compass_test_scale[ii] = 65536L; - inv_obj.compass_bias_error[ii] = P_INIT; - inv_obj.init_compass_bias[ii] = 0; - inv_obj.compass_asa[ii] = (1L << 30); - } - if (inv_compass_read_scale(tmp) == INV_SUCCESS) { - for (ii = 0; ii < COMPASS_NUM_AXES; ii++) - inv_obj.compass_asa[ii] = tmp[ii]; - } - inv_obj.got_no_motion_bias = 0; - inv_obj.got_compass_bias = 0; - inv_obj.compass_state = SF_UNCALIBRATED; - inv_obj.acc_state = SF_STARTUP_SETTLE; - - inv_obj.got_init_compass_bias = 0; - inv_obj.resetting_compass = 0; - - inv_obj.external_slave_callback = NULL; - inv_obj.compass_accuracy = 0; - - inv_obj.factory_temp_comp = 0; - inv_obj.got_coarse_heading = 0; - - inv_obj.compass_bias_ptr[0] = P_INIT; - inv_obj.compass_bias_ptr[4] = P_INIT; - inv_obj.compass_bias_ptr[8] = P_INIT; - - inv_obj.gyro_bias_err = 1310720; - - inv_obj.accel_lpf_gain = 1073744L; - inv_obj.no_motion_accel_threshold = 7000000L; -} - -/** - * @internal - * @brief This registers a function to be called for each time the DMP - * generates an an interrupt. - * It will be called after inv_register_fifo_rate_process() which gets called - * every time the FIFO data is processed. - * The FIFO does not have to be on for this callback. - * @param func Function to be called when a DMP interrupt occurs. - * @return INV_SUCCESS or non-zero error code. - */ -inv_error_t inv_register_dmp_interupt_cb(inv_obj_func func) -{ - INVENSENSE_FUNC_START; - // Make sure we have not filled up our number of allowable callbacks - if (mlxCallbackInterrupt.numInterruptProcesses <= - MAX_INTERRUPT_PROCESSES - 1) { - int kk; - // Make sure we haven't registered this function already - for (kk = 0; kk < mlxCallbackInterrupt.numInterruptProcesses; ++kk) { - if (mlxCallbackInterrupt.processInterruptCb[kk] == func) { - return INV_ERROR_INVALID_PARAMETER; - } - } - // Add new callback - mlxCallbackInterrupt.processInterruptCb[mlxCallbackInterrupt. - numInterruptProcesses] = func; - mlxCallbackInterrupt.numInterruptProcesses++; - return INV_SUCCESS; - } - return INV_ERROR_MEMORY_EXAUSTED; -} - -/** - * @internal - * @brief This unregisters a function to be called for each DMP interrupt. - * @return INV_SUCCESS or non-zero error code. - */ -inv_error_t inv_unregister_dmp_interupt_cb(inv_obj_func func) -{ - INVENSENSE_FUNC_START; - int kk, jj; - // Make sure we haven't registered this function already - for (kk = 0; kk < mlxCallbackInterrupt.numInterruptProcesses; ++kk) { - if (mlxCallbackInterrupt.processInterruptCb[kk] == func) { - // FIXME, we may need a thread block here - for (jj = kk + 1; jj < mlxCallbackInterrupt.numInterruptProcesses; - ++jj) { - mlxCallbackInterrupt.processInterruptCb[jj - 1] = - mlxCallbackInterrupt.processInterruptCb[jj]; - } - mlxCallbackInterrupt.numInterruptProcesses--; - return INV_SUCCESS; - } - } - return INV_ERROR_INVALID_PARAMETER; -} - -/** - * @internal - * @brief Run the recorded interrupt process callbacks in the event - * of an interrupt. - */ -void inv_run_dmp_interupt_cb(void) -{ - int kk; - for (kk = 0; kk < mlxCallbackInterrupt.numInterruptProcesses; ++kk) { - if (mlxCallbackInterrupt.processInterruptCb[kk]) - mlxCallbackInterrupt.processInterruptCb[kk] (&inv_obj); - } -} - -/** @internal -* Resets the Motion/No Motion state which should be called at startup and resume. -*/ -inv_error_t inv_reset_motion(void) -{ - unsigned char regs[8]; - inv_error_t result; - - inv_obj.motion_state = INV_MOTION; - inv_obj.flags[INV_MOTION_STATE_CHANGE] = INV_MOTION; - inv_obj.no_motion_accel_time = inv_get_tick_count(); - - regs[0] = DINAD8 + 2; - regs[1] = DINA0C; - regs[2] = DINAD8 + 1; - result = inv_set_mpu_memory(KEY_CFG_18, 3, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - regs[0] = (unsigned char)((inv_obj.motion_duration >> 8) & 0xff); - regs[1] = (unsigned char)(inv_obj.motion_duration & 0xff); - result = inv_set_mpu_memory(KEY_D_1_106, 2, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - memset(regs, 0, 8); - result = inv_set_mpu_memory(KEY_D_1_96, 8, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - result = - inv_set_mpu_memory(KEY_D_0_96, 4, inv_int32_to_big8(0x40000000, regs)); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - inv_set_motion_state(INV_MOTION); - return result; -} - -/** - * @internal - * @brief inv_start_bias_calc starts the bias calculation on the MPU. - */ -void inv_start_bias_calc(void) -{ - INVENSENSE_FUNC_START; - - inv_obj.suspend = 1; -} - -/** - * @internal - * @brief inv_stop_bias_calc stops the bias calculation on the MPU. - */ -void inv_stop_bias_calc(void) -{ - INVENSENSE_FUNC_START; - - inv_obj.suspend = 0; -} - -/** - * @brief inv_update_data fetches data from the fifo and updates the - * motion algorithms. - * - * @pre inv_dmp_open() - * @ifnot MPL_MF - * or inv_open_low_power_pedometer() - * or inv_eis_open_dmp() - * @endif - * and inv_dmp_start() must have been called. - * - * @note Motion algorithm data is constant between calls to inv_update_data - * - * @return - * - INV_SUCCESS - * - Non-zero error code - */ -inv_error_t inv_update_data(void) -{ - INVENSENSE_FUNC_START; - inv_error_t result = INV_SUCCESS; - int_fast8_t got, ftry; - uint_fast8_t mpu_interrupt; - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - - if (inv_get_state() != INV_STATE_DMP_STARTED) - return INV_ERROR_SM_IMPROPER_STATE; - - // Set the maximum number of FIFO packets we want to process - if (mldl_cfg->requested_sensors & INV_DMP_PROCESSOR) { - ftry = 100; // Large enough to process all packets - } else { - ftry = 1; - } - - // Go and process at most ftry number of packets, probably less than ftry - result = inv_read_and_process_fifo(ftry, &got); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - // Process all interrupts - mpu_interrupt = inv_get_interrupt_trigger(INTSRC_AUX1); - if (mpu_interrupt) { - inv_clear_interrupt_trigger(INTSRC_AUX1); - } - // Check if interrupt was from MPU - mpu_interrupt = inv_get_interrupt_trigger(INTSRC_MPU); - if (mpu_interrupt) { - inv_clear_interrupt_trigger(INTSRC_MPU); - } - // Take care of the callbacks that want to be notified when there was an MPU interrupt - if (mpu_interrupt) { - inv_run_dmp_interupt_cb(); - } - - result = inv_get_fifo_status(); - return result; -} - -/** - * @brief inv_check_flag returns the value of a flag. - * inv_check_flag can be used to check a number of flags, - * allowing users to poll flags rather than register callback - * functions. If a flag is set to True when inv_check_flag is called, - * the flag is automatically reset. - * The flags are: - * - INV_RAW_DATA_READY - * Indicates that new raw data is available. - * - INV_PROCESSED_DATA_READY - * Indicates that new processed data is available. - * - INV_GOT_GESTURE - * Indicates that a gesture has been detected by the gesture engine. - * - INV_MOTION_STATE_CHANGE - * Indicates that a change has been made from motion to no motion, - * or vice versa. - * - * @pre inv_dmp_open() - * @ifnot MPL_MF - * or inv_open_low_power_pedometer() - * or inv_eis_open_dmp() - * @endif - * and inv_dmp_start() must have been called. - * - * @param flag The flag to check. - * - * @return TRUE or FALSE state of the flag - */ -int inv_check_flag(int flag) -{ - INVENSENSE_FUNC_START; - int flagReturn = inv_obj.flags[flag]; - - inv_obj.flags[flag] = 0; - return flagReturn; -} - -/** - * @brief Enable generation of the DMP interrupt when Motion or no-motion - * is detected - * @param on - * Boolean to turn the interrupt on or off. - * @return INV_SUCCESS or non-zero error code. - */ -inv_error_t inv_set_motion_interrupt(unsigned char on) -{ - INVENSENSE_FUNC_START; - inv_error_t result; - unsigned char regs[2] = { 0 }; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (on) { - result = inv_get_dl_cfg_int(BIT_DMP_INT_EN); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - inv_obj.interrupt_sources |= INV_INT_MOTION; - } else { - inv_obj.interrupt_sources &= ~INV_INT_MOTION; - if (!inv_obj.interrupt_sources) { - result = inv_get_dl_cfg_int(0); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } - } - - if (on) { - regs[0] = DINAFE; - } else { - regs[0] = DINAD8; - } - result = inv_set_mpu_memory(KEY_CFG_7, 1, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - return result; -} - -/** - * Enable generation of the DMP interrupt when a FIFO packet is ready - * - * @param on Boolean to turn the interrupt on or off - * - * @return INV_SUCCESS or non-zero error code - */ -inv_error_t inv_set_fifo_interrupt(unsigned char on) -{ - INVENSENSE_FUNC_START; - inv_error_t result; - unsigned char regs[2] = { 0 }; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (on) { - result = inv_get_dl_cfg_int(BIT_DMP_INT_EN); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - inv_obj.interrupt_sources |= INV_INT_FIFO; - } else { - inv_obj.interrupt_sources &= ~INV_INT_FIFO; - if (!inv_obj.interrupt_sources) { - result = inv_get_dl_cfg_int(0); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } - } - - if (on) { - regs[0] = DINAFE; - } else { - regs[0] = DINAD8; - } - result = inv_set_mpu_memory(KEY_CFG_6, 1, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - return result; -} - -/** - * @brief Get the current set of DMP interrupt sources. - * These interrupts are generated by the DMP and can be - * routed to the MPU interrupt line via internal - * settings. - * - * @pre inv_dmp_open() - * @ifnot MPL_MF - * or inv_open_low_power_pedometer() - * or inv_eis_open_dmp() - * @endif - * must have been called. - * - * @return Currently enabled interrupt sources. The possible interrupts are: - * - INV_INT_FIFO, - * - INV_INT_MOTION, - * - INV_INT_TAP - */ -int inv_get_interrupts(void) -{ - INVENSENSE_FUNC_START; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return 0; // error - - return inv_obj.interrupt_sources; -} - -/** - * @brief Sets up the Accelerometer calibration and scale factor. - * - * Please refer to the provided "9-Axis Sensor Fusion Application - * Note" document provided. Section 5, "Sensor Mounting Orientation" - * offers a good coverage on the mounting matrices and explains how - * to use them. - * - * @pre inv_dmp_open() - * @ifnot MPL_MF - * or inv_open_low_power_pedometer() - * or inv_eis_open_dmp() - * @endif - * must have been called. - * @pre inv_dmp_start() must <b>NOT</b> have been called. - * - * @see inv_set_gyro_calibration(). - * @see inv_set_compass_calibration(). - * - * @param[in] range - * The range of the accelerometers in g's. An accelerometer - * that has a range of +2g's to -2g's should pass in 2. - * @param[in] orientation - * A 9 element matrix that represents how the accelerometers - * are oriented with respect to the device they are mounted - * in and the reference axis system. - * A typical set of values are {1, 0, 0, 0, 1, 0, 0, 0, 1}. - * This example corresponds to a 3 x 3 identity matrix. - * - * @return INV_SUCCESS if successful; a non-zero error code otherwise. - */ -inv_error_t inv_set_accel_calibration(float range, signed char *orientation) -{ - INVENSENSE_FUNC_START; - float cal[9]; - float scale = range / 32768.f; - int kk; - unsigned long sf; - inv_error_t result; - unsigned char regs[4] = { 0, 0, 0, 0 }; - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - - if (inv_get_state() != INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - /* Apply zero g-offset values */ - if (ACCEL_ID_KXSD9 == mldl_cfg->accel->id) { - regs[0] = 0x80; - regs[1] = 0x0; - regs[2] = 0x80; - regs[3] = 0x0; - } - - if (inv_dmpkey_supported(KEY_D_1_152)) { - result = inv_set_mpu_memory(KEY_D_1_152, 4, ®s[0]); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } - - if (scale == 0) { - inv_obj.accel_sens = 0; - } - - if (mldl_cfg->accel->id) { - unsigned char tmp[3] = { DINA4C, DINACD, DINA6C }; - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - unsigned char regs[3]; - unsigned short orient; - - for (kk = 0; kk < 9; ++kk) { - cal[kk] = scale * orientation[kk]; - inv_obj.accel_cal[kk] = (long)(cal[kk] * (float)(1L << 30)); - } - - orient = inv_orientation_matrix_to_scalar(orientation); - regs[0] = tmp[orient & 3]; - regs[1] = tmp[(orient >> 3) & 3]; - regs[2] = tmp[(orient >> 6) & 3]; - result = inv_set_mpu_memory(KEY_FCFG_2, 3, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - regs[0] = DINA26; - regs[1] = DINA46; - regs[2] = DINA66; - - if (orient & 4) - regs[0] |= 1; - if (orient & 0x20) - regs[1] |= 1; - if (orient & 0x100) - regs[2] |= 1; - - result = inv_set_mpu_memory(KEY_FCFG_7, 3, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - if (mldl_cfg->accel->id == ACCEL_ID_MMA845X) { - result = inv_freescale_sensor_fusion_16bit(orient); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } else if (mldl_cfg->accel->id == ACCEL_ID_MMA8450) { - result = inv_freescale_sensor_fusion_8bit(orient); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } - } - - if (inv_obj.accel_sens != 0) { - sf = (1073741824L / inv_obj.accel_sens); - } else { - sf = 0; - } - regs[0] = (unsigned char)((sf >> 8) & 0xff); - regs[1] = (unsigned char)(sf & 0xff); - result = inv_set_mpu_memory(KEY_D_0_108, 2, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - return result; -} - -/** - * @brief Sets up the Gyro calibration and scale factor. - * - * Please refer to the provided "9-Axis Sensor Fusion Application - * Note" document provided. Section 5, "Sensor Mounting Orientation" - * offers a good coverage on the mounting matrices and explains - * how to use them. - * - * @pre inv_dmp_open() - * @ifnot MPL_MF - * or inv_open_low_power_pedometer() - * or inv_eis_open_dmp() - * @endif - * must have been called. - * @pre inv_dmp_start() must have <b>NOT</b> been called. - * - * @see inv_set_accel_calibration(). - * @see inv_set_compass_calibration(). - * - * @param[in] range - * The range of the gyros in degrees per second. A gyro - * that has a range of +2000 dps to -2000 dps should pass in - * 2000. - * @param[in] orientation - * A 9 element matrix that represents how the gyro are oriented - * with respect to the device they are mounted in. A typical - * set of values are {1, 0, 0, 0, 1, 0, 0, 0, 1}. This - * example corresponds to a 3 x 3 identity matrix. - * - * @return INV_SUCCESS if successful or Non-zero error code otherwise. - */ -inv_error_t inv_set_gyro_calibration(float range, signed char *orientation) -{ - INVENSENSE_FUNC_START; - - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - int kk; - float scale; - inv_error_t result; - - unsigned char regs[12] = { 0 }; - unsigned char maxVal = 0; - unsigned char tmpPtr = 0; - unsigned char tmpSign = 0; - unsigned char i = 0; - int sf = 0; - - if (inv_get_state() != INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (mldl_cfg->gyro_sens_trim != 0) { - /* adjust the declared range to consider the gyro_sens_trim - of this part when different from the default (first dividend) */ - range *= (32768.f / 250) / mldl_cfg->gyro_sens_trim; - } - - scale = range / 32768.f; // inverse of sensitivity for the given full scale range - inv_obj.gyro_sens = (long)(range * 32768L); - - for (kk = 0; kk < 9; ++kk) { - inv_obj.gyro_cal[kk] = (long)(scale * orientation[kk] * (1L << 30)); - inv_obj.gyro_orient[kk] = (long)((double)orientation[kk] * (1L << 30)); - } - - { - unsigned char tmpD = DINAC9; - unsigned char tmpE = DINA2C; - unsigned char tmpF = DINACB; - regs[3] = DINA36; - regs[4] = DINA56; - regs[5] = DINA76; - - for (i = 0; i < 3; i++) { - maxVal = 0; - tmpSign = 0; - if (inv_obj.gyro_orient[0 + 3 * i] < 0) - tmpSign = 1; - if (ABS(inv_obj.gyro_orient[1 + 3 * i]) > - ABS(inv_obj.gyro_orient[0 + 3 * i])) { - maxVal = 1; - if (inv_obj.gyro_orient[1 + 3 * i] < 0) - tmpSign = 1; - } - if (ABS(inv_obj.gyro_orient[2 + 3 * i]) > - ABS(inv_obj.gyro_orient[1 + 3 * i])) { - tmpSign = 0; - maxVal = 2; - if (inv_obj.gyro_orient[2 + 3 * i] < 0) - tmpSign = 1; - } - if (maxVal == 0) { - regs[tmpPtr++] = tmpD; - if (tmpSign) - regs[tmpPtr + 2] |= 0x01; - } else if (maxVal == 1) { - regs[tmpPtr++] = tmpE; - if (tmpSign) - regs[tmpPtr + 2] |= 0x01; - } else { - regs[tmpPtr++] = tmpF; - if (tmpSign) - regs[tmpPtr + 2] |= 0x01; - } - } - result = inv_set_mpu_memory(KEY_FCFG_1, 3, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_set_mpu_memory(KEY_FCFG_3, 3, ®s[3]); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - //sf = (gyroSens) * (0.5 * (pi/180) / 200.0) * 16384 - inv_obj.gyro_sf = - (long)(((long long)inv_obj.gyro_sens * 767603923LL) / 1073741824LL); - result = - inv_set_mpu_memory(KEY_D_0_104, 4, - inv_int32_to_big8(inv_obj.gyro_sf, regs)); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - if (inv_obj.gyro_sens != 0) { - sf = (long)((long long)23832619764371LL / inv_obj.gyro_sens); - } else { - sf = 0; - } - - result = inv_set_mpu_memory(KEY_D_0_24, 4, inv_int32_to_big8(sf, regs)); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } - return INV_SUCCESS; -} - -/** - * @brief Sets up the Compass calibration and scale factor. - * - * Please refer to the provided "9-Axis Sensor Fusion Application - * Note" document provided. Section 5, "Sensor Mounting Orientation" - * offers a good coverage on the mounting matrices and explains - * how to use them. - * - * @pre inv_dmp_open() - * @ifnot MPL_MF - * or inv_open_low_power_pedometer() - * or inv_eis_open_dmp() - * @endif - * must have been called. - * @pre inv_dmp_start() must have <b>NOT</b> been called. - * - * @see inv_set_gyro_calibration(). - * @see inv_set_accel_calibration(). - * - * @param[in] range - * The range of the compass. - * @param[in] orientation - * A 9 element matrix that represents how the compass is - * oriented with respect to the device they are mounted in. - * A typical set of values are {1, 0, 0, 0, 1, 0, 0, 0, 1}. - * This example corresponds to a 3 x 3 identity matrix. - * The matrix describes how to go from the chip mounting to - * the body of the device. - * - * @return INV_SUCCESS if successful or Non-zero error code otherwise. - */ -inv_error_t inv_set_compass_calibration(float range, signed char *orientation) -{ - INVENSENSE_FUNC_START; - float cal[9]; - float scale = range / 32768.f; - int kk; - unsigned short compassId = 0; - - compassId = inv_get_compass_id(); - - if ((compassId == COMPASS_ID_YAS529) || (compassId == COMPASS_ID_HMC5883) - || (compassId == COMPASS_ID_LSM303M)) { - scale /= 32.0f; - } - - for (kk = 0; kk < 9; ++kk) { - cal[kk] = scale * orientation[kk]; - inv_obj.compass_cal[kk] = (long)(cal[kk] * (float)(1L << 30)); - } - - inv_obj.compass_sens = (long)(scale * 1073741824L); - - if (inv_dmpkey_supported(KEY_CPASS_MTX_00)) { - unsigned char reg0[4] = { 0, 0, 0, 0 }; - unsigned char regp[4] = { 64, 0, 0, 0 }; - unsigned char regn[4] = { 64 + 128, 0, 0, 0 }; - unsigned char *reg; - int_fast8_t kk; - unsigned short keyList[9] = - { KEY_CPASS_MTX_00, KEY_CPASS_MTX_01, KEY_CPASS_MTX_02, - KEY_CPASS_MTX_10, KEY_CPASS_MTX_11, KEY_CPASS_MTX_12, - KEY_CPASS_MTX_20, KEY_CPASS_MTX_21, KEY_CPASS_MTX_22 - }; - - for (kk = 0; kk < 9; ++kk) { - - if (orientation[kk] == 1) - reg = regp; - else if (orientation[kk] == -1) - reg = regn; - else - reg = reg0; - inv_set_mpu_memory(keyList[kk], 4, reg); - } - } - - return INV_SUCCESS; -} - -/** -* @internal -* @brief Sets the Gyro Dead Zone based upon LPF filter settings and Control setup. -*/ -inv_error_t inv_set_dead_zone(void) -{ - unsigned char reg; - inv_error_t result; - extern struct control_params cntrl_params; - - if (cntrl_params.functions & INV_DEAD_ZONE) { - reg = 0x08; - } else { - if (inv_params_obj.bias_mode & INV_BIAS_FROM_LPF) { - reg = 0x2; - } else { - reg = 0; - } - } - - result = inv_set_mpu_memory(KEY_D_0_163, 1, ®); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - return result; -} - -/** - * @brief inv_set_bias_update is used to register which algorithms will be - * used to automatically reset the gyroscope bias. - * The engine INV_BIAS_UPDATE must be enabled for these algorithms to - * run. - * - * @pre inv_dmp_open() - * @ifnot MPL_MF - * or inv_open_low_power_pedometer() - * or inv_eis_open_dmp() - * @endif - * and inv_dmp_start() - * must <b>NOT</b> have been called. - * - * @param function A function or bitwise OR of functions that determine - * how the gyroscope bias will be automatically updated. - * Functions include: - * - INV_NONE or 0, - * - INV_BIAS_FROM_NO_MOTION, - * - INV_BIAS_FROM_GRAVITY, - * - INV_BIAS_FROM_TEMPERATURE, - \ifnot UMPL - * - INV_BIAS_FROM_LPF, - * - INV_MAG_BIAS_FROM_MOTION, - * - INV_MAG_BIAS_FROM_GYRO, - * - INV_ALL. - * \endif - * @return INV_SUCCESS if successful or Non-zero error code otherwise. - */ -inv_error_t inv_set_bias_update(unsigned short function) -{ - INVENSENSE_FUNC_START; - unsigned char regs[4]; - long tmp[3] = { 0, 0, 0 }; - inv_error_t result = INV_SUCCESS; - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - - if (inv_get_state() != INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - /* do not allow progressive no motion bias tracker to run - - it's not fully debugged */ - function &= ~INV_PROGRESSIVE_NO_MOTION; // FIXME, workaround - MPL_LOGV("forcing disable of PROGRESSIVE_NO_MOTION bias tracker\n"); - - // You must use EnableFastNoMotion() to get this feature - function &= ~INV_BIAS_FROM_FAST_NO_MOTION; - - // You must use DisableFastNoMotion() to turn this feature off - if (inv_params_obj.bias_mode & INV_BIAS_FROM_FAST_NO_MOTION) - function |= INV_BIAS_FROM_FAST_NO_MOTION; - - /*--- remove magnetic components from bias tracking - if there is no compass ---*/ - if (!inv_compass_present()) { - function &= ~(INV_MAG_BIAS_FROM_GYRO | INV_MAG_BIAS_FROM_MOTION); - } else { - function &= ~(INV_BIAS_FROM_LPF); - } - - // Enable function sets bias from no motion - inv_params_obj.bias_mode = function & (~INV_BIAS_FROM_NO_MOTION); - - if (function & INV_BIAS_FROM_NO_MOTION) { - inv_enable_bias_no_motion(); - } else { - inv_disable_bias_no_motion(); - } - - if (inv_params_obj.bias_mode & INV_BIAS_FROM_LPF) { - regs[0] = DINA80 + 2; - regs[1] = DINA2D; - regs[2] = DINA55; - regs[3] = DINA7D; - } else { - regs[0] = DINA80 + 7; - regs[1] = DINA2D; - regs[2] = DINA35; - regs[3] = DINA3D; - } - result = inv_set_mpu_memory(KEY_FCFG_5, 4, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_set_dead_zone(); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - if ((inv_params_obj.bias_mode & INV_BIAS_FROM_GRAVITY) && - !inv_compass_present()) { - result = inv_set_gyro_data_source(INV_GYRO_FROM_QUATERNION); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } else { - result = inv_set_gyro_data_source(INV_GYRO_FROM_RAW); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } - - inv_obj.factory_temp_comp = 0; // FIXME, workaround - if ((mldl_cfg->offset_tc[0] != 0) || - (mldl_cfg->offset_tc[1] != 0) || (mldl_cfg->offset_tc[2] != 0)) { - inv_obj.factory_temp_comp = 1; - } - - if (inv_obj.factory_temp_comp == 0) { - if (inv_params_obj.bias_mode & INV_BIAS_FROM_TEMPERATURE) { - result = inv_set_gyro_temp_slope(inv_obj.temp_slope); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } else { - result = inv_set_gyro_temp_slope(tmp); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } - } else { - inv_params_obj.bias_mode &= ~INV_LEARN_BIAS_FROM_TEMPERATURE; - MPL_LOGV("factory temperature compensation coefficients available - " - "disabling INV_LEARN_BIAS_FROM_TEMPERATURE\n"); - } - - /*---- hard requirement for using bias tracking BIAS_FROM_GRAVITY, relying on - compass and accel data, is to have accelerometer data delivered in the - FIFO ----*/ - if (((inv_params_obj.bias_mode & INV_BIAS_FROM_GRAVITY) - && inv_compass_present()) - || (inv_params_obj.bias_mode & INV_MAG_BIAS_FROM_GYRO) - || (inv_params_obj.bias_mode & INV_MAG_BIAS_FROM_MOTION)) { - inv_send_accel(INV_ALL, INV_32_BIT); - inv_send_gyro(INV_ALL, INV_32_BIT); - } - - return result; -} - -/** - * @brief inv_get_motion_state is used to determine if the device is in - * a 'motion' or 'no motion' state. - * inv_get_motion_state returns INV_MOTION of the device is moving, - * or INV_NO_MOTION if the device is not moving. - * - * @pre inv_dmp_open() - * @ifnot MPL_MF - * or inv_open_low_power_pedometer() - * or inv_eis_open_dmp() - * @endif - * and inv_dmp_start() - * must have been called. - * - * @return INV_SUCCESS if successful or Non-zero error code otherwise. - */ -int inv_get_motion_state(void) -{ - INVENSENSE_FUNC_START; - return inv_obj.motion_state; -} - -/** - * @brief inv_set_no_motion_thresh is used to set the threshold for - * detecting INV_NO_MOTION - * - * @pre inv_dmp_open() - * @ifnot MPL_MF - * or inv_open_low_power_pedometer() - * or inv_eis_open_dmp() - * @endif - * must have been called. - * - * @param thresh A threshold scaled in degrees per second. - * - * @return INV_SUCCESS if successful or Non-zero error code otherwise. - */ -inv_error_t inv_set_no_motion_thresh(float thresh) -{ - inv_error_t result = INV_SUCCESS; - unsigned char regs[4] = { 0 }; - long tmp; - INVENSENSE_FUNC_START; - - tmp = (long)(thresh * thresh * 2.045f); - if (tmp < 0) { - return INV_ERROR; - } else if (tmp > 8180000L) { - return INV_ERROR; - } - inv_obj.no_motion_threshold = tmp; - - regs[0] = (unsigned char)(tmp >> 24); - regs[1] = (unsigned char)((tmp >> 16) & 0xff); - regs[2] = (unsigned char)((tmp >> 8) & 0xff); - regs[3] = (unsigned char)(tmp & 0xff); - - result = inv_set_mpu_memory(KEY_D_1_108, 4, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_reset_motion(); - return result; -} - -/** - * @brief inv_set_no_motion_threshAccel is used to set the threshold for - * detecting INV_NO_MOTION with accelerometers when Gyros have - * been turned off - * - * @pre inv_dmp_open() - * @ifnot MPL_MF - * or inv_open_low_power_pedometer() - * or inv_eis_open_dmp() - * @endif - * must have been called. - * - * @param thresh A threshold in g's scaled by 2^32 - * - * @return INV_SUCCESS if successful or Non-zero error code otherwise. - */ -inv_error_t inv_set_no_motion_threshAccel(long thresh) -{ - INVENSENSE_FUNC_START; - - inv_obj.no_motion_accel_threshold = thresh; - - return INV_SUCCESS; -} - -/** - * @brief inv_set_no_motion_time is used to set the time required for - * detecting INV_NO_MOTION - * - * @pre inv_dmp_open() - * @ifnot MPL_MF - * or inv_open_low_power_pedometer() - * or inv_eis_open_dmp() - * @endif - * must have been called. - * - * @param time A time in seconds. - * - * @return INV_SUCCESS if successful or Non-zero error code otherwise. - */ -inv_error_t inv_set_no_motion_time(float time) -{ - inv_error_t result = INV_SUCCESS; - unsigned char regs[2] = { 0 }; - long tmp; - - INVENSENSE_FUNC_START; - - tmp = (long)(time * 200); - if (tmp < 0) { - return INV_ERROR; - } else if (tmp > 65535L) { - return INV_ERROR; - } - inv_obj.motion_duration = (unsigned short)tmp; - - regs[0] = (unsigned char)((inv_obj.motion_duration >> 8) & 0xff); - regs[1] = (unsigned char)(inv_obj.motion_duration & 0xff); - result = inv_set_mpu_memory(KEY_D_1_106, 2, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_reset_motion(); - return result; -} - -/** - * @brief inv_get_version is used to get the ML version. - * - * @pre inv_get_version can be called at any time. - * - * @param version inv_get_version writes the ML version - * string pointer to version. - * - * @return INV_SUCCESS if successful or Non-zero error code otherwise. - */ -inv_error_t inv_get_version(unsigned char **version) -{ - INVENSENSE_FUNC_START; - - *version = (unsigned char *)mlVer; //fixme we are wiping const - - return INV_SUCCESS; -} - -/** - * @brief Check for the presence of the gyro sensor. - * - * This is not a physical check but a logical check and the value can change - * dynamically based on calls to inv_set_mpu_sensors(). - * - * @return TRUE if the gyro is enabled FALSE otherwise. - */ -int inv_get_gyro_present(void) -{ - return inv_get_dl_config()->requested_sensors & (INV_X_GYRO | INV_Y_GYRO | - INV_Z_GYRO); -} - -static unsigned short inv_row_2_scale(const signed char *row) -{ - unsigned short b; - - if (row[0] > 0) - b = 0; - else if (row[0] < 0) - b = 4; - else if (row[1] > 0) - b = 1; - else if (row[1] < 0) - b = 5; - else if (row[2] > 0) - b = 2; - else if (row[2] < 0) - b = 6; - else - b = 7; // error - return b; -} - -unsigned short inv_orientation_matrix_to_scalar(const signed char *mtx) -{ - unsigned short scalar; - /* - XYZ 010_001_000 Identity Matrix - XZY 001_010_000 - YXZ 010_000_001 - YZX 000_010_001 - ZXY 001_000_010 - ZYX 000_001_010 - */ - - scalar = inv_row_2_scale(mtx); - scalar |= inv_row_2_scale(mtx + 3) << 3; - scalar |= inv_row_2_scale(mtx + 6) << 6; - - return scalar; -} - -/* Setups up the Freescale 16-bit accel for Sensor Fusion -* @param[in] orient A scalar representation of the orientation -* that describes how to go from the Chip Orientation -* to the Board Orientation often times called the Body Orientation in Invensense Documentation. -* inv_orientation_matrix_to_scalar() will turn the transformation matrix into this scalar. -*/ -inv_error_t inv_freescale_sensor_fusion_16bit(unsigned short orient) -{ - unsigned char rr[3]; - inv_error_t result; - - orient = orient & 0xdb; - switch (orient) { - default: - // Typically 0x88 - rr[0] = DINACC; - rr[1] = DINACF; - rr[2] = DINA0E; - break; - case 0x50: - rr[0] = DINACE; - rr[1] = DINA0E; - rr[2] = DINACD; - break; - case 0x81: - rr[0] = DINACE; - rr[1] = DINACB; - rr[2] = DINA0E; - break; - case 0x11: - rr[0] = DINACC; - rr[1] = DINA0E; - rr[2] = DINACB; - break; - case 0x42: - rr[0] = DINA0A; - rr[1] = DINACF; - rr[2] = DINACB; - break; - case 0x0a: - rr[0] = DINA0A; - rr[1] = DINACB; - rr[2] = DINACD; - break; - } - result = inv_set_mpu_memory(KEY_FCFG_AZ, 3, rr); - return result; -} - -/* Setups up the Freescale 8-bit accel for Sensor Fusion -* @param[in] orient A scalar representation of the orientation -* that describes how to go from the Chip Orientation -* to the Board Orientation often times called the Body Orientation in Invensense Documentation. -* inv_orientation_matrix_to_scalar() will turn the transformation matrix into this scalar. -*/ -inv_error_t inv_freescale_sensor_fusion_8bit(unsigned short orient) -{ - unsigned char regs[27]; - inv_error_t result; - uint_fast8_t kk; - - orient = orient & 0xdb; - kk = 0; - - regs[kk++] = DINAC3; - regs[kk++] = DINA90 + 14; - regs[kk++] = DINAA0 + 9; - regs[kk++] = DINA3E; - regs[kk++] = DINA5E; - regs[kk++] = DINA7E; - - regs[kk++] = DINAC2; - regs[kk++] = DINAA0 + 9; - regs[kk++] = DINA90 + 9; - regs[kk++] = DINAF8 + 2; - - switch (orient) { - default: - // Typically 0x88 - regs[kk++] = DINACB; - - regs[kk++] = DINA54; - regs[kk++] = DINA50; - regs[kk++] = DINA50; - regs[kk++] = DINA50; - regs[kk++] = DINA50; - regs[kk++] = DINA50; - regs[kk++] = DINA50; - regs[kk++] = DINA50; - - regs[kk++] = DINACD; - break; - case 0x50: - regs[kk++] = DINACB; - - regs[kk++] = DINACF; - - regs[kk++] = DINA7C; - regs[kk++] = DINA78; - regs[kk++] = DINA78; - regs[kk++] = DINA78; - regs[kk++] = DINA78; - regs[kk++] = DINA78; - regs[kk++] = DINA78; - regs[kk++] = DINA78; - break; - case 0x81: - regs[kk++] = DINA2C; - regs[kk++] = DINA28; - regs[kk++] = DINA28; - regs[kk++] = DINA28; - regs[kk++] = DINA28; - regs[kk++] = DINA28; - regs[kk++] = DINA28; - regs[kk++] = DINA28; - - regs[kk++] = DINACD; - - regs[kk++] = DINACB; - break; - case 0x11: - regs[kk++] = DINA2C; - regs[kk++] = DINA28; - regs[kk++] = DINA28; - regs[kk++] = DINA28; - regs[kk++] = DINA28; - regs[kk++] = DINA28; - regs[kk++] = DINA28; - regs[kk++] = DINA28; - regs[kk++] = DINACB; - regs[kk++] = DINACF; - break; - case 0x42: - regs[kk++] = DINACF; - regs[kk++] = DINACD; - - regs[kk++] = DINA7C; - regs[kk++] = DINA78; - regs[kk++] = DINA78; - regs[kk++] = DINA78; - regs[kk++] = DINA78; - regs[kk++] = DINA78; - regs[kk++] = DINA78; - regs[kk++] = DINA78; - break; - case 0x0a: - regs[kk++] = DINACD; - - regs[kk++] = DINA54; - regs[kk++] = DINA50; - regs[kk++] = DINA50; - regs[kk++] = DINA50; - regs[kk++] = DINA50; - regs[kk++] = DINA50; - regs[kk++] = DINA50; - regs[kk++] = DINA50; - - regs[kk++] = DINACF; - break; - } - - regs[kk++] = DINA90 + 7; - regs[kk++] = DINAF8 + 3; - regs[kk++] = DINAA0 + 9; - regs[kk++] = DINA0E; - regs[kk++] = DINA0E; - regs[kk++] = DINA0E; - - regs[kk++] = DINAF8 + 1; // filler - - result = inv_set_mpu_memory(KEY_FCFG_FSCALE, kk, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - return result; -} - -/** - * Controlls each sensor and each axis when the motion processing unit is - * running. When it is not running, simply records the state for later. - * - * NOTE: In this version only full sensors controll is allowed. Independent - * axis control will return an error. - * - * @param sensors Bit field of each axis desired to be turned on or off - * - * @return INV_SUCCESS or non-zero error code - */ -inv_error_t inv_set_mpu_sensors(unsigned long sensors) -{ - INVENSENSE_FUNC_START; - unsigned char state = inv_get_state(); - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - inv_error_t result = INV_SUCCESS; - unsigned short fifoRate; - - if (state < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (((sensors & INV_THREE_AXIS_ACCEL) != INV_THREE_AXIS_ACCEL) && - ((sensors & INV_THREE_AXIS_ACCEL) != 0)) { - return INV_ERROR_FEATURE_NOT_IMPLEMENTED; - } - if (((sensors & INV_THREE_AXIS_ACCEL) != 0) && - (mldl_cfg->pdata->accel.get_slave_descr == 0)) { - return INV_ERROR_SERIAL_DEVICE_NOT_RECOGNIZED; - } - - if (((sensors & INV_THREE_AXIS_COMPASS) != INV_THREE_AXIS_COMPASS) && - ((sensors & INV_THREE_AXIS_COMPASS) != 0)) { - return INV_ERROR_FEATURE_NOT_IMPLEMENTED; - } - if (((sensors & INV_THREE_AXIS_COMPASS) != 0) && - (mldl_cfg->pdata->compass.get_slave_descr == 0)) { - return INV_ERROR_SERIAL_DEVICE_NOT_RECOGNIZED; - } - - if (((sensors & INV_THREE_AXIS_PRESSURE) != INV_THREE_AXIS_PRESSURE) && - ((sensors & INV_THREE_AXIS_PRESSURE) != 0)) { - return INV_ERROR_FEATURE_NOT_IMPLEMENTED; - } - if (((sensors & INV_THREE_AXIS_PRESSURE) != 0) && - (mldl_cfg->pdata->pressure.get_slave_descr == 0)) { - return INV_ERROR_SERIAL_DEVICE_NOT_RECOGNIZED; - } - - /* DMP was off, and is turning on */ - if (sensors & INV_DMP_PROCESSOR && - !(mldl_cfg->requested_sensors & INV_DMP_PROCESSOR)) { - struct ext_slave_config config; - long odr; - config.key = MPU_SLAVE_CONFIG_ODR_RESUME; - config.len = sizeof(long); - config.apply = (state == INV_STATE_DMP_STARTED); - config.data = &odr; - - odr = (inv_mpu_get_sampling_rate_hz(mldl_cfg) * 1000); - result = inv_mpu_config_accel(mldl_cfg, - inv_get_serial_handle(), - inv_get_serial_handle(), &config); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - config.key = MPU_SLAVE_CONFIG_IRQ_RESUME; - odr = MPU_SLAVE_IRQ_TYPE_NONE; - result = inv_mpu_config_accel(mldl_cfg, - inv_get_serial_handle(), - inv_get_serial_handle(), &config); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - inv_init_fifo_hardare(); - } - - if (inv_obj.mode_change_func) { - result = inv_obj.mode_change_func(mldl_cfg->requested_sensors, sensors); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } - - /* Get the fifo rate before changing sensors so if we need to match it */ - fifoRate = inv_get_fifo_rate(); - mldl_cfg->requested_sensors = sensors; - - /* inv_dmp_start will turn the sensors on */ - if (state == INV_STATE_DMP_STARTED) { - result = inv_dl_start(sensors); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_reset_motion(); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_dl_stop(~sensors); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } - - inv_set_fifo_rate(fifoRate); - - if (!(sensors & INV_DMP_PROCESSOR) && (sensors & INV_THREE_AXIS_ACCEL)) { - struct ext_slave_config config; - long data; - - config.len = sizeof(long); - config.key = MPU_SLAVE_CONFIG_IRQ_RESUME; - config.apply = (state == INV_STATE_DMP_STARTED); - config.data = &data; - data = MPU_SLAVE_IRQ_TYPE_DATA_READY; - result = inv_mpu_config_accel(mldl_cfg, - inv_get_serial_handle(), - inv_get_serial_handle(), &config); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } - - return result; -} - -void inv_set_mode_change(inv_error_t(*mode_change_func) - (unsigned long, unsigned long)) -{ - inv_obj.mode_change_func = mode_change_func; -} - -/** - * @} - */ diff --git a/invensense/mlsdk/mllite/ml.h b/invensense/mlsdk/mllite/ml.h deleted file mode 100644 index 67e47e2..0000000 --- a/invensense/mlsdk/mllite/ml.h +++ /dev/null @@ -1,589 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -/****************************************************************************** - * - * $Id: ml.h 5653 2011-06-16 21:06:55Z nroyer $ - * - *****************************************************************************/ - -/** - * @defgroup ML - * @brief The Motion Library processes gyroscopes and accelerometers to - * provide a physical model of the movement of the sensors. - * The results of this processing may be used to control objects - * within a user interface environment, detect gestures, track 3D - * movement for gaming applications, and analyze the blur created - * due to hand movement while taking a picture. - * - * @{ - * @file ml.h - * @brief Header file for the Motion Library. -**/ - -#ifndef INV_H -#define INV_H - -#ifdef __cplusplus -extern "C" { -#endif - -#include "mltypes.h" -#include "mldmp.h" -#include "mlsl.h" -#include "mpu.h" -#ifdef INV_INCLUDE_LEGACY_HEADERS -#include "ml_legacy.h" -#endif - -/* ------------ */ -/* - Defines. - */ -/* ------------ */ - -/* - Module defines. - */ - -/*************************************************************************/ -/* Motion Library Vesion */ -/*************************************************************************/ - -#define INV_VERSION_MAJOR 4 -#define INV_VERSION_MINOR 0 -#define INV_VERSION_SUB_MINOR 0 - -#define INV_VERSION_MAJOR_STR "4" -#define INV_VERSION_MINOR_STR "0" -#define INV_VERSION_SUB_MINOR_STR "0" - -#define INV_VERSION_NONE "" -#define INV_VERSION_PROTOTYPE "ProtoA " -#define INV_VERSION_ENGINEERING "EngA " -#define INV_VERSION_PRE_ALPHA "Pre-Alpha " -#define INV_VERSION_ALPHA "Alpha " -#define INV_VERSION_BETA "Beta " -#define INV_VERSION_PRODUCTION "Production " - -#ifndef INV_VERSION_TYPE -#define INV_VERSION_TYPE INV_VERSION_NONE -#endif - -#define INV_VERSION "InvenSense MPL" " " \ - "v" INV_VERSION_MAJOR_STR "." INV_VERSION_MINOR_STR "." INV_VERSION_SUB_MINOR_STR " " \ - INV_VERSION_TYPE \ - __DATE__ " " __TIME__ - -/*************************************************************************/ -/* Motion processing engines */ -/*************************************************************************/ -#define INV_MOTION_DETECT (0x0004) -#define INV_BIAS_UPDATE (0x0008) -#define INV_GESTURE (0x0020) -#define INV_CONTROL (0x0040) -#define INV_ORIENTATION (0x0100) -#define INV_PEDOMETER (0x0200) -#define INV_BASIC (INV_MOTION_DETECT | INV_BIAS_UPDATE) - -/*************************************************************************/ -/* Data Source - Obsolete */ -/*************************************************************************/ -#define INV_DATA_FIFO (0x1) -#define INV_DATA_POLL (0x2) - -/*************************************************************************/ -/* Interrupt Source */ -/*************************************************************************/ -#define INV_INT_MOTION (0x01) -#define INV_INT_FIFO (0x02) -#define INV_INT_TAP (0x04) -#define INV_INT_ORIENTATION (0x08) -#define INV_INT_SHAKE_PITCH (0x10) -#define INV_INT_SHAKE_ROLL (0x20) -#define INV_INT_SHAKE_YAW (0x40) - -/*************************************************************************/ -/* Bias update functions */ -/*************************************************************************/ -#define INV_BIAS_FROM_NO_MOTION 0x0001 -#define INV_BIAS_FROM_GRAVITY 0x0002 -#define INV_BIAS_FROM_TEMPERATURE 0x0004 -#define INV_BIAS_FROM_LPF 0x0008 -#define INV_MAG_BIAS_FROM_MOTION 0x0010 -#define INV_MAG_BIAS_FROM_GYRO 0x0020 -#define INV_LEARN_BIAS_FROM_TEMPERATURE 0x0040 -#define INV_AUTO_RESET_MAG_BIAS 0x0080 -#define INV_REJECT_MAG_DISTURBANCE 0x0100 -#define INV_PROGRESSIVE_NO_MOTION 0x0200 -#define INV_BIAS_FROM_FAST_NO_MOTION 0x0400 - -/*************************************************************************/ -/* Euler angles and axis names */ -/*************************************************************************/ -#define INV_X_AXIS (0x01) -#define INV_Y_AXIS (0x02) -#define INV_Z_AXIS (0x04) - -#define INV_PITCH (INV_X_AXIS) -#define INV_ROLL (INV_Y_AXIS) -#define INV_YAW (INV_Z_AXIS) - -/*************************************************************************/ -/* Sensor types */ -/*************************************************************************/ -#define INV_GYROS 0x0001 -#define INV_ACCELS 0x0002 - -/*************************************************************************/ -/* Motion arrays */ -/*************************************************************************/ -#define INV_ROTATION_MATRIX 0x0003 -#define INV_QUATERNION 0x0004 -#define INV_EULER_ANGLES 0x0005 -#define INV_LINEAR_ACCELERATION 0x0006 -#define INV_LINEAR_ACCELERATION_WORLD 0x0007 -#define INV_GRAVITY 0x0008 -#define INV_ANGULAR_VELOCITY 0x0009 - -#define INV_GYRO_CALIBRATION_MATRIX 0x000B -#define INV_ACCEL_CALIBRATION_MATRIX 0x000C -#define INV_GYRO_BIAS 0x000D -#define INV_ACCEL_BIAS 0x000E -#define INV_GYRO_TEMP_SLOPE 0x000F - -#define INV_RAW_DATA 0x0011 -#define INV_DMP_TAP 0x0012 -#define INV_DMP_TAP2 0x0021 - -#define INV_EULER_ANGLES_X 0x0013 -#define INV_EULER_ANGLES_Y 0x0014 -#define INV_EULER_ANGLES_Z 0x0015 - -#define INV_BIAS_UNCERTAINTY 0x0016 -#define INV_DMP_PACKET_NUMBER 0x0017 -#define INV_FOOTER 0x0018 - -#define INV_CONTROL_DATA 0x0019 - -#define INV_MAGNETOMETER 0x001A -#define INV_PEDLBS 0x001B -#define INV_MAG_RAW_DATA 0x001C -#define INV_MAG_CALIBRATION_MATRIX 0x001D -#define INV_MAG_BIAS 0x001E -#define INV_HEADING 0x001F - -#define INV_MAG_BIAS_ERROR 0x0020 - -#define INV_PRESSURE 0x0021 -#define INV_LOCAL_FIELD 0x0022 -#define INV_MAG_SCALE 0x0023 - -#define INV_RELATIVE_QUATERNION 0x0024 - -#define SET_QUATERNION 0x0001 -#define SET_GYROS 0x0002 -#define SET_LINEAR_ACCELERATION 0x0004 -#define SET_GRAVITY 0x0008 -#define SET_ACCELS 0x0010 -#define SET_TAP 0x0020 -#define SET_PEDLBS 0x0040 -#define SET_LINEAR_ACCELERATION_WORLD 0x0080 -#define SET_CONTROL 0x0100 -#define SET_PACKET_NUMBER 0x4000 -#define SET_FOOTER 0x8000 - -/*************************************************************************/ -/* Integral reset options */ -/*************************************************************************/ -#define INV_NO_RESET 0x0000 -#define INV_RESET 0x0001 - -/*************************************************************************/ -/* Motion states */ -/*************************************************************************/ -#define INV_MOTION 0x0001 -#define INV_NO_MOTION 0x0002 - -/*************************************************************************/ -/* Orientation and Gesture states */ -/*************************************************************************/ -#define INV_STATE_IDLE (0) -#define INV_STATE_RUNNING (1) - -/*************************************************************************/ -/* Gyroscope Temperature Compensation bins */ -/*************************************************************************/ -#define BINS (25) -#define PTS_PER_BIN (5) -#define MIN_TEMP (-40) -#define MAX_TEMP (+85) -#define TEMP_PER_BIN ((MAX_TEMP - MIN_TEMP) / BINS) - -/*************************************************************************/ -/* Flags */ -/*************************************************************************/ -#define INV_RAW_DATA_READY 0x0001 -#define INV_PROCESSED_DATA_READY 0x0002 - -#define INV_GOT_GESTURE 0x0004 - -#define INV_MOTION_STATE_CHANGE 0x0006 -#define INV_COMPASS_OFFSET_VALID 0x0007 - -/*************************************************************************/ -/* General */ -/*************************************************************************/ -#define INV_NONE (0x0000) -#define INV_INVALID_FIFO_RATE (0xFFFF) - -/*************************************************************************/ -/* ML Params Structure Default Values */ -/*************************************************************************/ -#define INV_BIAS_UPDATE_FUNC_DEFAULT (INV_BIAS_FROM_NO_MOTION | INV_BIAS_FROM_GRAVITY) -#define INV_ORIENTATION_MASK_DEFAULT 0x3f -#define INV_PROCESSED_DATA_CALLBACK_DEFAULT 0 -#define INV_ORIENTATION_CALLBACK_DEFAULT 0 -#define INV_MOTION_CALLBACK_DEFAULT 0 - -/* ------------ */ -/* - Defines. - */ -/* ------------ */ -/* Priority for various features */ -#define INV_PRIORITY_BUS_ACCEL 100 -#define INV_PRIORITY_EXTERNAL_SLAVE_MAG 110 -#define INV_PRIORITY_FAST_NO_MOTION 120 -#define INV_PRIORITY_BIAS_NO_MOTION 125 -#define INV_PRIORITY_SET_GYRO_BIASES 150 -#define INV_PRIORITY_TEMP_COMP 175 -#define INV_PRIORITY_CONTROL 200 -#define INV_PRIORITY_EIS 300 -#define INV_PRIORITY_ORIENTATION 400 -#define INV_PRIORITY_PEDOMETER_FULLPOWER 500 -#define INV_PRIORITY_NAVIGATION_PEDOMETER 600 -#define INV_PRIORITY_GESTURE 700 -#define INV_PRIORITY_GLYPH 800 - -#define MAX_INTERRUPT_PROCESSES 5 -/* Number of quantized accel samples */ -#define INV_MAX_NUM_ACCEL_SAMPLES (8) - -#define PRECISION 10000.f -#define RANGE_FLOAT_TO_FIXEDPOINT(range, x) { \ - range.mantissa = (long)x; \ - range.fraction = (long)((float)(x-(long)x)*PRECISION); \ -} -#define RANGE_FIXEDPOINT_TO_FLOAT(range, x) { \ - x = (float)(range.mantissa); \ - x += ((float)range.fraction/PRECISION); \ -} - - /* --------------- */ - /* - Structures. - */ - /* --------------- */ - -struct inv_obj_t { - //Calibration parameters - /* Raw sensor orientation */ - long gyro_bias[3]; - long accel_bias[3]; - long compass_bias[3]; - - /* Cached values after orietnation is applied */ - long scaled_gyro_bias[3]; - long scaled_accel_bias[3]; - long scaled_compass_bias[3]; - - long compass_scale[3]; - long compass_test_bias[3]; - long compass_test_scale[3]; - long compass_asa[3]; - long compass_offsets[3]; - - long compass_bias_error[3]; - - long got_no_motion_bias; - long got_compass_bias; - long compass_state; - long large_field; - long acc_state; - - long factory_temp_comp; - long got_coarse_heading; - long gyro_temp_bias[3]; - long prog_no_motion_bias[3]; - - long accel_cal[9]; - // Deprecated, used gyro_orient - long gyro_cal[GYRO_NUM_AXES * GYRO_NUM_AXES]; - long gyro_orient[GYRO_NUM_AXES * GYRO_NUM_AXES]; - long accel_sens; - long compass_cal[9]; - long gyro_sens; - long gyro_sf; - long temp_slope[GYRO_NUM_AXES]; - long compass_sens; - long temp_offset[GYRO_NUM_AXES]; - - int cal_loaded_flag; - - /* temperature compensation */ - float x_gyro_coef[3]; - float y_gyro_coef[3]; - float z_gyro_coef[3]; - float x_gyro_temp_data[BINS][PTS_PER_BIN]; - float y_gyro_temp_data[BINS][PTS_PER_BIN]; - float z_gyro_temp_data[BINS][PTS_PER_BIN]; - float temp_data[BINS][PTS_PER_BIN]; - int temp_ptrs[BINS]; - long temp_valid_data[BINS]; - - long compass_correction[4]; - long compass_correction_relative[4]; - long compass_disturb_correction[4]; - long compass_correction_offset[4]; - long relative_quat[4]; - long local_field[3]; - long new_local_field; - long sync_grav_body[3]; - int gyro_bias_err; - - double compass_bias_ptr[9]; - double compass_bias_v[3]; - double compass_prev_m[36]; - double compass_prev_xty[6]; - - int compass_peaks[18]; - int all_sensors_no_motion; - - long init_compass_bias[3]; - - int got_init_compass_bias; - int resetting_compass; - - long ang_v_body[GYRO_NUM_AXES]; - unsigned char compass_raw_data[24]; /* Sensor data plus status etc */ - long compass_sensor_data[3]; /* Raw sensor data only */ - long compass_calibrated_data[3]; - long compass_test_calibrated_data[3]; - long pressure; - inv_error_t (*external_slave_callback)(struct inv_obj_t *); - int compass_accuracy; - int compass_overunder; - - unsigned short flags[8]; - unsigned short suspend; - - long no_motion_threshold; - unsigned long motion_duration; - - unsigned short motion_state; - - unsigned short data_mode; - unsigned short interrupt_sources; - - unsigned short bias_update_time; - short last_motion; - unsigned short bias_calc_time; - - unsigned char internal_motion_state; - long start_time; - - long accel_lpf_gain; - long accel_lpf[3]; - unsigned long poll_no_motion; - long no_motion_accel_threshold; - unsigned long no_motion_accel_time; - inv_error_t(*mode_change_func) (unsigned long, unsigned long); - }; - - typedef inv_error_t(*inv_obj_func) (struct inv_obj_t *); - - extern struct inv_obj_t inv_obj; - - /* --------------------- */ - /* - Params Structure. - */ - /* --------------------- */ - - struct inv_params_obj { - - unsigned short bias_mode; // A function or bitwise OR of functions that determine how the gyroscope bias will be automatically updated. - // Functions include INV_BIAS_FROM_NO_MOTION, INV_BIAS_FROM_GRAVITY, and INV_BIAS_FROM_TEMPERATURE. - // The engine INV_BIAS_UPDATE must be enabled for these algorithms to run. - - unsigned short orientation_mask; // Allows a user to register which orientations will trigger the user defined callback function. - // The orientations are INV_X_UP, INV_X_DOWN, INV_Y_UP, INV_Y_DOWN, INV_Z_UP, and INV_Z_DOWN. - // INV_ORIENTATION_ALL is equivalent to INV_X_UP | INV_X_DOWN | INV_Y_UP | INV_Y_DOWN | INV_Z_UP | INV_Z_DOWN. - - void (*fifo_processed_func) (void); // Callback function that triggers when all the processing has been finished by the motion processing engines. - - void (*orientation_cb_func) (unsigned short orient); // Callback function that will run when a change of orientation is detected. - // The new orientation. May be one of INV_X_UP, INV_X_DOWN, INV_Y_UP, INV_Y_DOWN, INV_Z_UP, or INV_Z_DOWN. - - void (*motion_cb_func) (unsigned short motion_state); // Callback function that will run when a change of motion state is detected. - // The new motion state. May be one of INV_MOTION, or INV_NO_MOTION. - - unsigned char state; - - }; - - extern struct inv_params_obj inv_params_obj; - /* --------------------- */ - /* - Function p-types. - */ - /* --------------------- */ - - inv_error_t inv_serial_start(char const *port); - inv_error_t inv_serial_stop(void); - inv_error_t inv_set_mpu_sensors(unsigned long sensors); - void *inv_get_serial_handle(void); - - /*API for handling the buffer */ - inv_error_t inv_update_data(void); - - /*API for handling polling */ - int inv_check_flag(int flag); - - /*API for setting bias update function */ - inv_error_t inv_set_bias_update(unsigned short biasFunction); - - /* Legacy functions for handling augmented data*/ - inv_error_t inv_get_array(int dataSet, long *data); - inv_error_t inv_get_float_array(int dataSet, float *data); - inv_error_t inv_set_array(int dataSet, long *data); - inv_error_t inv_set_float_array(int dataSet, float *data); - /* Individual functions for augmented data, per specific dataset */ - - - inv_error_t inv_get_gyro(long *data); - inv_error_t inv_get_accel(long *data); - inv_error_t inv_get_temperature(long *data); - inv_error_t inv_get_temperature_raw(short *data); - inv_error_t inv_get_rot_mat(long *data); - inv_error_t inv_get_quaternion(long *data); - inv_error_t inv_get_linear_accel(long *data); - inv_error_t inv_get_linear_accel_in_world(long *data); - inv_error_t inv_get_gravity(long *data); - inv_error_t inv_get_angular_velocity(long *data); - inv_error_t inv_get_euler_angles(long *data); - inv_error_t inv_get_euler_angles_x(long *data); - inv_error_t inv_get_euler_angles_y(long *data); - inv_error_t inv_get_euler_angles_z(long *data); - inv_error_t inv_get_gyro_temp_slope(long *data); - inv_error_t inv_get_gyro_bias(long *data); - inv_error_t inv_get_accel_bias(long *data); - inv_error_t inv_get_mag_bias(long *data); - inv_error_t inv_get_gyro_and_accel_sensor(long *data); - inv_error_t inv_get_mag_raw_data(long *data); - inv_error_t inv_get_magnetometer(long *data); - inv_error_t inv_get_pressure(long *data); - inv_error_t inv_get_heading(long *data); - inv_error_t inv_get_gyro_cal_matrix(long *data); - inv_error_t inv_get_accel_cal_matrix(long *data); - inv_error_t inv_get_mag_cal_matrix(long *data); - inv_error_t inv_get_mag_bias_error(long *data); - inv_error_t inv_get_mag_scale(long *data); - inv_error_t inv_get_local_field(long *data); - inv_error_t inv_get_relative_quaternion(long *data); - inv_error_t inv_get_gyro_float(float *data); - inv_error_t inv_get_accel_float(float *data); - inv_error_t inv_get_temperature_float(float *data); - inv_error_t inv_get_rot_mat_float(float *data); - inv_error_t inv_get_quaternion_float(float *data); - inv_error_t inv_get_linear_accel_float(float *data); - inv_error_t inv_get_linear_accel_in_world_float(float *data); - inv_error_t inv_get_gravity_float(float *data); - inv_error_t inv_get_angular_velocity_float(float *data); - inv_error_t inv_get_euler_angles_float(float *data); - inv_error_t inv_get_euler_angles_x_float(float *data); - inv_error_t inv_get_euler_angles_y_float(float *data); - inv_error_t inv_get_euler_angles_z_float(float *data); - inv_error_t inv_get_gyro_temp_slope_float(float *data); - inv_error_t inv_get_gyro_bias_float(float *data); - inv_error_t inv_get_accel_bias_float(float *data); - inv_error_t inv_get_mag_bias_float(float *data); - inv_error_t inv_get_gyro_and_accel_sensor_float(float *data); - inv_error_t inv_get_mag_raw_data_float(float *data); - inv_error_t inv_get_magnetometer_float(float *data); - inv_error_t inv_get_pressure_float(float *data); - inv_error_t inv_get_heading_float(float *data); - inv_error_t inv_get_gyro_cal_matrix_float(float *data); - inv_error_t inv_get_accel_cal_matrix_float(float *data); - inv_error_t inv_get_mag_cal_matrix_float(float *data); - inv_error_t inv_get_mag_bias_error_float(float *data); - inv_error_t inv_get_mag_scale_float(float *data); - inv_error_t inv_get_local_field_float(float *data); - inv_error_t inv_get_relative_quaternion_float(float *data); - inv_error_t inv_get_compass_accuracy(int *accuracy); - inv_error_t inv_set_gyro_bias(long *data); - inv_error_t inv_set_accel_bias(long *data); - inv_error_t inv_set_mag_bias(long *data); - inv_error_t inv_set_gyro_temp_slope(long *data); - inv_error_t inv_set_local_field(long *data); - inv_error_t inv_set_mag_scale(long *data); - inv_error_t inv_set_gyro_temp_slope_float(float *data); - inv_error_t inv_set_gyro_bias_float(float *data); - inv_error_t inv_set_accel_bias_float(float *data); - inv_error_t inv_set_mag_bias_float(float *data); - inv_error_t inv_set_local_field_float(float *data); - inv_error_t inv_set_mag_scale_float(float *data); - - inv_error_t inv_apply_endian_accel(void); - inv_error_t inv_apply_calibration(void); - inv_error_t inv_set_gyro_calibration(float range, signed char *orientation); - inv_error_t inv_set_accel_calibration(float range, - signed char *orientation); - inv_error_t inv_set_compass_calibration(float range, - signed char *orientation); - - /*API for detecting change of state */ - inv_error_t - inv_set_motion_callback(void (*func) (unsigned short motion_state)); - int inv_get_motion_state(void); - - /*API for getting ML version. */ - inv_error_t inv_get_version(unsigned char **version); - - inv_error_t inv_set_motion_interrupt(unsigned char on); - inv_error_t inv_set_fifo_interrupt(unsigned char on); - - int inv_get_interrupts(void); - - /* Simulated DMP */ - int inv_get_gyro_present(void); - - inv_error_t inv_set_no_motion_time(float time); - inv_error_t inv_set_no_motion_thresh(float thresh); - inv_error_t inv_set_no_motion_threshAccel(long thresh); - inv_error_t inv_reset_motion(void); - - inv_error_t inv_update_bias(void); - inv_error_t inv_set_dead_zone(void); - void inv_start_bias_calc(void); - void inv_stop_bias_calc(void); - - // Private functions shared accross modules - void inv_init_ml(void); - - inv_error_t inv_register_dmp_interupt_cb(inv_obj_func func); - inv_error_t inv_unregister_dmp_interupt_cb(inv_obj_func func); - void inv_run_dmp_interupt_cb(void); - void inv_set_mode_change(inv_error_t(*mode_change_func) - (unsigned long, unsigned long)); - -#ifdef __cplusplus -} -#endif -#endif // INV_H -/** - * @} - */ diff --git a/invensense/mlsdk/mllite/mlBiasNoMotion.c b/invensense/mlsdk/mllite/mlBiasNoMotion.c deleted file mode 100644 index aaf98d2..0000000 --- a/invensense/mlsdk/mllite/mlBiasNoMotion.c +++ /dev/null @@ -1,307 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -/****************************************************************************** - * - * $Id:$ - * - *****************************************************************************/ - -#include "mlBiasNoMotion.h" -#include "ml.h" -#include "mlinclude.h" -#include "mlos.h" -#include "mlFIFO.h" -#include "dmpKey.h" -#include "accel.h" -#include "mlMathFunc.h" -#include "mldl.h" -#include "mlstates.h" -#include "mlSetGyroBias.h" - -#include "log.h" -#undef MPL_LOG_TAG -#define MPL_LOG_TAG "MPL-BiasNoMot" - - -#define _mlDebug(x) //{x} - -/** - * @brief inv_set_motion_callback is used to register a callback function that - * will trigger when a change of motion state is detected. - * - * @pre inv_dmp_open() - * @ifnot MPL_MF - * or inv_open_low_power_pedometer() - * or inv_eis_open_dmp() - * @endif - * and inv_dmp_start() - * must <b>NOT</b> have been called. - * - * @param func A user defined callback function accepting a - * motion_state parameter, the new motion state. - * May be one of INV_MOTION or INV_NO_MOTION. - * @return INV_SUCCESS if successful or Non-zero error code otherwise. - */ -inv_error_t inv_set_motion_callback(void (*func) (unsigned short motion_state)) -{ - INVENSENSE_FUNC_START; - - if ((inv_get_state() != INV_STATE_DMP_OPENED) && - (inv_get_state() != INV_STATE_DMP_STARTED)) - return INV_ERROR_SM_IMPROPER_STATE; - - inv_params_obj.motion_cb_func = func; - - return INV_SUCCESS; -} - -inv_error_t inv_update_bias(void) -{ - INVENSENSE_FUNC_START; - inv_error_t result; - unsigned char regs[12]; - short bias[GYRO_NUM_AXES]; - - if ((inv_params_obj.bias_mode & INV_BIAS_FROM_NO_MOTION) - && inv_get_gyro_present()) { - - regs[0] = DINAA0 + 3; - result = inv_set_mpu_memory(KEY_FCFG_6, 1, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - result = inv_get_mpu_memory(KEY_D_1_244, 12, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - inv_convert_bias(regs, bias); - - regs[0] = DINAA0 + 15; - result = inv_set_mpu_memory(KEY_FCFG_6, 1, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - result = inv_set_gyro_bias_in_hw_unit(bias, INV_SGB_NO_MOTION); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - result = - inv_serial_read(inv_get_serial_handle(), inv_get_mpu_slave_addr(), - MPUREG_TEMP_OUT_H, 2, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_set_mpu_memory(KEY_DMP_PREVPTAT, 2, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - inv_obj.got_no_motion_bias = TRUE; - } - return INV_SUCCESS; -} - -inv_error_t MLAccelMotionDetection(struct inv_obj_t *inv_obj) -{ - long gain; - unsigned long timeChange; - long rate; - inv_error_t result; - long accel[3], temp; - long long accelMag; - unsigned long currentTime; - int kk; - - if (!inv_accel_present()) { - return INV_SUCCESS; - } - - currentTime = inv_get_tick_count(); - - // We always run the accel low pass filter at the highest sample rate possible - result = inv_get_accel(accel); - if (result != INV_ERROR_FEATURE_NOT_ENABLED) { - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - rate = inv_get_fifo_rate() * 5 + 5; - if (rate > 200) - rate = 200; - - gain = inv_obj->accel_lpf_gain * rate; - timeChange = inv_get_fifo_rate(); - - accelMag = 0; - for (kk = 0; kk < ACCEL_NUM_AXES; ++kk) { - inv_obj->accel_lpf[kk] = - inv_q30_mult(((1L << 30) - gain), inv_obj->accel_lpf[kk]); - inv_obj->accel_lpf[kk] += inv_q30_mult(gain, accel[kk]); - temp = accel[0] - inv_obj->accel_lpf[0]; - accelMag += (long long)temp *temp; - } - - if (accelMag > inv_obj->no_motion_accel_threshold) { - inv_obj->no_motion_accel_time = currentTime; - - // Check for change of state - if (!inv_get_gyro_present()) - inv_set_motion_state(INV_MOTION); - - } else if ((currentTime - inv_obj->no_motion_accel_time) > - 5 * inv_obj->motion_duration) { - // We have no motion according to accel - // Check fsor change of state - if (!inv_get_gyro_present()) - inv_set_motion_state(INV_NO_MOTION); - } - } - return INV_SUCCESS; -} - -/** - * @internal - * @brief Manually update the motion/no motion status. This is a - * convienence function for implementations that do not wish to use - * inv_update_data. - * This function can be called periodically to check for the - * 'no motion' state and update the internal motion status and bias - * calculations. - */ -inv_error_t MLPollMotionStatus(struct inv_obj_t * inv_obj) -{ - INVENSENSE_FUNC_START; - unsigned char regs[3] = { 0 }; - unsigned short motionFlag = 0; - unsigned long currentTime; - inv_error_t result; - - result = MLAccelMotionDetection(inv_obj); - - currentTime = inv_get_tick_count(); - - // If it is not time to poll for a no motion event, return - if (((inv_obj->interrupt_sources & INV_INT_MOTION) == 0) && - ((currentTime - inv_obj->poll_no_motion) <= 1000)) - return INV_SUCCESS; - - inv_obj->poll_no_motion = currentTime; - - if (inv_get_gyro_present() - && ((inv_params_obj.bias_mode & INV_BIAS_FROM_FAST_NO_MOTION) == 0)) { - static long repeatBiasUpdateTime = 0; - - result = inv_get_mpu_memory(KEY_D_1_98, 2, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - motionFlag = (unsigned short)regs[0] * 256 + (unsigned short)regs[1]; - - _mlDebug(MPL_LOGV("motionFlag from RAM : 0x%04X\n", motionFlag); - ) - if (motionFlag == inv_obj->motion_duration) { - if (inv_obj->motion_state == INV_MOTION) { - inv_update_bias(); - repeatBiasUpdateTime = inv_get_tick_count(); - - regs[0] = DINAD8 + 1; - regs[1] = DINA0C; - regs[2] = DINAD8 + 2; - result = inv_set_mpu_memory(KEY_CFG_18, 3, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - regs[0] = 0; - regs[1] = 5; - result = inv_set_mpu_memory(KEY_D_1_106, 2, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - //Trigger no motion callback - inv_set_motion_state(INV_NO_MOTION); - } - } - if (motionFlag == 5) { - if (inv_obj->motion_state == INV_NO_MOTION) { - regs[0] = DINAD8 + 2; - regs[1] = DINA0C; - regs[2] = DINAD8 + 1; - result = inv_set_mpu_memory(KEY_CFG_18, 3, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - regs[0] = - (unsigned char)((inv_obj->motion_duration >> 8) & 0xff); - regs[1] = (unsigned char)(inv_obj->motion_duration & 0xff); - result = inv_set_mpu_memory(KEY_D_1_106, 2, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - //Trigger no motion callback - inv_set_motion_state(INV_MOTION); - } - } - if (inv_obj->motion_state == INV_NO_MOTION) { - if ((inv_get_tick_count() - repeatBiasUpdateTime) > 4000) { - inv_update_bias(); - repeatBiasUpdateTime = inv_get_tick_count(); - } - } - } - - return INV_SUCCESS; -} - -inv_error_t inv_enable_bias_no_motion(void) -{ - inv_error_t result; - inv_params_obj.bias_mode |= INV_BIAS_FROM_NO_MOTION; - result = - inv_register_fifo_rate_process(MLPollMotionStatus, - INV_PRIORITY_BIAS_NO_MOTION); - return result; -} - -inv_error_t inv_disable_bias_no_motion(void) -{ - inv_error_t result; - inv_params_obj.bias_mode &= ~INV_BIAS_FROM_NO_MOTION; - result = inv_unregister_fifo_rate_process(MLPollMotionStatus); - return result; -} diff --git a/invensense/mlsdk/mllite/mlBiasNoMotion.h b/invensense/mlsdk/mllite/mlBiasNoMotion.h deleted file mode 100644 index 030dbf9..0000000 --- a/invensense/mlsdk/mllite/mlBiasNoMotion.h +++ /dev/null @@ -1,40 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -/****************************************************************************** - * - * $Id$ - * - *****************************************************************************/ - -#ifndef INV_BIAS_NO_MOTION_H__ -#define INV_BIAS_NO_MOTION_H__ - -#include "mltypes.h" - -#ifdef __cplusplus -extern "C" { -#endif - - inv_error_t inv_enable_bias_no_motion(void); - inv_error_t inv_disable_bias_no_motion(void); - -#ifdef __cplusplus -} -#endif -#endif // INV_BIAS_NO_MOTION_H__ diff --git a/invensense/mlsdk/mllite/mlFIFO.c b/invensense/mlsdk/mllite/mlFIFO.c deleted file mode 100644 index 3279b35..0000000 --- a/invensense/mlsdk/mllite/mlFIFO.c +++ /dev/null @@ -1,2126 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -/******************************************************************************* - * - * $Id: mlFIFO.c 5653 2011-06-16 21:06:55Z nroyer $ - * - *******************************************************************************/ - -/** - * @defgroup MLFIFO - * @brief Motion Library - FIFO Driver. - * The FIFO API Interface. - * - * @{ - * @file mlFIFO.c - * @brief FIFO Interface. -**/ - -#include <string.h> -#include "mpu.h" -#include "mpu3050.h" -#include "mlFIFO.h" -#include "mlFIFOHW.h" -#include "dmpKey.h" -#include "mlMathFunc.h" -#include "ml.h" -#include "mldl.h" -#include "mldl_cfg.h" -#include "mlstates.h" -#include "mlsupervisor.h" -#include "mlos.h" -#include "mlmath.h" -#include "accel.h" - -#include "log.h" -#undef MPL_LOG_TAG -#define MPL_LOG_TAG "MPL-fifo" - -#define FIFO_DEBUG 0 - -#define REF_QUATERNION (0) -#define REF_GYROS (REF_QUATERNION + 4) -#define REF_CONTROL (REF_GYROS + 3) -#define REF_RAW (REF_CONTROL + 4) -#define REF_RAW_EXTERNAL (REF_RAW + 8) -#define REF_ACCEL (REF_RAW_EXTERNAL + 6) -#define REF_QUANT_ACCEL (REF_ACCEL + 3) -#define REF_QUATERNION_6AXIS (REF_QUANT_ACCEL + INV_MAX_NUM_ACCEL_SAMPLES) -#define REF_EIS (REF_QUATERNION_6AXIS + 4) -#define REF_DMP_PACKET (REF_EIS + 3) -#define REF_GARBAGE (REF_DMP_PACKET + 1) -#define REF_LAST (REF_GARBAGE + 1) - -long fifo_scale[REF_LAST] = { - (1L << 30), (1L << 30), (1L << 30), (1L << 30), // Quaternion - // 2^(16+30)/((2^30)*((3.14159265358/180)/200)/2) - 1501974482L, 1501974482L, 1501974482L, // Gyro - (1L << 30), (1L << 30), (1L << 30), (1L << 30), // Control - (1L << 14), // Temperature - (1L << 14), (1L << 14), (1L << 14), // Raw Gyro - (1L << 14), (1L << 14), (1L << 14), (0), // Raw Accel, plus padding - (1L << 14), (1L << 14), (1L << 14), // Raw External - (1L << 14), (1L << 14), (1L << 14), // Raw External - (1L << 16), (1L << 16), (1L << 16), // Accel - (1L << 30), (1L << 30), (1L << 30), (1L << 30), // Quant Accel - (1L << 30), (1L << 30), (1L << 30), (1L << 30), //Quant Accel - (1L << 30), (1L << 30), (1L << 30), (1L << 30), // Quaternion 6 Axis - (1L << 30), (1L << 30), (1L << 30), // EIS - (1L << 30), // Packet - (1L << 30), // Garbage -}; - -// The scale factors for tap need to match the number in fifo_scale above. -// fifo_base_offset below may also need to be changed if this is not 8 -#if INV_MAX_NUM_ACCEL_SAMPLES != 8 -#error INV_MAX_NUM_ACCEL_SAMPLES must be defined to 8 -#endif - -#define CONFIG_QUAT (0) -#define CONFIG_GYROS (CONFIG_QUAT + 1) -#define CONFIG_CONTROL_DATA (CONFIG_GYROS + 1) -#define CONFIG_TEMPERATURE (CONFIG_CONTROL_DATA + 1) -#define CONFIG_RAW_DATA (CONFIG_TEMPERATURE + 1) -#define CONFIG_RAW_EXTERNAL (CONFIG_RAW_DATA + 1) -#define CONFIG_ACCEL (CONFIG_RAW_EXTERNAL + 1) -#define CONFIG_DMP_QUANT_ACCEL (CONFIG_ACCEL + 1) -#define CONFIG_EIS (CONFIG_DMP_QUANT_ACCEL + 1) -#define CONFIG_DMP_PACKET_NUMBER (CONFIG_EIS + 1) -#define CONFIG_FOOTER (CONFIG_DMP_PACKET_NUMBER + 1) -#define NUMFIFOELEMENTS (CONFIG_FOOTER + 1) - -const int fifo_base_offset[NUMFIFOELEMENTS] = { - REF_QUATERNION * 4, - REF_GYROS * 4, - REF_CONTROL * 4, - REF_RAW * 4, - REF_RAW * 4 + 4, - REF_RAW_EXTERNAL * 4, - REF_ACCEL * 4, - REF_QUANT_ACCEL * 4, - REF_EIS * 4, - REF_DMP_PACKET * 4, - REF_GARBAGE * 4 -}; - -struct fifo_obj { - void (*fifo_process_cb) (void); - long decoded[REF_LAST]; - long decoded_accel[INV_MAX_NUM_ACCEL_SAMPLES][ACCEL_NUM_AXES]; - int offsets[REF_LAST * 4]; - int cache; - uint_fast8_t gyro_source; - unsigned short fifo_rate; - unsigned short sample_step_size_ms; - uint_fast16_t fifo_packet_size; - uint_fast16_t data_config[NUMFIFOELEMENTS]; - unsigned char reference_count[REF_LAST]; - long acc_bias_filt[3]; - float acc_filter_coef; - long gravity_cache[3]; -}; - -static struct fifo_obj fifo_obj; - -#define FIFO_CACHE_TEMPERATURE 1 -#define FIFO_CACHE_GYRO 2 -#define FIFO_CACHE_GRAVITY_BODY 4 -#define FIFO_CACHE_ACC_BIAS 8 - -struct fifo_rate_obj { - // These describe callbacks happening everytime a FIFO block is processed - int_fast8_t num_cb; - HANDLE mutex; - inv_obj_func fifo_process_cb[MAX_HIGH_RATE_PROCESSES]; - int priority[MAX_HIGH_RATE_PROCESSES]; -}; - -struct fifo_rate_obj fifo_rate_obj; - -/** Sets accuracy to be one of 0, INV_32_BIT, or INV_16_BIT. Looks up old - * accuracy if needed. - */ -static uint_fast16_t inv_set_fifo_accuracy(uint_fast16_t elements, - uint_fast16_t accuracy, - uint_fast8_t configOffset) -{ - if (elements) { - if (!accuracy) - accuracy = fifo_obj.data_config[configOffset]; - else if (accuracy & INV_16_BIT) - if ((fifo_obj.data_config[configOffset] & INV_32_BIT)) - accuracy = INV_32_BIT; // 32-bits takes priority - else - accuracy = INV_16_BIT; - else - accuracy = INV_32_BIT; - } else { - accuracy = 0; - } - - return accuracy; -} - -/** Adjusts (len) Reference Counts, at offset (refOffset). If increment is 0, - * the reference counts are subtracted, otherwise they are incremented for each - * bit set in element. The value returned are the elements that should be sent - * out as data through the FIFO. -*/ -static uint_fast16_t inv_set_fifo_reference(uint_fast16_t elements, - uint_fast16_t increment, - uint_fast8_t refOffset, - uint_fast8_t len) -{ - uint_fast8_t kk; - - if (increment == 0) { - for (kk = 0; kk < len; ++kk) { - if ((elements & 1) - && (fifo_obj.reference_count[kk + refOffset] > 0)) { - fifo_obj.reference_count[kk + refOffset]--; - } - elements >>= 1; - } - } else { - for (kk = 0; kk < len; ++kk) { - if (elements & 1) - fifo_obj.reference_count[kk + refOffset]++; - elements >>= 1; - } - } - elements = 0; - for (kk = 0; kk < len; ++kk) { - if (fifo_obj.reference_count[kk + refOffset] > 0) - elements |= (1 << kk); - } - return elements; -} - -/** - * @param[in] accuracy INV_16_BIT or INV_32_BIT when constructing data to send - * out the FIFO, 0 when removing from the FIFO. - */ -static inv_error_t inv_construct3_fifo(unsigned char *regs, - uint_fast16_t elements, - uint_fast16_t accuracy, - uint_fast8_t refOffset, - unsigned short key, - uint_fast8_t configOffset) -{ - int_fast8_t kk; - inv_error_t result; - - elements = inv_set_fifo_reference(elements, accuracy, refOffset, 3); - accuracy = inv_set_fifo_accuracy(elements, accuracy, configOffset); - - if (accuracy & INV_16_BIT) { - regs[0] = DINAF8 + 2; - } - - fifo_obj.data_config[configOffset] = elements | accuracy; - - for (kk = 0; kk < 3; ++kk) { - if ((elements & 1) == 0) - regs[kk + 1] = DINAA0 + 3; - elements >>= 1; - } - - result = inv_set_mpu_memory(key, 4, regs); - - return result; -} - -/** - * @internal - * Puts footer on FIFO data. - */ -static inv_error_t inv_set_footer(void) -{ - unsigned char regs = DINA30; - uint_fast8_t tmp_count; - int_fast8_t i, j; - int offset; - int result; - int *fifo_offsets_ptr = fifo_obj.offsets; - - fifo_obj.fifo_packet_size = 0; - for (i = 0; i < NUMFIFOELEMENTS; i++) { - tmp_count = 0; - offset = fifo_base_offset[i]; - for (j = 0; j < 8; j++) { - if ((fifo_obj.data_config[i] >> j) & 0x0001) { -#ifndef BIG_ENDIAN - // Special Case for Byte Ordering on Accel Data - if ((i == CONFIG_RAW_DATA) && (j > 2)) { - tmp_count += 2; - switch (inv_get_dl_config()->accel->endian) { - case EXT_SLAVE_BIG_ENDIAN: - *fifo_offsets_ptr++ = offset + 3; - *fifo_offsets_ptr++ = offset + 2; - break; - case EXT_SLAVE_LITTLE_ENDIAN: - *fifo_offsets_ptr++ = offset + 2; - *fifo_offsets_ptr++ = offset + 3; - break; - case EXT_SLAVE_FS8_BIG_ENDIAN: - if (j == 3) { - // Throw this byte away - *fifo_offsets_ptr++ = - fifo_base_offset[CONFIG_FOOTER]; - *fifo_offsets_ptr++ = offset + 3; - } else if (j == 4) { - *fifo_offsets_ptr++ = offset + 3; - *fifo_offsets_ptr++ = offset + 7; - } else { - // Throw these byte away - *fifo_offsets_ptr++ = - fifo_base_offset[CONFIG_FOOTER]; - *fifo_offsets_ptr++ = - fifo_base_offset[CONFIG_FOOTER]; - } - break; - case EXT_SLAVE_FS16_BIG_ENDIAN: - if (j == 3) { - // Throw this byte away - *fifo_offsets_ptr++ = - fifo_base_offset[CONFIG_FOOTER]; - *fifo_offsets_ptr++ = offset + 3; - } else if (j == 4) { - *fifo_offsets_ptr++ = offset - 2; - *fifo_offsets_ptr++ = offset + 3; - } else { - *fifo_offsets_ptr++ = offset - 2; - *fifo_offsets_ptr++ = offset + 3; - } - break; - default: - return INV_ERROR; // Bad value on ordering - } - } else { - tmp_count += 2; - *fifo_offsets_ptr++ = offset + 3; - *fifo_offsets_ptr++ = offset + 2; - if (fifo_obj.data_config[i] & INV_32_BIT) { - *fifo_offsets_ptr++ = offset + 1; - *fifo_offsets_ptr++ = offset; - tmp_count += 2; - } - } -#else - // Big Endian Platform - // Special Case for Byte Ordering on Accel Data - if ((i == CONFIG_RAW_DATA) && (j > 2)) { - tmp_count += 2; - switch (inv_get_dl_config()->accel->endian) { - case EXT_SLAVE_BIG_ENDIAN: - *fifo_offsets_ptr++ = offset + 2; - *fifo_offsets_ptr++ = offset + 3; - break; - case EXT_SLAVE_LITTLE_ENDIAN: - *fifo_offsets_ptr++ = offset + 3; - *fifo_offsets_ptr++ = offset + 2; - break; - case EXT_SLAVE_FS8_BIG_ENDIAN: - if (j == 3) { - // Throw this byte away - *fifo_offsets_ptr++ = - fifo_base_offset[CONFIG_FOOTER]; - *fifo_offsets_ptr++ = offset; - } else if (j == 4) { - *fifo_offsets_ptr++ = offset; - *fifo_offsets_ptr++ = offset + 4; - } else { - // Throw these bytes away - *fifo_offsets_ptr++ = - fifo_base_offset[CONFIG_FOOTER]; - *fifo_offsets_ptr++ = - fifo_base_offset[CONFIG_FOOTER]; - } - break; - case EXT_SLAVE_FS16_BIG_ENDIAN: - if (j == 3) { - // Throw this byte away - *fifo_offsets_ptr++ = - fifo_base_offset[CONFIG_FOOTER]; - *fifo_offsets_ptr++ = offset; - } else if (j == 4) { - *fifo_offsets_ptr++ = offset - 3; - *fifo_offsets_ptr++ = offset; - } else { - *fifo_offsets_ptr++ = offset - 3; - *fifo_offsets_ptr++ = offset; - } - break; - default: - return INV_ERROR; // Bad value on ordering - } - } else { - tmp_count += 2; - *fifo_offsets_ptr++ = offset; - *fifo_offsets_ptr++ = offset + 1; - if (fifo_obj.data_config[i] & INV_32_BIT) { - *fifo_offsets_ptr++ = offset + 2; - *fifo_offsets_ptr++ = offset + 3; - tmp_count += 2; - } - } - -#endif - } - offset += 4; - } - fifo_obj.fifo_packet_size += tmp_count; - } - if (fifo_obj.data_config[CONFIG_FOOTER] == 0 && - fifo_obj.fifo_packet_size > 0) { - // Add footer - result = inv_set_mpu_memory(KEY_CFG_16, 1, ®s); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - fifo_obj.data_config[CONFIG_FOOTER] = 0x0001 | INV_16_BIT; - fifo_obj.fifo_packet_size += 2; - } else if (fifo_obj.data_config[CONFIG_FOOTER] && - (fifo_obj.fifo_packet_size == 2)) { - // Remove Footer - regs = DINAA0 + 3; - result = inv_set_mpu_memory(KEY_CFG_16, 1, ®s); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - fifo_obj.data_config[CONFIG_FOOTER] = 0; - fifo_obj.fifo_packet_size = 0; - } - - return INV_SUCCESS; -} - -inv_error_t inv_decode_quantized_accel(void) -{ - int kk; - int fifoRate = inv_get_fifo_rate(); - - if (!fifo_obj.data_config[CONFIG_DMP_QUANT_ACCEL]) - return INV_ERROR_FEATURE_NOT_ENABLED; - - for (kk = (INV_MAX_NUM_ACCEL_SAMPLES - (fifoRate + 1)); - kk < INV_MAX_NUM_ACCEL_SAMPLES; kk++) { - union { - unsigned int u10:10; - signed int s10:10; - } temp; - - union { - uint32_t u32; - int32_t s32; - } value; - - value.u32 = fifo_obj.decoded[REF_QUANT_ACCEL + kk]; - // unquantize this samples. - // They are stored as x * 2^20 + y * 2^10 + z - // Z - temp.u10 = value.u32 & 0x3ff; - value.s32 -= temp.s10; - fifo_obj.decoded_accel[kk][2] = temp.s10 * 64; - // Y - value.s32 = value.s32 / 1024; - temp.u10 = value.u32 & 0x3ff; - value.s32 -= temp.s10; - fifo_obj.decoded_accel[kk][1] = temp.s10 * 64; - // X - value.s32 = value.s32 / 1024; - temp.u10 = value.u32 & 0x3ff; - fifo_obj.decoded_accel[kk][0] = temp.s10 * 64; - } - return INV_SUCCESS; -} - -static inv_error_t inv_state_change_fifo(unsigned char newState) -{ - inv_error_t result = INV_SUCCESS; - unsigned char regs[4]; - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - - /* Don't reset the fifo on a fifo rate change */ - if ((mldl_cfg->requested_sensors & INV_DMP_PROCESSOR) && - (newState != inv_get_state()) && (inv_dmpkey_supported(KEY_D_1_178))) { - /* Delay output on restart by 50ms due to warm up time of gyros */ - - short delay = (short)-((50 / inv_get_sample_step_size_ms()) + 1); - inv_init_fifo_hardare(); - inv_int16_to_big8(delay, regs); - result = inv_set_mpu_memory(KEY_D_1_178, 2, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } - - if (INV_STATE_DMP_STARTED == newState) { - if (inv_dmpkey_supported(KEY_D_1_128)) { - double tmp; - tmp = (0x20000000L * M_PI) / (fifo_obj.fifo_rate + 1); - if (tmp > 0x40000000L) - tmp = 0x40000000L; - (void)inv_int32_to_big8((long)tmp, regs); - result = inv_set_mpu_memory(KEY_D_1_128, sizeof(long), regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_reset_fifo(); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } - } - return result; -} - -/** - * @internal - * @brief get the FIFO packet size - * @return the FIFO packet size - */ -uint_fast16_t inv_get_fifo_packet_size(void) -{ - return fifo_obj.fifo_packet_size; -} - -/** - * @brief Initializes all the internal static variables for - * the FIFO module. - * @note Should be called by the initialization routine such - * as inv_dmp_open(). - * @return INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_init_fifo_param(void) -{ - inv_error_t result; - memset(&fifo_obj, 0, sizeof(struct fifo_obj)); - fifo_obj.decoded[REF_QUATERNION] = 1073741824L; // Set to Identity - inv_set_linear_accel_filter_coef(0.f); - fifo_obj.fifo_rate = 20; - fifo_obj.sample_step_size_ms = 100; - memset(&fifo_rate_obj, 0, sizeof(struct fifo_rate_obj)); - result = inv_create_mutex(&fifo_rate_obj.mutex); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_register_state_callback(inv_state_change_fifo); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - return result; -} - -/** - * @brief Close the FIFO usage. - * @return INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_close_fifo(void) -{ - inv_error_t result; - inv_error_t first = INV_SUCCESS; - result = inv_unregister_state_callback(inv_state_change_fifo); - ERROR_CHECK_FIRST(first, result); - result = inv_destroy_mutex(fifo_rate_obj.mutex); - ERROR_CHECK_FIRST(first, result); - memset(&fifo_rate_obj, 0, sizeof(struct fifo_rate_obj)); - return first; -} - -/** - * Set the gyro source to output to the fifo - * - * @param source The source. One of - * - INV_GYRO_FROM_RAW - * - INV_GYRO_FROM_QUATERNION - * - * @return INV_SUCCESS or non-zero error code; - */ -inv_error_t inv_set_gyro_data_source(uint_fast8_t source) -{ - if (source != INV_GYRO_FROM_QUATERNION && source != INV_GYRO_FROM_RAW) { - return INV_ERROR_INVALID_PARAMETER; - } - - fifo_obj.gyro_source = source; - return INV_SUCCESS; -} - -/** - * @brief Reads and processes FIFO data. Also handles callbacks when data is - * ready. - * @param numPackets - * Number of FIFO packets to try to read. You should - * use a large number here, such as 100, if you want to read all - * the full packets in the FIFO, which is typical operation. - * @param processed - * The number of FIFO packets processed. This may be incremented - * even if high rate processes later fail. - * @return INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_read_and_process_fifo(int_fast8_t numPackets, - int_fast8_t * processed) -{ - int_fast8_t packet; - inv_error_t result = INV_SUCCESS; - uint_fast16_t read; - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - int kk; - - if (NULL == processed) - return INV_ERROR_INVALID_PARAMETER; - - *processed = 0; - if (fifo_obj.fifo_packet_size == 0) - return result; // Nothing to read - - for (packet = 0; packet < numPackets; ++packet) { - if (mldl_cfg->requested_sensors & INV_DMP_PROCESSOR) { - unsigned char footer_n_data[MAX_FIFO_LENGTH + FIFO_FOOTER_SIZE]; - unsigned char *buf = &footer_n_data[FIFO_FOOTER_SIZE]; - read = inv_get_fifo((uint_fast16_t) fifo_obj.fifo_packet_size, - footer_n_data); - if (0 == read || - read != fifo_obj.fifo_packet_size - FIFO_FOOTER_SIZE) { - result = inv_get_fifo_status(); - if (INV_SUCCESS != result) { - memset(fifo_obj.decoded, 0, sizeof(fifo_obj.decoded)); - } - return result; - } - - result = inv_process_fifo_packet(buf); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } else if (inv_accel_present()) { - long data[ACCEL_NUM_AXES]; - result = inv_get_accel_data(data); - if (result == INV_ERROR_ACCEL_DATA_NOT_READY) { - return INV_SUCCESS; - } - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - memset(fifo_obj.decoded, 0, sizeof(fifo_obj.decoded)); - fifo_obj.cache = 0; - for (kk = 0; kk < ACCEL_NUM_AXES; ++kk) { - fifo_obj.decoded[REF_RAW + 4 + kk] = - inv_q30_mult((data[kk] << 16), - fifo_scale[REF_RAW + 4 + kk]); - fifo_obj.decoded[REF_ACCEL + kk] = - inv_q30_mult((data[kk] << 15), fifo_scale[REF_ACCEL + kk]); - fifo_obj.decoded[REF_ACCEL + kk] -= - inv_obj.scaled_accel_bias[kk]; - } - } - // The buffer was processed correctly, so increment even if - // other processes fail later, which will return an error - *processed = *processed + 1; - - if ((fifo_obj.fifo_rate < INV_MAX_NUM_ACCEL_SAMPLES) && - fifo_obj.data_config[CONFIG_DMP_QUANT_ACCEL]) { - result = inv_decode_quantized_accel(); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } - - if (fifo_obj.data_config[CONFIG_QUAT]) { - result = inv_accel_compass_supervisor(); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } - - result = inv_pressure_supervisor(); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - // Callbacks now that we have a buffer of data ready - result = inv_run_fifo_rate_processes(); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - } - return result; -} - -/** - * @brief inv_set_fifo_processed_callback is used to set a processed data callback - * function. inv_set_fifo_processed_callback sets a user defined callback - * function that triggers when all the decoding has been finished by - * the motion processing engines. It is called before other bigger - * processing engines to allow lower latency for the user. - * - * @pre inv_dmp_open() - * @ifnot MPL_MF - * or inv_open_low_power_pedometer() - * or inv_eis_open_dmp() - * @endif - * and inv_dmp_start() - * must <b>NOT</b> have been called. - * - * @param func A user defined callback function. - * - * @return INV_SUCCESS if successful, or non-zero error code otherwise. - */ -inv_error_t inv_set_fifo_processed_callback(void (*func) (void)) -{ - INVENSENSE_FUNC_START; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - fifo_obj.fifo_process_cb = func; - - return INV_SUCCESS; -} - -/** - * @internal - * @brief Process data from the dmp read via the fifo. Takes a buffer - * filled with bytes read from the DMP FIFO. - * Currently expects only the 16 bytes of quaternion data. - * Calculates the motion parameters from that data and stores the - * results in an internal data structure. - * @param[in,out] dmpData Pointer to the buffer containing the fifo data. - * @return INV_SUCCESS or error code. -**/ -inv_error_t inv_process_fifo_packet(const unsigned char *dmpData) -{ - INVENSENSE_FUNC_START; - unsigned int N, kk; - unsigned char *p; - - p = (unsigned char *)(&fifo_obj.decoded); - N = fifo_obj.fifo_packet_size; - if (N > sizeof(fifo_obj.decoded)) - return INV_ERROR_ASSERTION_FAILURE; - - memset(&fifo_obj.decoded, 0, sizeof(fifo_obj.decoded)); - - for (kk = 0; kk < N; ++kk) { - p[fifo_obj.offsets[kk]] = *dmpData++; - } - - // If multiplies are much greater cost than if checks, you could check - // to see if fifo_scale is non-zero first, or equal to (1L<<30) - for (kk = 0; kk < REF_LAST; ++kk) { - fifo_obj.decoded[kk] = - inv_q30_mult(fifo_obj.decoded[kk], fifo_scale[kk]); - } - - memcpy(&fifo_obj.decoded[REF_QUATERNION_6AXIS], - &fifo_obj.decoded[REF_QUATERNION], 4 * sizeof(long)); - - inv_obj.flags[INV_PROCESSED_DATA_READY] = 1; - fifo_obj.cache = 0; - - return INV_SUCCESS; -} - -/** Converts 16-bit temperature data as read from temperature register -* into Celcius scaled by 2^16. -*/ -long inv_decode_temperature(short tempReg) -{ - // Celcius = 35 + (T + 13200)/280 - return 5383314L + inv_q30_mult((long)tempReg << 16, 3834792L); -} - -/** @internal -* Returns the temperature in hardware units. The scaling may change from part to part. -*/ -inv_error_t inv_get_temperature_raw(short *data) -{ - if (data == NULL) - return INV_ERROR_INVALID_PARAMETER; - - if (!fifo_obj.data_config[CONFIG_TEMPERATURE]) { - inv_error_t result; - unsigned char regs[2]; - if ((fifo_obj.cache & FIFO_CACHE_TEMPERATURE) == 0) { - if (FIFO_DEBUG) - MPL_LOGI("Fetching the temperature from the registers\n"); - fifo_obj.cache |= FIFO_CACHE_TEMPERATURE; - result = inv_serial_read(inv_get_serial_handle(), - inv_get_mpu_slave_addr(), MPUREG_TEMP_OUT_H, 2, - regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - fifo_obj.decoded[REF_RAW] = ((short)regs[0] << 8) | (regs[1]); - } - } - *data = (short)fifo_obj.decoded[REF_RAW]; - return INV_SUCCESS; -} - -/** - * @brief Returns 1-element vector of temperature. It is read from the hardware if it - * doesn't exist in the FIFO. - * @param[out] data 1-element vector of temperature - * @return 0 on success or an error code. - */ -inv_error_t inv_get_temperature(long *data) -{ - short tr; - inv_error_t result; - - if (data == NULL) - return INV_ERROR_INVALID_PARAMETER; - result = inv_get_temperature_raw(&tr); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - data[0] = inv_decode_temperature(tr); - return INV_SUCCESS; -} - -/** - * @brief Get the Decoded Accel Data. - * @param data - * a buffer to store the quantized data. - * @return INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_get_unquantized_accel(long *data) -{ - int ii, kk; - if (data == NULL) - return INV_ERROR_INVALID_PARAMETER; - - if (!fifo_obj.data_config[CONFIG_DMP_QUANT_ACCEL]) - return INV_ERROR_FEATURE_NOT_ENABLED; - - for (ii = 0; ii < INV_MAX_NUM_ACCEL_SAMPLES; ii++) { - for (kk = 0; kk < ACCEL_NUM_AXES; kk++) { - data[ii * ACCEL_NUM_AXES + kk] = fifo_obj.decoded_accel[ii][kk]; - } - } - - return INV_SUCCESS; -} - -/** - * @brief Get the Quantized Accel data algorithm output from the FIFO. - * @param data - * a buffer to store the quantized data. - * @return INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_get_quantized_accel(long *data) -{ - int ii; - if (data == NULL) - return INV_ERROR_INVALID_PARAMETER; - - if (!fifo_obj.data_config[CONFIG_DMP_QUANT_ACCEL]) - return INV_ERROR_FEATURE_NOT_ENABLED; - - for (ii = 0; ii < INV_MAX_NUM_ACCEL_SAMPLES; ii++) { - data[ii] = fifo_obj.decoded[REF_QUANT_ACCEL + ii]; - } - - return INV_SUCCESS; -} - -/** This gets raw gyro data. The data is taken from the FIFO if it was put in the FIFO -* and it is read from the registers if it was not put into the FIFO. The data is -* cached till the next FIFO processing block time. -* @param[out] data Length 3, Gyro data -*/ -inv_error_t inv_get_gyro_sensor(long *data) -{ - if (data == NULL) - return INV_ERROR_INVALID_PARAMETER; - if ((fifo_obj.data_config[CONFIG_RAW_DATA] & 7) != 7) { - inv_error_t result; - unsigned char regs[6]; - if ((fifo_obj.cache & FIFO_CACHE_GYRO) == 0) { - fifo_obj.cache |= FIFO_CACHE_GYRO; - result = - inv_serial_read(inv_get_serial_handle(), - inv_get_mpu_slave_addr(), MPUREG_GYRO_XOUT_H, 6, - regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - fifo_obj.decoded[REF_RAW + 1] = - (((long)regs[0]) << 24) | (((long)regs[1]) << 16); - fifo_obj.decoded[REF_RAW + 2] = - (((long)regs[2]) << 24) | (((long)regs[3]) << 16); - fifo_obj.decoded[REF_RAW + 3] = - (((long)regs[4]) << 24) | (((long)regs[5]) << 16); - - // Temperature starts at location 0, Gyro at location 1. - fifo_obj.decoded[REF_RAW + 1] = - inv_q30_mult(fifo_obj.decoded[REF_RAW + 1], - fifo_scale[REF_RAW + 1]); - fifo_obj.decoded[REF_RAW + 2] = - inv_q30_mult(fifo_obj.decoded[REF_RAW + 2], - fifo_scale[REF_RAW + 2]); - fifo_obj.decoded[REF_RAW + 3] = - inv_q30_mult(fifo_obj.decoded[REF_RAW + 3], - fifo_scale[REF_RAW + 3]); - } - data[0] = fifo_obj.decoded[REF_RAW + 1]; - data[1] = fifo_obj.decoded[REF_RAW + 2]; - data[2] = fifo_obj.decoded[REF_RAW + 3]; - } else { - long data2[6]; - inv_get_gyro_and_accel_sensor(data2); - data[0] = data2[0]; - data[1] = data2[1]; - data[2] = data2[2]; - } - return INV_SUCCESS; -} - -/** - * @brief Returns 6-element vector of gyro and accel data - * @param[out] data 6-element vector of gyro and accel data - * @return 0 on success or an error code. - */ -inv_error_t inv_get_gyro_and_accel_sensor(long *data) -{ - int ii; - if (data == NULL) - return INV_ERROR_INVALID_PARAMETER; - - if (!fifo_obj.data_config[CONFIG_RAW_DATA]) - return INV_ERROR_FEATURE_NOT_ENABLED; - - for (ii = 0; ii < (GYRO_NUM_AXES + ACCEL_NUM_AXES); ii++) { - data[ii] = fifo_obj.decoded[REF_RAW + 1 + ii]; - } - - return INV_SUCCESS; -} - -/** - * @brief Returns 3-element vector of external sensor - * @param[out] data 3-element vector of external sensor - * @return 0 on success or an error code. - */ -inv_error_t inv_get_external_sensor_data(long *data, int size __unused) -{ - memset(data, 0, COMPASS_NUM_AXES * sizeof(long)); - return INV_ERROR_FEATURE_NOT_IMPLEMENTED; -} - -/** - * Sends accelerometer data to the FIFO. - * - * @param[in] elements Which of the 3 elements to send. Use INV_ALL for 3 axis - * or INV_ELEMENT_1, INV_ELEMENT_2, INV_ELEMENT_3 or'd together - * for a subset. - * - * @param[in] accuracy Set to INV_32_BIT for 32-bit data, or INV_16_BIT for 16 - * bit data. Set to zero to remove it from the FIFO. - */ -inv_error_t inv_send_accel(uint_fast16_t elements, uint_fast16_t accuracy) -{ - INVENSENSE_FUNC_START; - unsigned char regs[4] = { DINAF8 + 1, DINA28, DINA30, DINA38 }; - inv_error_t result; - int kk; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - result = inv_construct3_fifo(regs, elements, accuracy, REF_ACCEL, - KEY_CFG_12, CONFIG_ACCEL); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - for (kk = 0; kk < ACCEL_NUM_AXES; kk++) { - fifo_scale[REF_ACCEL + kk] = 2 * inv_obj.accel_sens; - } - - return inv_set_footer(); -} - -/** - * Sends control data to the FIFO. Control data is a 4 length vector of 32-bits. - * - * @param[in] elements Which of the 4 elements to send. Use INV_ALL for all - * or INV_ELEMENT_1, INV_ELEMENT_2, INV_ELEMENT_3, INV_ELEMENT_4 or'd - * together for a subset. - * - * @param[in] accuracy Set to INV_32_BIT for 32-bit data, or INV_16_BIT for 16 - * bit data. Set to zero to remove it from the FIFO. - */ -inv_error_t inv_send_cntrl_data(uint_fast16_t elements, uint_fast16_t accuracy) -{ - INVENSENSE_FUNC_START; - int_fast8_t kk; - inv_error_t result; - unsigned char regs[5] = { DINAF8 + 1, DINA20, DINA28, DINA30, DINA38 }; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - elements = inv_set_fifo_reference(elements, accuracy, REF_CONTROL, 4); - accuracy = inv_set_fifo_accuracy(elements, accuracy, CONFIG_CONTROL_DATA); - - if (accuracy & INV_16_BIT) { - regs[0] = DINAF8 + 2; - } - - fifo_obj.data_config[CONFIG_CONTROL_DATA] = elements | accuracy; - - for (kk = 0; kk < 4; ++kk) { - if ((elements & 1) == 0) - regs[kk + 1] = DINAA0 + 3; - elements >>= 1; - } - - result = inv_set_mpu_memory(KEY_CFG_1, 5, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - return inv_set_footer(); -} - -/** - * Adds a rolling counter to the fifo packet. When used with the footer - * the data comes out the first time: - * - * @code - * <data0><data1>...<dataN><PacketNum0><PacketNum1> - * @endcode - * for every other packet it is - * - * @code - * <FifoFooter0><FifoFooter1><data0><data1>...<dataN><PacketNum0><PacketNum1> - * @endcode - * - * This allows for scanning of the fifo for packets - * - * @return INV_SUCCESS or error code - */ -inv_error_t inv_send_packet_number(uint_fast16_t accuracy) -{ - INVENSENSE_FUNC_START; - inv_error_t result; - unsigned char regs; - uint_fast16_t elements; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - elements = inv_set_fifo_reference(1, accuracy, REF_DMP_PACKET, 1); - if (elements & 1) { - regs = DINA28; - fifo_obj.data_config[CONFIG_DMP_PACKET_NUMBER] = - INV_ELEMENT_1 | INV_16_BIT; - } else { - regs = DINAF8 + 3; - fifo_obj.data_config[CONFIG_DMP_PACKET_NUMBER] = 0; - } - result = inv_set_mpu_memory(KEY_CFG_23, 1, ®s); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - return inv_set_footer(); -} - -/** - * @brief Send the computed gravity vectors into the FIFO. - * The gravity vectors can be retrieved from the FIFO via - * inv_get_gravity(), to have the gravitation vector expressed - * in coordinates relative to the body. - * - * Gravity is a derived vector derived from the quaternion. - * @param elements - * the gravitation vectors components bitmask. - * To send all compoents use INV_ALL. - * @param accuracy - * The number of bits the gravitation vector is expressed - * into. - * Set to INV_32_BIT for 32-bit data, or INV_16_BIT for 16 - * bit data. - * Set to zero to remove it from the FIFO. - * - * @return INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_send_gravity(uint_fast16_t elements __unused, uint_fast16_t accuracy) -{ - INVENSENSE_FUNC_START; - inv_error_t result; - - result = inv_send_quaternion(accuracy); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - return inv_set_footer(); -} - -/** Sends gyro data to the FIFO. Gyro data is a 3 length vector - * of 32-bits. Should be called once after inv_dmp_open() and before inv_dmp_start(). - * @param[in] elements Which of the 3 elements to send. Use INV_ALL for all of them - * or INV_ELEMENT_1, INV_ELEMENT_2, INV_ELEMENT_3 or'd together - * for a subset. - * @param[in] accuracy Set to INV_32_BIT for 32-bit data, or INV_16_BIT for 16 - * bit data. Set to zero to remove it from the FIFO. - */ -inv_error_t inv_send_gyro(uint_fast16_t elements, uint_fast16_t accuracy) -{ - INVENSENSE_FUNC_START; - unsigned char regs[4] = { DINAF8 + 1, DINA20, DINA28, DINA30 }; - inv_error_t result; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (fifo_obj.gyro_source == INV_GYRO_FROM_QUATERNION) { - regs[0] = DINA90 + 5; - result = inv_set_mpu_memory(KEY_CFG_GYRO_SOURCE, 1, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - regs[0] = DINAF8 + 1; - regs[1] = DINA20; - regs[2] = DINA28; - regs[3] = DINA30; - } else { - regs[0] = DINA90 + 10; - result = inv_set_mpu_memory(KEY_CFG_GYRO_SOURCE, 1, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - regs[0] = DINAF8 + 1; - regs[1] = DINA28; - regs[2] = DINA30; - regs[3] = DINA38; - } - result = inv_construct3_fifo(regs, elements, accuracy, REF_GYROS, - KEY_CFG_9, CONFIG_GYROS); - - return inv_set_footer(); -} - -/** Sends linear accelerometer data to the FIFO. - * - * Linear accelerometer data is a 3 length vector of 32-bits. It is the - * acceleration in the body frame with gravity removed. - * - * - * @param[in] elements Which of the 3 elements to send. Use INV_ALL for all of - * them or INV_ELEMENT_1, INV_ELEMENT_2, INV_ELEMENT_3 or'd together - * for a subset. - * - * NOTE: Elements is ignored if the fifo rate is < INV_MAX_NUM_ACCEL_SAMPLES - * @param[in] accuracy Set to INV_32_BIT for 32-bit data, or INV_16_BIT for 16 - * bit data. Set to zero to remove it from the FIFO. - */ -inv_error_t inv_send_linear_accel(uint_fast16_t elements, - uint_fast16_t accuracy) -{ - INVENSENSE_FUNC_START; - inv_error_t result; - unsigned char state = inv_get_state(); - - if (state < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - result = inv_send_gravity(elements, accuracy); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_send_accel(elements, accuracy); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - return inv_set_footer(); -} - -/** Sends linear world accelerometer data to the FIFO. Linear world - * accelerometer data is a 3 length vector of 32-bits. It is the acceleration - * in the world frame with gravity removed. Should be called once after - * inv_dmp_open() and before inv_dmp_start(). - * - * @param[in] elements Which of the 3 elements to send. Use INV_ALL for all of - * them or INV_ELEMENT_1, INV_ELEMENT_2, INV_ELEMENT_3 or'd together - * for a subset. - * @param[in] accuracy Set to INV_32_BIT for 32-bit data, or INV_16_BIT for 16 - * bit data. - */ -inv_error_t inv_send_linear_accel_in_world(uint_fast16_t elements __unused, - uint_fast16_t accuracy) -{ - INVENSENSE_FUNC_START; - inv_error_t result; - - result = inv_send_linear_accel(INV_ALL, accuracy); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_send_quaternion(accuracy); - - return inv_set_footer(); -} - -/** Sends quaternion data to the FIFO. Quaternion data is a 4 length vector - * of 32-bits. Should be called once after inv_dmp_open() and before inv_dmp_start(). - * @param[in] accuracy Set to INV_32_BIT for 32-bit data, or INV_16_BIT for 16 - * bit data. - */ -inv_error_t inv_send_quaternion(uint_fast16_t accuracy) -{ - INVENSENSE_FUNC_START; - unsigned char regs[5] = { DINAF8 + 1, DINA20, DINA28, - DINA30, DINA38 - }; - uint_fast16_t elements, kk; - inv_error_t result; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - elements = inv_set_fifo_reference(0xf, accuracy, REF_QUATERNION, 4); - accuracy = inv_set_fifo_accuracy(elements, accuracy, CONFIG_QUAT); - - if (accuracy & INV_16_BIT) { - regs[0] = DINAF8 + 2; - } - - fifo_obj.data_config[CONFIG_QUAT] = elements | accuracy; - - for (kk = 0; kk < 4; ++kk) { - if ((elements & 1) == 0) - regs[kk + 1] = DINAA0 + 3; - elements >>= 1; - } - - result = inv_set_mpu_memory(KEY_CFG_8, 5, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - return inv_set_footer(); -} - -/** Sends raw data to the FIFO. - * Should be called once after inv_dmp_open() and before inv_dmp_start(). - * @param[in] elements Which of the 7 elements to send. Use INV_ALL for all of them - * or INV_ELEMENT_1, INV_ELEMENT_2, INV_ELEMENT_3 ... INV_ELEMENT_7 or'd together - * for a subset. The first element is temperature, the next 3 are gyro data, - * and the last 3 accel data. - * @param accuracy - * The element's accuracy, can be INV_16_BIT, INV_32_BIT, or 0 to turn off. - * @return 0 if successful, a non-zero error code otherwise. - */ -inv_error_t inv_send_sensor_data(uint_fast16_t elements, uint_fast16_t accuracy) -{ - int result; - INVENSENSE_FUNC_START; - unsigned char regs[4] = { DINAA0 + 3, - DINAA0 + 3, - DINAA0 + 3, - DINAA0 + 3 - }; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (accuracy) - accuracy = INV_16_BIT; - - elements = inv_set_fifo_reference(elements, accuracy, REF_RAW, 7); - - if (elements & 0x03) { - elements |= 0x03; - regs[0] = DINA20; - } - if (elements & 0x0C) { - elements |= 0x0C; - regs[1] = DINA28; - } - if (elements & 0x30) { - elements |= 0x30; - regs[2] = DINA30; - } - if (elements & 0x40) { - elements |= 0xC0; - regs[3] = DINA38; - } - - result = inv_set_mpu_memory(KEY_CFG_15, 4, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - if (elements & 0x01) - fifo_obj.data_config[CONFIG_TEMPERATURE] = 1 | INV_16_BIT; - else - fifo_obj.data_config[CONFIG_TEMPERATURE] = 0; - if (elements & 0xfe) - fifo_obj.data_config[CONFIG_RAW_DATA] = - (0x7f & (elements >> 1)) | INV_16_BIT; - else - fifo_obj.data_config[CONFIG_RAW_DATA] = 0; - - return inv_set_footer(); -} - -/** Sends raw external data to the FIFO. - * Should be called once after inv_dmp_open() and before inv_dmp_start(). - * @param[in] elements Which of the 3 elements to send. Use INV_ALL for all of them - * or INV_ELEMENT_1, INV_ELEMENT_2, INV_ELEMENT_3 or'd together - * for a subset. - * @param[in] accuracy INV_16_BIT to send data, 0 to stop sending this data. - * Sending and Stop sending are reference counted, so data actually - * stops when the reference reaches zero. - */ -inv_error_t inv_send_external_sensor_data(uint_fast16_t elements __unused, - uint_fast16_t accuracy __unused) -{ - return INV_ERROR_FEATURE_NOT_IMPLEMENTED; // Feature not supported -} - -/** - * @brief Send the Quantized Acceleromter data into the FIFO. The data can be - * retrieved using inv_get_quantized_accel() or inv_get_unquantized_accel(). - * - * To be useful this should be set to fifo_rate + 1 if less than - * INV_MAX_NUM_ACCEL_SAMPLES, otherwise it doesn't work. - * - * @param elements - * the components bitmask. - * To send all compoents use INV_ALL. - * - * @param accuracy - * Use INV_32_BIT for 32-bit data or INV_16_BIT for - * 16-bit data. - * Set to zero to remove it from the FIFO. - * - * @return INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_send_quantized_accel(uint_fast16_t elements, - uint_fast16_t accuracy) -{ - INVENSENSE_FUNC_START; - unsigned char regs[5] = { DINAF8 + 1, DINA20, DINA28, - DINA30, DINA38 - }; - unsigned char regs2[4] = { DINA20, DINA28, - DINA30, DINA38 - }; - inv_error_t result; - int_fast8_t kk; - int_fast8_t ii; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - elements = inv_set_fifo_reference(elements, accuracy, REF_QUANT_ACCEL, 8); - - if (elements) { - fifo_obj.data_config[CONFIG_DMP_QUANT_ACCEL] = (elements) | INV_32_BIT; - } else { - fifo_obj.data_config[CONFIG_DMP_QUANT_ACCEL] = 0; - } - - for (kk = 0; kk < INV_MAX_NUM_ACCEL_SAMPLES; ++kk) { - fifo_obj.decoded[REF_QUANT_ACCEL + kk] = 0; - for (ii = 0; ii < ACCEL_NUM_AXES; ii++) { - fifo_obj.decoded_accel[kk][ii] = 0; - } - } - - for (kk = 0; kk < 4; ++kk) { - if ((elements & 1) == 0) - regs[kk + 1] = DINAA0 + 3; - elements >>= 1; - } - - result = inv_set_mpu_memory(KEY_CFG_TAP0, 5, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - for (kk = 0; kk < 4; ++kk) { - if ((elements & 1) == 0) - regs2[kk] = DINAA0 + 3; - elements >>= 1; - } - - result = inv_set_mpu_memory(KEY_CFG_TAP4, 4, regs2); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - return inv_set_footer(); -} - -inv_error_t inv_send_eis(uint_fast16_t elements, uint_fast16_t accuracy) -{ - INVENSENSE_FUNC_START; - int_fast8_t kk; - unsigned char regs[3] = { DINA28, DINA30, DINA38 }; - inv_error_t result; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (accuracy) { - accuracy = INV_32_BIT; - } - - elements = inv_set_fifo_reference(elements, accuracy, REF_EIS, 3); - accuracy = inv_set_fifo_accuracy(elements, accuracy, CONFIG_EIS); - - fifo_obj.data_config[CONFIG_EIS] = elements | accuracy; - - for (kk = 0; kk < 3; ++kk) { - if ((elements & 1) == 0) - regs[kk] = DINAA0 + 7; - elements >>= 1; - } - - result = inv_set_mpu_memory(KEY_P_EIS_FIFO_XSHIFT, 3, regs); - - return inv_set_footer(); -} - -/** - * @brief Returns 3-element vector of accelerometer data in body frame. - * - * @param[out] data 3-element vector of accelerometer data in body frame. - * One gee = 2^16. - * @return 0 on success or an error code. - */ -inv_error_t inv_get_accel(long *data) -{ - int kk; - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - - if (data == NULL) - return INV_ERROR_INVALID_PARAMETER; - - if ((!fifo_obj.data_config[CONFIG_ACCEL] && - (mldl_cfg->requested_sensors & INV_DMP_PROCESSOR)) - || - (!(mldl_cfg->requested_sensors & INV_DMP_PROCESSOR) && - !inv_accel_present())) - return INV_ERROR_FEATURE_NOT_ENABLED; - - for (kk = 0; kk < ACCEL_NUM_AXES; ++kk) { - data[kk] = fifo_obj.decoded[REF_ACCEL + kk]; - } - - return INV_SUCCESS; -} - -/** - * @brief Returns 4-element quaternion vector derived from 6-axis or - * 9-axis if 9-axis was implemented. 6-axis is gyros and accels. 9-axis is - * gyros, accel and compass. - * - * @param[out] data 4-element quaternion vector. One is scaled to 2^30. - * @return 0 on success or an error code. - */ -inv_error_t inv_get_quaternion(long *data) -{ - int kk; - - if (data == NULL) - return INV_ERROR_INVALID_PARAMETER; - - if (!fifo_obj.data_config[CONFIG_QUAT]) - return INV_ERROR_FEATURE_NOT_ENABLED; - - for (kk = 0; kk < 4; ++kk) { - data[kk] = fifo_obj.decoded[REF_QUATERNION + kk]; - } - - return INV_SUCCESS; -} - -/** - * @brief Returns 4-element quaternion vector derived from 6 - * axis sensors (gyros and accels). - * @param[out] data - * 4-element quaternion vector. One is scaled to 2^30. - * @return 0 on success or an error code. - */ -inv_error_t inv_get_6axis_quaternion(long *data) -{ - int kk; - if (data == NULL) - return INV_ERROR_INVALID_PARAMETER; - - if (!fifo_obj.data_config[CONFIG_QUAT]) - return INV_ERROR_FEATURE_NOT_ENABLED; - - for (kk = 0; kk < 4; ++kk) { - data[kk] = fifo_obj.decoded[REF_QUATERNION_6AXIS + kk]; - } - - return INV_SUCCESS; -} - -inv_error_t inv_get_relative_quaternion(long *data) -{ - if (data == NULL) - return INV_ERROR; - data[0] = inv_obj.relative_quat[0]; - data[1] = inv_obj.relative_quat[1]; - data[2] = inv_obj.relative_quat[2]; - data[3] = inv_obj.relative_quat[3]; - return INV_SUCCESS; -} - -/** - * @brief Returns 3-element vector of gyro data in body frame. - * @param[out] data - * 3-element vector of gyro data in body frame - * with gravity removed. One degree per second = 2^16. - * @return 0 on success or an error code. - */ -inv_error_t inv_get_gyro(long *data) -{ - int kk; - if (data == NULL) - return INV_ERROR_INVALID_PARAMETER; - - if (fifo_obj.data_config[CONFIG_GYROS]) { - for (kk = 0; kk < 3; ++kk) { - data[kk] = fifo_obj.decoded[REF_GYROS + kk]; - } - return INV_SUCCESS; - } else { - return INV_ERROR_FEATURE_NOT_ENABLED; - } -} - -/** - * @brief Get the 3-element gravity vector from the FIFO expressed - * in coordinates relative to the body frame. - * @param data - * 3-element vector of gravity in body frame. - * @return 0 on success or an error code. - */ -inv_error_t inv_get_gravity(long *data) -{ - long quat[4]; - int ii; - inv_error_t result; - - if (data == NULL) - return INV_ERROR_INVALID_PARAMETER; - - if (!fifo_obj.data_config[CONFIG_QUAT]) - return INV_ERROR_FEATURE_NOT_ENABLED; - - if ((fifo_obj.cache & FIFO_CACHE_GRAVITY_BODY) == 0) { - fifo_obj.cache |= FIFO_CACHE_GRAVITY_BODY; - - // Compute it from Quaternion - result = inv_get_quaternion(quat); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - data[0] = - inv_q29_mult(quat[1], quat[3]) - inv_q29_mult(quat[2], quat[0]); - data[1] = - inv_q29_mult(quat[2], quat[3]) + inv_q29_mult(quat[1], quat[0]); - data[2] = - (inv_q29_mult(quat[3], quat[3]) + inv_q29_mult(quat[0], quat[0])) - - 1073741824L; - - for (ii = 0; ii < ACCEL_NUM_AXES; ii++) { - data[ii] >>= 14; - fifo_obj.gravity_cache[ii] = data[ii]; - } - } else { - data[0] = fifo_obj.gravity_cache[0]; - data[1] = fifo_obj.gravity_cache[1]; - data[2] = fifo_obj.gravity_cache[2]; - } - - return INV_SUCCESS; -} - -/** -* @brief Sets the filter coefficent used for computing the acceleration -* bias which is used to compute linear acceleration. -* @param[in] coef Fitler coefficient. 0. means no filter, a small number means -* a small cutoff frequency with an increasing number meaning -* an increasing cutoff frequency. -*/ -inv_error_t inv_set_linear_accel_filter_coef(float coef) -{ - fifo_obj.acc_filter_coef = coef; - return INV_SUCCESS; -} - -/** - * @brief Returns 3-element vector of accelerometer data in body frame - * with gravity removed. - * @param[out] data 3-element vector of accelerometer data in body frame - * with gravity removed. One g = 2^16. - * @return 0 on success or an error code. data unchanged on error. - */ -inv_error_t inv_get_linear_accel(long *data) -{ - int kk; - long grav[3]; - long la[3]; - inv_error_t result; - - if (data == NULL) - return INV_ERROR_INVALID_PARAMETER; - - result = inv_get_gravity(grav); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_get_accel(la); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - if ((fifo_obj.cache & FIFO_CACHE_ACC_BIAS) == 0) { - fifo_obj.cache |= FIFO_CACHE_ACC_BIAS; - - for (kk = 0; kk < ACCEL_NUM_AXES; ++kk) { - long x; - x = la[kk] - grav[kk]; - fifo_obj.acc_bias_filt[kk] = (long)(x * fifo_obj.acc_filter_coef + - fifo_obj.acc_bias_filt[kk] * - (1.f - - fifo_obj.acc_filter_coef)); - data[kk] = x - fifo_obj.acc_bias_filt[kk]; - } - } else { - for (kk = 0; kk < ACCEL_NUM_AXES; ++kk) { - data[kk] = la[kk] - grav[kk] - fifo_obj.acc_bias_filt[kk]; - } - } - return INV_SUCCESS; -} - -/** - * @brief Returns 3-element vector of accelerometer data in world frame - * with gravity removed. - * @param[out] data 3-element vector of accelerometer data in world frame - * with gravity removed. One g = 2^16. - * @return 0 on success or an error code. - */ -inv_error_t inv_get_linear_accel_in_world(long *data) -{ - int kk; - if (data == NULL) - return INV_ERROR_INVALID_PARAMETER; - if (fifo_obj.data_config[CONFIG_ACCEL] && fifo_obj.data_config[CONFIG_QUAT]) { - long wtemp[4], qi[4], wtemp2[4]; - wtemp[0] = 0; - inv_get_linear_accel(&wtemp[1]); - inv_q_mult(&fifo_obj.decoded[REF_QUATERNION], wtemp, wtemp2); - inv_q_invert(&fifo_obj.decoded[REF_QUATERNION], qi); - inv_q_mult(wtemp2, qi, wtemp); - for (kk = 0; kk < 3; ++kk) { - data[kk] = wtemp[kk + 1]; - } - return INV_SUCCESS; - } else { - return INV_ERROR_FEATURE_NOT_ENABLED; - } -} - -/** - * @brief Returns 4-element vector of control data. - * @param[out] data 4-element vector of control data. - * @return 0 for succes or an error code. - */ -inv_error_t inv_get_cntrl_data(long *data) -{ - int kk; - if (data == NULL) - return INV_ERROR_INVALID_PARAMETER; - - if (!fifo_obj.data_config[CONFIG_CONTROL_DATA]) - return INV_ERROR_FEATURE_NOT_ENABLED; - - for (kk = 0; kk < 4; ++kk) { - data[kk] = fifo_obj.decoded[REF_CONTROL + kk]; - } - - return INV_SUCCESS; - -} - -/** - * @brief Returns 3-element vector of EIS shfit data - * @param[out] data 3-element vector of EIS shift data. - * @return 0 for succes or an error code. - */ -inv_error_t inv_get_eis(long *data) -{ - int kk; - if (data == NULL) - return INV_ERROR_INVALID_PARAMETER; - - if (!fifo_obj.data_config[CONFIG_EIS]) - return INV_ERROR_FEATURE_NOT_ENABLED; - - for (kk = 0; kk < 3; ++kk) { - data[kk] = fifo_obj.decoded[REF_EIS + kk]; - } - - return INV_SUCCESS; - -} - -/** - * @brief Returns 3-element vector of accelerometer data in body frame. - * @param[out] data 3-element vector of accelerometer data in body frame in g's. - * @return 0 for success or an error code. - */ -inv_error_t inv_get_accel_float(float *data) -{ - long lData[3]; - int kk; - int result; - - if (data == NULL) - return INV_ERROR_INVALID_PARAMETER; - - result = inv_get_accel(lData); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - for (kk = 0; kk < ACCEL_NUM_AXES; ++kk) { - data[kk] = lData[kk] / 65536.0f; - } - - return INV_SUCCESS; -} - -/** - * @brief Returns 4-element quaternion vector. - * @param[out] data 4-element quaternion vector. - * @return 0 on success, an error code otherwise. - */ -inv_error_t inv_get_quaternion_float(float *data) -{ - int kk; - - if (data == NULL) - return INV_ERROR_INVALID_PARAMETER; - - if (!fifo_obj.data_config[CONFIG_QUAT]) - return INV_ERROR_FEATURE_NOT_ENABLED; - - for (kk = 0; kk < 4; ++kk) { - data[kk] = fifo_obj.decoded[REF_QUATERNION + kk] / 1073741824.0f; - } - - return INV_SUCCESS; -} - -/** - * @brief Command the MPU to put data in the FIFO at a particular rate. - * - * The DMP will add fifo entries every fifoRate + 1 MPU cycles. For - * example if the MPU is running at 200Hz the following values apply: - * - * <TABLE> - * <TR><TD>fifoRate</TD><TD>DMP Sample Rate</TD><TD>FIFO update frequency</TD></TR> - * <TR><TD>0</TD><TD>200Hz</TD><TD>200Hz</TD></TR> - * <TR><TD>1</TD><TD>200Hz</TD><TD>100Hz</TD></TR> - * <TR><TD>2</TD><TD>200Hz</TD><TD>50Hz</TD></TR> - * <TR><TD>4</TD><TD>200Hz</TD><TD>40Hz</TD></TR> - * <TR><TD>9</TD><TD>200Hz</TD><TD>20Hz</TD></TR> - * <TR><TD>19</TD><TD>200Hz</TD><TD>10Hz</TD></TR> - * </TABLE> - * - * Note: if the DMP is running, (state == INV_STATE_DMP_STARTED) - * then inv_run_state_callbacks() will be called to allow features - * that depend upon fundamental constants to be updated. - * - * @pre inv_dmp_open() - * @ifnot MPL_MF - * or inv_open_low_power_pedometer() - * or inv_eis_open_dmp() - * @endif - * and inv_dmp_start() - * must <b>NOT</b> have been called. - * - * @param fifoRate Divider value - 1. Output rate is - * (DMP Sample Rate) / (fifoRate + 1). - * - * @return INV_SUCCESS if successful, ML error code on any failure. - */ -inv_error_t inv_set_fifo_rate(unsigned short fifoRate) -{ - INVENSENSE_FUNC_START; - unsigned char regs[2]; - unsigned char state; - inv_error_t result = INV_SUCCESS; - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - - state = inv_get_state(); - if (state != INV_STATE_DMP_OPENED && state != INV_STATE_DMP_STARTED) - return INV_ERROR_SM_IMPROPER_STATE; - - fifo_obj.fifo_rate = fifoRate; - - if (mldl_cfg->requested_sensors & INV_DMP_PROCESSOR) { - - regs[0] = (unsigned char)((fifoRate >> 8) & 0xff); - regs[1] = (unsigned char)(fifoRate & 0xff); - - result = inv_set_mpu_memory(KEY_D_0_22, 2, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - fifo_obj.sample_step_size_ms = - (unsigned short)(((long)fifoRate + 1) * - (inv_mpu_get_sampling_period_us - (mldl_cfg)) / 1000L); - - if (state == INV_STATE_DMP_STARTED) - result = inv_run_state_callbacks(state); - } else if (mldl_cfg->requested_sensors & INV_THREE_AXIS_ACCEL) { - struct ext_slave_config config; - long data; - config.key = MPU_SLAVE_CONFIG_ODR_RESUME; - config.len = sizeof(long); - config.apply = (state == INV_STATE_DMP_STARTED); - config.data = &data; - data = (1000 * inv_mpu_get_sampling_rate_hz(mldl_cfg)) / (fifoRate + 1); - - /* Ask for the same frequency */ - result = inv_mpu_config_accel(mldl_cfg, - inv_get_serial_handle(), - inv_get_serial_handle(), &config); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_mpu_get_accel_config(mldl_cfg, - inv_get_serial_handle(), - inv_get_serial_handle(), &config); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - if(FIFO_DEBUG) - MPL_LOGI("Actual ODR: %ld Hz\n", data / 1000); - /* Record the actual frequency granted odr is in mHz */ - fifo_obj.sample_step_size_ms = (unsigned short)((1000L * 1000L) / data); - } - return result; -} - -/** - * @brief Retrieve the current FIFO update divider - 1. - * See inv_set_fifo_rate() for how this value is used. - * - * The fifo rate when there is no fifo is the equivilent divider when - * derived from the value set by SetSampleSteSizeMs() - * - * @return The value of the fifo rate divider or INV_INVALID_FIFO_RATE on error. - */ -unsigned short inv_get_fifo_rate(void) -{ - return fifo_obj.fifo_rate; -} - -/** - * @brief Returns the step size for quaternion type data. - * - * Typically the data rate for each FIFO packet. When the gryos are sleeping - * this value will return the last value set by SetSampleStepSizeMs() - * - * @return step size for quaternion type data - */ -int_fast16_t inv_get_sample_step_size_ms(void) -{ - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - - if (mldl_cfg->requested_sensors & INV_DMP_PROCESSOR) - return (fifo_obj.fifo_rate + 1) * - (inv_mpu_get_sampling_period_us(mldl_cfg) / 1000); - else - return fifo_obj.sample_step_size_ms; -} - -/** - * @brief Returns the step size for quaternion type data. - * - * Typically the data rate for each FIFO packet. When the gryos are sleeping - * this value will return the last value set by SetSampleStepSizeMs() - * - * @return step size for quaternion type data - */ -int_fast16_t inv_get_sample_frequency(void) -{ - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - - if (mldl_cfg->requested_sensors & INV_DMP_PROCESSOR) - return (inv_mpu_get_sampling_rate_hz(mldl_cfg) / - (fifo_obj.fifo_rate + 1)); - else - return (1000 / fifo_obj.sample_step_size_ms); -} - -/** - * @brief The gyro data magnitude squared : - * (1 degree per second)^2 = 2^6 = 2^GYRO_MAG_SQR_SHIFT. - * @return the computed magnitude squared output of the gyroscope. - */ -unsigned long inv_get_gyro_sum_of_sqr(void) -{ - unsigned long gmag = 0; - long temp; - int kk; - - for (kk = 0; kk < 3; ++kk) { - temp = fifo_obj.decoded[REF_GYROS + kk] >> - (16 - (GYRO_MAG_SQR_SHIFT / 2)); - gmag += temp * temp; - } - - return gmag; -} - -/** - * @brief The gyro data magnitude squared: - * (1 g)^2 = 2^16 = 2^ACC_MAG_SQR_SHIFT. - * @return the computed magnitude squared output of the accelerometer. - */ -unsigned long inv_accel_sum_of_sqr(void) -{ - unsigned long amag = 0; - long temp; - int kk; - long accel[3]; - inv_error_t result; - - result = inv_get_accel(accel); - if (INV_SUCCESS != result) { - return 0; - } - - for (kk = 0; kk < 3; ++kk) { - temp = accel[kk] >> (16 - (ACC_MAG_SQR_SHIFT / 2)); - amag += temp * temp; - } - return amag; -} - -/** - * @internal - */ -void inv_override_quaternion(float *q) -{ - int kk; - for (kk = 0; kk < 4; ++kk) { - fifo_obj.decoded[REF_QUATERNION + kk] = (long)(q[kk] * (1L << 30)); - } -} - -/** - * @internal - * @brief This registers a function to be called for each set of - * gyro/quaternion/rotation matrix/etc output. - * @param[in] func The callback function to register - * @param[in] priority The unique priority number of the callback. Lower numbers - * are called first. - * @return error code. - */ -inv_error_t inv_register_fifo_rate_process(inv_obj_func func, int priority) -{ - INVENSENSE_FUNC_START; - inv_error_t result; - int kk, nn; - - result = inv_lock_mutex(fifo_rate_obj.mutex); - if (INV_SUCCESS != result) { - return result; - } - // Make sure we haven't registered this function already - // Or used the same priority - for (kk = 0; kk < fifo_rate_obj.num_cb; ++kk) { - if ((fifo_rate_obj.fifo_process_cb[kk] == func) || - (fifo_rate_obj.priority[kk] == priority)) { - inv_unlock_mutex(fifo_rate_obj.mutex); - return INV_ERROR_INVALID_PARAMETER; - } - } - - // Make sure we have not filled up our number of allowable callbacks - if (fifo_rate_obj.num_cb <= MAX_HIGH_RATE_PROCESSES - 1) { - kk = 0; - if (fifo_rate_obj.num_cb != 0) { - // set kk to be where this new callback goes in the array - while ((kk < fifo_rate_obj.num_cb) && - (fifo_rate_obj.priority[kk] < priority)) { - kk++; - } - if (kk != fifo_rate_obj.num_cb) { - // We need to move the others - for (nn = fifo_rate_obj.num_cb; nn > kk; --nn) { - fifo_rate_obj.fifo_process_cb[nn] = - fifo_rate_obj.fifo_process_cb[nn - 1]; - fifo_rate_obj.priority[nn] = fifo_rate_obj.priority[nn - 1]; - } - } - } - // Add new callback - fifo_rate_obj.fifo_process_cb[kk] = func; - fifo_rate_obj.priority[kk] = priority; - fifo_rate_obj.num_cb++; - } else { - result = INV_ERROR_MEMORY_EXAUSTED; - } - - inv_unlock_mutex(fifo_rate_obj.mutex); - return result; -} - -/** - * @internal - * @brief This unregisters a function to be called for each set of - * gyro/quaternion/rotation matrix/etc output. - * @return error code. - */ -inv_error_t inv_unregister_fifo_rate_process(inv_obj_func func) -{ - INVENSENSE_FUNC_START; - int kk, jj; - inv_error_t result; - - result = inv_lock_mutex(fifo_rate_obj.mutex); - if (INV_SUCCESS != result) { - return result; - } - // Make sure we haven't registered this function already - result = INV_ERROR_INVALID_PARAMETER; - for (kk = 0; kk < fifo_rate_obj.num_cb; ++kk) { - if (fifo_rate_obj.fifo_process_cb[kk] == func) { - for (jj = kk + 1; jj < fifo_rate_obj.num_cb; ++jj) { - fifo_rate_obj.fifo_process_cb[jj - 1] = - fifo_rate_obj.fifo_process_cb[jj]; - fifo_rate_obj.priority[jj - 1] = - fifo_rate_obj.priority[jj]; - } - fifo_rate_obj.fifo_process_cb[fifo_rate_obj.num_cb - 1] = NULL; - fifo_rate_obj.priority[fifo_rate_obj.num_cb - 1] = 0; - fifo_rate_obj.num_cb--; - result = INV_SUCCESS; - break; - } - } - - inv_unlock_mutex(fifo_rate_obj.mutex); - return result; - -} -#ifdef UMPL -bool bFIFIDataAvailable = FALSE; -bool isUmplDataInFIFO(void) -{ - return bFIFIDataAvailable; -} -void setUmplDataInFIFOFlag(bool flag) -{ - bFIFIDataAvailable = flag; -} -#endif -inv_error_t inv_run_fifo_rate_processes(void) -{ - int kk; - inv_error_t result, result2; - - result = inv_lock_mutex(fifo_rate_obj.mutex); - if (INV_SUCCESS != result) { - MPL_LOGE("MLOsLockMutex returned %d\n", result); - return result; - } - // User callbacks take priority over the fifo_process_cb callback - if (fifo_obj.fifo_process_cb) - fifo_obj.fifo_process_cb(); - - for (kk = 0; kk < fifo_rate_obj.num_cb; ++kk) { - if (fifo_rate_obj.fifo_process_cb[kk]) { - result2 = fifo_rate_obj.fifo_process_cb[kk] (&inv_obj); - if (result == INV_SUCCESS) -#ifdef UMPL - setUmplDataInFIFOFlag(TRUE); -#endif - result = result2; - } - } - - inv_unlock_mutex(fifo_rate_obj.mutex); - return result; -} - -/*********************/ - /** \}*//* defgroup */ -/*********************/ diff --git a/invensense/mlsdk/mllite/mlFIFO.h b/invensense/mlsdk/mllite/mlFIFO.h deleted file mode 100644 index 2114eb3..0000000 --- a/invensense/mlsdk/mllite/mlFIFO.h +++ /dev/null @@ -1,150 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -#ifndef INVENSENSE_INV_FIFO_H__ -#define INVENSENSE_INV_FIFO_H__ - -#include "mltypes.h" -#include "mlinclude.h" -#include "ml.h" -#ifdef INV_INCLUDE_LEGACY_HEADERS -#include "mlFIFO_legacy.h" -#endif - -#ifdef __cplusplus -extern "C" { -#endif - - /**************************************************************************/ - /* Elements */ - /**************************************************************************/ - -#define INV_ELEMENT_1 (0x0001) -#define INV_ELEMENT_2 (0x0002) -#define INV_ELEMENT_3 (0x0004) -#define INV_ELEMENT_4 (0x0008) -#define INV_ELEMENT_5 (0x0010) -#define INV_ELEMENT_6 (0x0020) -#define INV_ELEMENT_7 (0x0040) -#define INV_ELEMENT_8 (0x0080) - -#define INV_ALL (0xFFFF) -#define INV_ELEMENT_MASK (0x00FF) - - /**************************************************************************/ - /* Accuracy */ - /**************************************************************************/ - -#define INV_16_BIT (0x0100) -#define INV_32_BIT (0x0200) -#define INV_ACCURACY_MASK (0x0300) - - /**************************************************************************/ - /* Accuracy */ - /**************************************************************************/ - -#define INV_GYRO_FROM_RAW (0x00) -#define INV_GYRO_FROM_QUATERNION (0x01) - - /**************************************************************************/ - /* High Rate Proceses */ - /**************************************************************************/ - -#define MAX_HIGH_RATE_PROCESSES 16 - - /**************************************************************************/ - /* Prototypes */ - /**************************************************************************/ - - inv_error_t inv_set_fifo_rate(unsigned short fifoRate); - unsigned short inv_get_fifo_rate(void); - int_fast16_t inv_get_sample_step_size_ms(void); - int_fast16_t inv_get_sample_frequency(void); - long inv_decode_temperature(short tempReg); - - // Register callbacks after a packet of FIFO data is processed - inv_error_t inv_register_fifo_rate_process(inv_obj_func func, int priority); - inv_error_t inv_unregister_fifo_rate_process(inv_obj_func func); - inv_error_t inv_run_fifo_rate_processes(void); - - // Setup FIFO for various output - inv_error_t inv_send_quaternion(uint_fast16_t accuracy); - inv_error_t inv_send_gyro(uint_fast16_t elements, uint_fast16_t accuracy); - inv_error_t inv_send_accel(uint_fast16_t elements, uint_fast16_t accuracy); - inv_error_t inv_send_linear_accel(uint_fast16_t elements, - uint_fast16_t accuracy); - inv_error_t inv_send_linear_accel_in_world(uint_fast16_t elements, - uint_fast16_t accuracy); - inv_error_t inv_send_cntrl_data(uint_fast16_t elements, - uint_fast16_t accuracy); - inv_error_t inv_send_sensor_data(uint_fast16_t elements, - uint_fast16_t accuracy); - inv_error_t inv_send_external_sensor_data(uint_fast16_t elements, - uint_fast16_t accuracy); - inv_error_t inv_send_gravity(uint_fast16_t elements, - uint_fast16_t accuracy); - inv_error_t inv_send_packet_number(uint_fast16_t accuracy); - inv_error_t inv_send_quantized_accel(uint_fast16_t elements, - uint_fast16_t accuracy); - inv_error_t inv_send_eis(uint_fast16_t elements, uint_fast16_t accuracy); - - // Get Fixed Point data from FIFO - inv_error_t inv_get_accel(long *data); - inv_error_t inv_get_quaternion(long *data); - inv_error_t inv_get_6axis_quaternion(long *data); - inv_error_t inv_get_relative_quaternion(long *data); - inv_error_t inv_get_gyro(long *data); - inv_error_t inv_set_linear_accel_filter_coef(float coef); - inv_error_t inv_get_linear_accel(long *data); - inv_error_t inv_get_linear_accel_in_world(long *data); - inv_error_t inv_get_gyro_and_accel_sensor(long *data); - inv_error_t inv_get_gyro_sensor(long *data); - inv_error_t inv_get_cntrl_data(long *data); - inv_error_t inv_get_temperature(long *data); - inv_error_t inv_get_gravity(long *data); - inv_error_t inv_get_unquantized_accel(long *data); - inv_error_t inv_get_quantized_accel(long *data); - inv_error_t inv_get_external_sensor_data(long *data, int size); - inv_error_t inv_get_eis(long *data); - - // Get Floating Point data from FIFO - inv_error_t inv_get_accel_float(float *data); - inv_error_t inv_get_quaternion_float(float *data); - - inv_error_t inv_process_fifo_packet(const unsigned char *dmpData); - inv_error_t inv_read_and_process_fifo(int_fast8_t numPackets, - int_fast8_t * processed); - - inv_error_t inv_set_fifo_processed_callback(void (*func) (void)); - - inv_error_t inv_init_fifo_param(void); - inv_error_t inv_close_fifo(void); - inv_error_t inv_set_gyro_data_source(uint_fast8_t source); - inv_error_t inv_decode_quantized_accel(void); - unsigned long inv_get_gyro_sum_of_sqr(void); - unsigned long inv_accel_sum_of_sqr(void); - void inv_override_quaternion(float *q); -#ifdef UMPL - bool isUmplDataInFIFO(void); - void setUmplDataInFIFOFlag(bool flag); -#endif - uint_fast16_t inv_get_fifo_packet_size(void); -#ifdef __cplusplus -} -#endif -#endif // INVENSENSE_INV_FIFO_H__ diff --git a/invensense/mlsdk/mllite/mlFIFOHW.c b/invensense/mlsdk/mllite/mlFIFOHW.c deleted file mode 100644 index e806b95..0000000 --- a/invensense/mlsdk/mllite/mlFIFOHW.c +++ /dev/null @@ -1,320 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -/******************************************************************************* - * - * $Id: mlFIFOHW.c 5653 2011-06-16 21:06:55Z nroyer $ - * - *******************************************************************************/ - -/** - * @defgroup MLFIFO_HW - * @brief Motion Library - FIFO HW Driver. - * Provides facilities to interact with the FIFO. - * - * @{ - * @file mlFIFOHW.c - * @brief The Motion Library Fifo Hardware Layer. - * - */ - -#include <string.h> - -#include "mpu.h" -#include "mpu3050.h" -#include "mlFIFOHW.h" -#include "ml.h" -#include "mldl.h" -#include "mldl_cfg.h" - -#include "mlsl.h" - -#include "log.h" -#undef MPL_LOG_TAG -#define MPL_LOG_TAG "MPL-fifo" - -/* - Defines -*/ - -#define _fifoDebug(x) //{x} - -/* - Typedefs -*/ - -struct fifo_hw_obj { - short fifoCount; - inv_error_t fifoError; - unsigned char fifoOverflow; - unsigned char fifoResetOnOverflow; -}; - -/* - Global variables -*/ -const unsigned char gFifoFooter[FIFO_FOOTER_SIZE] = { 0xB2, 0x6A }; - -/* - Static variables -*/ -static struct fifo_hw_obj fifo_objHW; - -/* - Definitions -*/ - -/** - * @brief Initializes the internal FIFO data structure. - */ -void inv_init_fifo_hardare(void) -{ - memset(&fifo_objHW, 0, sizeof(fifo_objHW)); - fifo_objHW.fifoResetOnOverflow = TRUE; -} - -/** - * @internal - * @brief used to get the FIFO data. - * @param length - * Number of bytes to read from the FIFO. - * @param buffer - * the bytes of FIFO data. - * Note that this buffer <b>must</b> be large enough - * to store and additional trailing FIFO footer when - * expected. The callers must make sure enough space - * is allocated. - * @return number of valid bytes of data. -**/ -uint_fast16_t inv_get_fifo(uint_fast16_t length, unsigned char *buffer) -{ - INVENSENSE_FUNC_START; - inv_error_t result; - uint_fast16_t inFifo; - uint_fast16_t toRead; - int_fast8_t kk; - - toRead = length - FIFO_FOOTER_SIZE + fifo_objHW.fifoCount; - /*---- make sure length is correct ----*/ - if (length > MAX_FIFO_LENGTH || toRead > length || NULL == buffer) { - fifo_objHW.fifoError = INV_ERROR_INVALID_PARAMETER; - return 0; - } - - result = inv_get_fifo_length(&inFifo); - if (INV_SUCCESS != result) { - fifo_objHW.fifoError = result; - return 0; - } - // fifo_objHW.fifoCount is the footer size left in the buffer, or - // 0 if this is the first time reading the fifo since it was reset - if (inFifo < length + fifo_objHW.fifoCount) { - fifo_objHW.fifoError = INV_SUCCESS; - return 0; - } - // if a trailing fifo count is expected - start storing data 2 bytes before - result = - inv_read_fifo(fifo_objHW.fifoCount > - 0 ? buffer : buffer + FIFO_FOOTER_SIZE, toRead); - if (INV_SUCCESS != result) { - fifo_objHW.fifoError = result; - return 0; - } - // Make sure the fifo didn't overflow before or during the read - result = inv_serial_read(inv_get_serial_handle(), inv_get_mpu_slave_addr(), - MPUREG_INT_STATUS, 1, &fifo_objHW.fifoOverflow); - if (INV_SUCCESS != result) { - fifo_objHW.fifoError = result; - return 0; - } - - if (fifo_objHW.fifoOverflow & BIT_INT_STATUS_FIFO_OVERLOW) { - MPL_LOGV("Resetting Fifo : Overflow\n"); - inv_reset_fifo(); - fifo_objHW.fifoError = INV_ERROR_FIFO_OVERFLOW; - return 0; - } - - /* Check the Footer value to give us a chance at making sure data - * didn't get corrupted */ - for (kk = 0; kk < fifo_objHW.fifoCount; ++kk) { - if (buffer[kk] != gFifoFooter[kk]) { - MPL_LOGV("Resetting Fifo : Invalid footer : 0x%02x 0x%02x\n", - buffer[0], buffer[1]); - _fifoDebug(char out[200]; - MPL_LOGW("fifoCount : %d\n", fifo_objHW.fifoCount); - sprintf(out, "0x"); - for (kk = 0; kk < (int)toRead; kk++) { - sprintf(out, "%s%02X", out, buffer[kk]);} - MPL_LOGW("%s\n", out);) - inv_reset_fifo(); - fifo_objHW.fifoError = INV_ERROR_FIFO_FOOTER; - return 0; - } - } - - if (fifo_objHW.fifoCount == 0) { - fifo_objHW.fifoCount = FIFO_FOOTER_SIZE; - } - - return length - FIFO_FOOTER_SIZE; -} - -/** - * @brief Used to query the status of the FIFO. - * @return INV_SUCCESS if the fifo is OK. An error code otherwise. -**/ -inv_error_t inv_get_fifo_status(void) -{ - inv_error_t fifoError = fifo_objHW.fifoError; - fifo_objHW.fifoError = 0; - return fifoError; -} - -/** - * @internal - * @brief Get the length from the fifo - * - * @param[out] len amount of data currently stored in the fifo. - * - * @return INV_SUCCESS or non-zero error code. -**/ -inv_error_t inv_get_fifo_length(uint_fast16_t * len) -{ - INVENSENSE_FUNC_START; - unsigned char fifoBuf[2]; - inv_error_t result; - - if (NULL == len) - return INV_ERROR_INVALID_PARAMETER; - - /*---- read the 2 'count' registers and - burst read the data from the FIFO ----*/ - result = inv_serial_read(inv_get_serial_handle(), inv_get_mpu_slave_addr(), - MPUREG_FIFO_COUNTH, 2, fifoBuf); - if (INV_SUCCESS != result) { - MPL_LOGE("ReadBurst failed %d\n", result); - inv_reset_fifo(); - fifo_objHW.fifoError = INV_ERROR_FIFO_READ_COUNT; - *len = 0; - return result; - } - - *len = (uint_fast16_t) (fifoBuf[0] << 8); - *len += (uint_fast16_t) (fifoBuf[1]); - return result; -} - -/** - * @brief inv_get_fifo_count is used to get the number of bytes left in the FIFO. - * This function returns the stored value and does not access the hardware. - * See inv_get_fifo_length(). - * @return the number of bytes left in the FIFO -**/ -short inv_get_fifo_count(void) -{ - return fifo_objHW.fifoCount; -} - -/** - * @internal - * @brief Read data from the fifo - * - * @param[out] data Location to store the date read from the fifo - * @param[in] len Amount of data to read out of the fifo - * - * @return INV_SUCCESS or non-zero error code -**/ -inv_error_t inv_read_fifo(unsigned char *data, uint_fast16_t len) -{ - INVENSENSE_FUNC_START; - inv_error_t result; - result = inv_serial_read_fifo(inv_get_serial_handle(), - inv_get_mpu_slave_addr(), - (unsigned short)len, data); - if (INV_SUCCESS != result) { - MPL_LOGE("inv_serial_readBurst failed %d\n", result); - inv_reset_fifo(); - fifo_objHW.fifoError = INV_ERROR_FIFO_READ_DATA; - return result; - } - return result; -} - -/** - * @brief Clears the FIFO status and its content. - * @note Halt the DMP writing into the FIFO for the time - * needed to reset the FIFO. - * @return INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_reset_fifo(void) -{ - INVENSENSE_FUNC_START; - int len = FIFO_HW_SIZE; - unsigned char fifoBuf[2]; - unsigned char tries = 0; - unsigned char userCtrlReg; - inv_error_t result; - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - - fifo_objHW.fifoCount = 0; - if (mldl_cfg->gyro_is_suspended) - return INV_SUCCESS; - - result = inv_serial_read(inv_get_serial_handle(), inv_get_mpu_slave_addr(), - MPUREG_USER_CTRL, 1, &userCtrlReg); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - while (len != 0 && tries < 6) { - result = - inv_serial_single_write(inv_get_serial_handle(), - inv_get_mpu_slave_addr(), MPUREG_USER_CTRL, - ((userCtrlReg & (~BIT_FIFO_EN)) | - BIT_FIFO_RST)); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = - inv_serial_read(inv_get_serial_handle(), inv_get_mpu_slave_addr(), - MPUREG_FIFO_COUNTH, 2, fifoBuf); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - len = (unsigned short)fifoBuf[0] * 256 + (unsigned short)fifoBuf[1]; - tries++; - } - - result = - inv_serial_single_write(inv_get_serial_handle(), - inv_get_mpu_slave_addr(), MPUREG_USER_CTRL, - userCtrlReg); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - return INV_SUCCESS; -} - -/** - * @} -**/ diff --git a/invensense/mlsdk/mllite/mlFIFOHW.h b/invensense/mlsdk/mllite/mlFIFOHW.h deleted file mode 100644 index 6f70185..0000000 --- a/invensense/mlsdk/mllite/mlFIFOHW.h +++ /dev/null @@ -1,48 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -#ifndef INVENSENSE_INV_FIFO_HW_H__ -#define INVENSENSE_INV_FIFO_HW_H__ - -#include "mpu.h" -#include "mltypes.h" -#include "mlinclude.h" -#ifdef INV_INCLUDE_LEGACY_HEADERS -#include "mlFIFOHW_legacy.h" -#endif - -#ifdef __cplusplus -extern "C" { -#endif - - // This is the maximum amount of FIFO data we would read in one packet -#define MAX_FIFO_LENGTH (256) - // This is the hardware size of the FIFO -#define FIFO_FOOTER_SIZE (2) - - uint_fast16_t inv_get_fifo(uint_fast16_t length, unsigned char *buffer); - inv_error_t inv_get_fifo_status(void); - inv_error_t inv_get_fifo_length(uint_fast16_t * len); - short inv_get_fifo_count(void); - inv_error_t inv_reset_fifo(void); - void inv_init_fifo_hardare(); - inv_error_t inv_read_fifo(unsigned char *data, uint_fast16_t len); - -#ifdef __cplusplus -} -#endif -#endif // INVENSENSE_INV_FIFO_HW_H__ diff --git a/invensense/mlsdk/mllite/mlMathFunc.c b/invensense/mlsdk/mllite/mlMathFunc.c deleted file mode 100644 index 31b42bc..0000000 --- a/invensense/mlsdk/mllite/mlMathFunc.c +++ /dev/null @@ -1,377 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -#include "mlmath.h" -#include "mlMathFunc.h" -#include "mlinclude.h" - -/** - * Performs one iteration of the filter, generating a new y(0) - * 1 / N / N \\ - * y(0) = ---- * |SUM b(k) * x(k) - | SUM a(k) * y(k)|| for N = length - * a(0) \k=0 \ k=1 // - * - * The filters A and B should be (sizeof(long) * state->length). - * The state variables x and y should be (sizeof(long) * (state->length - 1)) - * - * The state variables x and y should be initialized prior to the first call - * - * @param state Contains the length of the filter, filter coefficients and - * filter state variables x and y. - * @param x New input into the filter. - */ -void inv_filter_long(struct filter_long *state, long x) -{ - const long *b = state->b; - const long *a = state->a; - long length = state->length; - long long tmp; - int ii; - - /* filter */ - tmp = (long long)x *(b[0]); - for (ii = 0; ii < length - 1; ii++) { - tmp += ((long long)state->x[ii] * (long long)(b[ii + 1])); - } - for (ii = 0; ii < length - 1; ii++) { - tmp -= ((long long)state->y[ii] * (long long)(a[ii + 1])); - } - tmp /= (long long)a[0]; - - /* Delay */ - for (ii = length - 2; ii > 0; ii--) { - state->y[ii] = state->y[ii - 1]; - state->x[ii] = state->x[ii - 1]; - } - /* New values */ - state->y[0] = (long)tmp; - state->x[0] = x; -} - -/** Performs a multiply and shift by 29. These are good functions to write in assembly on - * with devices with small memory where you want to get rid of the long long which some - * assemblers don't handle well - * @param[in] a - * @param[in] b - * @return ((long long)a*b)>>29 -*/ -long inv_q29_mult(long a, long b) -{ - long long temp; - long result; - temp = (long long)a *b; - result = (long)(temp >> 29); - return result; -} - -/** Performs a multiply and shift by 30. These are good functions to write in assembly on - * with devices with small memory where you want to get rid of the long long which some - * assemblers don't handle well - * @param[in] a - * @param[in] b - * @return ((long long)a*b)>>30 -*/ -long inv_q30_mult(long a, long b) -{ - long long temp; - long result; - temp = (long long)a *b; - result = (long)(temp >> 30); - return result; -} - -void inv_q_mult(const long *q1, const long *q2, long *qProd) -{ - INVENSENSE_FUNC_START; - qProd[0] = (long)(((long long)q1[0] * q2[0] - (long long)q1[1] * q2[1] - - (long long)q1[2] * q2[2] - - (long long)q1[3] * q2[3]) >> 30); - qProd[1] = - (int)(((long long)q1[0] * q2[1] + (long long)q1[1] * q2[0] + - (long long)q1[2] * q2[3] - (long long)q1[3] * q2[2]) >> 30); - qProd[2] = - (long)(((long long)q1[0] * q2[2] - (long long)q1[1] * q2[3] + - (long long)q1[2] * q2[0] + (long long)q1[3] * q2[1]) >> 30); - qProd[3] = - (long)(((long long)q1[0] * q2[3] + (long long)q1[1] * q2[2] - - (long long)q1[2] * q2[1] + (long long)q1[3] * q2[0]) >> 30); -} - -void inv_q_add(long *q1, long *q2, long *qSum) -{ - INVENSENSE_FUNC_START; - qSum[0] = q1[0] + q2[0]; - qSum[1] = q1[1] + q2[1]; - qSum[2] = q1[2] + q2[2]; - qSum[3] = q1[3] + q2[3]; -} - -void inv_q_normalize(long *q) -{ - INVENSENSE_FUNC_START; - double normSF = 0; - int i; - for (i = 0; i < 4; i++) { - normSF += ((double)q[i]) / 1073741824L * ((double)q[i]) / 1073741824L; - } - if (normSF > 0) { - normSF = 1 / sqrt(normSF); - for (i = 0; i < 4; i++) { - q[i] = (int)((double)q[i] * normSF); - } - } else { - q[0] = 1073741824L; - q[1] = 0; - q[2] = 0; - q[3] = 0; - } -} - -void inv_q_invert(const long *q, long *qInverted) -{ - INVENSENSE_FUNC_START; - qInverted[0] = q[0]; - qInverted[1] = -q[1]; - qInverted[2] = -q[2]; - qInverted[3] = -q[3]; -} - -void inv_q_multf(const float *q1, const float *q2, float *qProd) -{ - INVENSENSE_FUNC_START; - qProd[0] = (q1[0] * q2[0] - q1[1] * q2[1] - q1[2] * q2[2] - q1[3] * q2[3]); - qProd[1] = (q1[0] * q2[1] + q1[1] * q2[0] + q1[2] * q2[3] - q1[3] * q2[2]); - qProd[2] = (q1[0] * q2[2] - q1[1] * q2[3] + q1[2] * q2[0] + q1[3] * q2[1]); - qProd[3] = (q1[0] * q2[3] + q1[1] * q2[2] - q1[2] * q2[1] + q1[3] * q2[0]); -} - -void inv_q_addf(float *q1, float *q2, float *qSum) -{ - INVENSENSE_FUNC_START; - qSum[0] = q1[0] + q2[0]; - qSum[1] = q1[1] + q2[1]; - qSum[2] = q1[2] + q2[2]; - qSum[3] = q1[3] + q2[3]; -} - -void inv_q_normalizef(float *q) -{ - INVENSENSE_FUNC_START; - float normSF = 0; - float xHalf = 0; - normSF = (q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3]); - if (normSF < 2) { - xHalf = 0.5f * normSF; - normSF = normSF * (1.5f - xHalf * normSF * normSF); - normSF = normSF * (1.5f - xHalf * normSF * normSF); - normSF = normSF * (1.5f - xHalf * normSF * normSF); - normSF = normSF * (1.5f - xHalf * normSF * normSF); - q[0] *= normSF; - q[1] *= normSF; - q[2] *= normSF; - q[3] *= normSF; - } else { - q[0] = 1.0; - q[1] = 0.0; - q[2] = 0.0; - q[3] = 0.0; - } - normSF = (q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3]); -} - -/** Performs a length 4 vector normalization with a square root. -* @param[in,out] vector to normalize. Returns [1,0,0,0] is magnitude is zero. -*/ -void inv_q_norm4(float *q) -{ - float mag; - mag = sqrtf(q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3]); - if (mag) { - q[0] /= mag; - q[1] /= mag; - q[2] /= mag; - q[3] /= mag; - } else { - q[0] = 1.f; - q[1] = 0.f; - q[2] = 0.f; - q[3] = 0.f; - } -} - -void inv_q_invertf(const float *q, float *qInverted) -{ - INVENSENSE_FUNC_START; - qInverted[0] = q[0]; - qInverted[1] = -q[1]; - qInverted[2] = -q[2]; - qInverted[3] = -q[3]; -} - -/** - * Converts a quaternion to a rotation matrix. - * @param[in] quat 4-element quaternion in fixed point. One is 2^30. - * @param[out] rot Rotation matrix in fixed point. One is 2^30. The - * First 3 elements of the rotation matrix, represent - * the first row of the matrix. Rotation matrix multiplied - * by a 3 element column vector transform a vector from Body - * to World. - */ -void inv_quaternion_to_rotation(const long *quat, long *rot) -{ - rot[0] = - inv_q29_mult(quat[1], quat[1]) + inv_q29_mult(quat[0], - quat[0]) - 1073741824L; - rot[1] = inv_q29_mult(quat[1], quat[2]) - inv_q29_mult(quat[3], quat[0]); - rot[2] = inv_q29_mult(quat[1], quat[3]) + inv_q29_mult(quat[2], quat[0]); - rot[3] = inv_q29_mult(quat[1], quat[2]) + inv_q29_mult(quat[3], quat[0]); - rot[4] = - inv_q29_mult(quat[2], quat[2]) + inv_q29_mult(quat[0], - quat[0]) - 1073741824L; - rot[5] = inv_q29_mult(quat[2], quat[3]) - inv_q29_mult(quat[1], quat[0]); - rot[6] = inv_q29_mult(quat[1], quat[3]) - inv_q29_mult(quat[2], quat[0]); - rot[7] = inv_q29_mult(quat[2], quat[3]) + inv_q29_mult(quat[1], quat[0]); - rot[8] = - inv_q29_mult(quat[3], quat[3]) + inv_q29_mult(quat[0], - quat[0]) - 1073741824L; -} - -/** Converts a 32-bit long to a big endian byte stream */ -unsigned char *inv_int32_to_big8(long x, unsigned char *big8) -{ - big8[0] = (unsigned char)((x >> 24) & 0xff); - big8[1] = (unsigned char)((x >> 16) & 0xff); - big8[2] = (unsigned char)((x >> 8) & 0xff); - big8[3] = (unsigned char)(x & 0xff); - return big8; -} - -/** Converts a big endian byte stream into a 32-bit long */ -long inv_big8_to_int32(const unsigned char *big8) -{ - long x; - x = ((long)big8[0] << 24) | ((long)big8[1] << 16) | ((long)big8[2] << 8) | - ((long)big8[3]); - return x; -} - -/** Converts a 16-bit short to a big endian byte stream */ -unsigned char *inv_int16_to_big8(short x, unsigned char *big8) -{ - big8[0] = (unsigned char)((x >> 8) & 0xff); - big8[1] = (unsigned char)(x & 0xff); - return big8; -} - -void inv_matrix_det_inc(float *a, float *b, int *n, int x, int y) -{ - int k, l, i, j; - for (i = 0, k = 0; i < *n; i++, k++) { - for (j = 0, l = 0; j < *n; j++, l++) { - if (i == x) - i++; - if (j == y) - j++; - *(b + 10 * k + l) = *(a + 10 * i + j); - } - } - *n = *n - 1; -} - -void inv_matrix_det_incd(double *a, double *b, int *n, int x, int y) -{ - int k, l, i, j; - for (i = 0, k = 0; i < *n; i++, k++) { - for (j = 0, l = 0; j < *n; j++, l++) { - if (i == x) - i++; - if (j == y) - j++; - *(b + 10 * k + l) = *(a + 10 * i + j); - } - } - *n = *n - 1; -} - -float inv_matrix_det(float *p, int *n) -{ - float d[10][10], sum = 0; - int i, j, m; - m = *n; - if (*n == 2) - return (*p ** (p + 11) - *(p + 1) ** (p + 10)); - for (i = 0, j = 0; j < m; j++) { - *n = m; - inv_matrix_det_inc(p, &d[0][0], n, i, j); - sum = - sum + *(p + 10 * i + j) * SIGNM(i + j) * inv_matrix_det(&d[0][0], - n); - } - - return (sum); -} - -double inv_matrix_detd(double *p, int *n) -{ - double d[10][10], sum = 0; - int i, j, m; - m = *n; - if (*n == 2) - return (*p ** (p + 11) - *(p + 1) ** (p + 10)); - for (i = 0, j = 0; j < m; j++) { - *n = m; - inv_matrix_det_incd(p, &d[0][0], n, i, j); - sum = - sum + *(p + 10 * i + j) * SIGNM(i + j) * inv_matrix_detd(&d[0][0], - n); - } - - return (sum); -} - -/** Wraps angle from (-M_PI,M_PI] - * @param[in] ang Angle in radians to wrap - * @return Wrapped angle from (-M_PI,M_PI] - */ -float inv_wrap_angle(float ang) -{ - if (ang > M_PI) - return ang - 2 * (float)M_PI; - else if (ang <= -(float)M_PI) - return ang + 2 * (float)M_PI; - else - return ang; -} - -/** Finds the minimum angle difference ang1-ang2 such that difference - * is between [-M_PI,M_PI] - * @param[in] ang1 - * @param[in] ang2 - * @return angle difference ang1-ang2 - */ -float inv_angle_diff(float ang1, float ang2) -{ - float d; - ang1 = inv_wrap_angle(ang1); - ang2 = inv_wrap_angle(ang2); - d = ang1 - ang2; - if (d > M_PI) - d -= 2 * (float)M_PI; - else if (d < -(float)M_PI) - d += 2 * (float)M_PI; - return d; -} diff --git a/invensense/mlsdk/mllite/mlMathFunc.h b/invensense/mlsdk/mllite/mlMathFunc.h deleted file mode 100644 index 70fa9f4..0000000 --- a/invensense/mlsdk/mllite/mlMathFunc.h +++ /dev/null @@ -1,68 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -#ifndef INVENSENSE_INV_MATH_FUNC_H__ -#define INVENSENSE_INV_MATH_FUNC_H__ -#ifdef INV_INCLUDE_LEGACY_HEADERS -#include "mlMathFunc_legacy.h" -#endif - -#define NUM_ROTATION_MATRIX_ELEMENTS (9) -#define ROT_MATRIX_SCALE_LONG (1073741824) -#define ROT_MATRIX_SCALE_FLOAT (1073741824.0f) -#define ROT_MATRIX_LONG_TO_FLOAT( longval ) \ - ((float) ((longval) / ROT_MATRIX_SCALE_FLOAT )) -#define SIGNM(k)((int)(k)&1?-1:1) - -#ifdef __cplusplus -extern "C" { -#endif - struct filter_long { - int length; - const long *b; - const long *a; - long *x; - long *y; - }; - - void inv_filter_long(struct filter_long *state, long x); - long inv_q29_mult(long a, long b); - long inv_q30_mult(long a, long b); - void inv_q_mult(const long *q1, const long *q2, long *qProd); - void inv_q_add(long *q1, long *q2, long *qSum); - void inv_q_normalize(long *q); - void inv_q_invert(const long *q, long *qInverted); - void inv_q_multf(const float *q1, const float *q2, float *qProd); - void inv_q_addf(float *q1, float *q2, float *qSum); - void inv_q_normalizef(float *q); - void inv_q_norm4(float *q); - void inv_q_invertf(const float *q, float *qInverted); - void inv_quaternion_to_rotation(const long *quat, long *rot); - unsigned char *inv_int32_to_big8(long x, unsigned char *big8); - long inv_big8_to_int32(const unsigned char *big8); - unsigned char *inv_int16_to_big8(short x, unsigned char *big8); - float inv_matrix_det(float *p, int *n); - void inv_matrix_det_inc(float *a, float *b, int *n, int x, int y); - double inv_matrix_detd(double *p, int *n); - void inv_matrix_det_incd(double *a, double *b, int *n, int x, int y); - float inv_wrap_angle(float ang); - float inv_angle_diff(float ang1, float ang2); - -#ifdef __cplusplus -} -#endif -#endif // INVENSENSE_INV_MATH_FUNC_H__ diff --git a/invensense/mlsdk/mllite/mlSetGyroBias.c b/invensense/mlsdk/mllite/mlSetGyroBias.c deleted file mode 100644 index bd14d2e..0000000 --- a/invensense/mlsdk/mllite/mlSetGyroBias.c +++ /dev/null @@ -1,198 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -/****************************************************************************** - * - * $Id:$ - * - *****************************************************************************/ - -#include "mlSetGyroBias.h" -#include "mlFIFO.h" -#include "ml.h" -#include <string.h> -#include "mldl.h" -#include "mlMathFunc.h" - -typedef struct { - int needToSetBias; - short currentBias[3]; - int mode; - int motion; -} tSGB; - -tSGB sgb; - -/** Records a motion event that may cause a callback when the priority for this - * feature is met. - */ -void inv_set_motion_state(int motion) -{ - sgb.motion = motion; -} - -/** Converts from internal DMP gyro bias registers to external hardware gyro bias by -* applying scaling and transformation. -*/ -void inv_convert_bias(const unsigned char *regs, short *bias) -{ - long biasTmp2[3], biasTmp[3], biasPrev[3]; - int i; - int sf; - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - - if (mldl_cfg->gyro_sens_trim != 0) { - sf = 2000 * 131 / mldl_cfg->gyro_sens_trim; - } else { - sf = 2000; - } - for (i = 0; i < 3; i++) { - biasTmp2[i] = inv_big8_to_int32(®s[i * 4]); - } - // Rotate bias vector by the transpose of the orientation matrix - for (i = 0; i < 3; ++i) { - biasTmp[i] = inv_q30_mult(biasTmp2[0], inv_obj.gyro_orient[i]) + - inv_q30_mult(biasTmp2[1], inv_obj.gyro_orient[i + 3]) + - inv_q30_mult(biasTmp2[2], inv_obj.gyro_orient[i + 6]); - } - - for (i = 0; i < GYRO_NUM_AXES; i++) { - biasTmp[i] = (long)(biasTmp[i] * 1.39882274201861f / sf); - biasPrev[i] = (long)mldl_cfg->offset[i]; - if (biasPrev[i] > 32767) - biasPrev[i] -= 65536L; - } - - for (i = 0; i < GYRO_NUM_AXES; i++) { - bias[i] = (short)(biasPrev[i] - biasTmp[i]); - } -} - -/** Records hardware biases in format as used by hardware gyro registers. -* Note, the hardware will add this value to the measured gyro data. -*/ -inv_error_t inv_set_gyro_bias_in_hw_unit(const short *bias, int mode) -{ - if (sgb.currentBias[0] != bias[0]) - sgb.needToSetBias = 1; - if (sgb.currentBias[1] != bias[1]) - sgb.needToSetBias = 1; - if (sgb.currentBias[2] != bias[2]) - sgb.needToSetBias = 1; - if (sgb.needToSetBias) { - memcpy(sgb.currentBias, bias, sizeof(sgb.currentBias)); - sgb.mode = mode; - } - return INV_SUCCESS; -} - -/** Records gyro biases -* @param[in] bias Bias where 1dps is 2^16. In chip frame. -*/ -inv_error_t inv_set_gyro_bias_in_dps(const long *bias, int mode) -{ - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - int sf, i; - long biasTmp; - short offset[3]; - inv_error_t result; - - if (mldl_cfg->gyro_sens_trim != 0) { - sf = 2000 * 131 / mldl_cfg->gyro_sens_trim; - } else { - sf = 2000; - } - - for (i = 0; i < GYRO_NUM_AXES; i++) { - biasTmp = -bias[i] / sf; - if (biasTmp < 0) - biasTmp += 65536L; - offset[i] = (short)biasTmp; - } - result = inv_set_gyro_bias_in_hw_unit(offset, mode); - return result; -} - -inv_error_t inv_set_gyro_bias_in_dps_float(const float *bias, int mode) -{ - long biasL[3]; - inv_error_t result; - - biasL[0] = (long)(bias[0] * (1L << 16)); - biasL[1] = (long)(bias[1] * (1L << 16)); - biasL[2] = (long)(bias[2] * (1L << 16)); - result = inv_set_gyro_bias_in_dps(biasL, mode); - return result; -} - -inv_error_t MLSetGyroBiasCB(struct inv_obj_t * inv_obj) -{ - inv_error_t result = INV_SUCCESS; - if (sgb.needToSetBias) { - result = inv_set_offset(sgb.currentBias); - sgb.needToSetBias = 0; - } - - // Check if motion state has changed - if (sgb.motion == INV_MOTION) { - // We are moving - if (inv_obj->motion_state == INV_NO_MOTION) { - //Trigger motion callback - inv_obj->motion_state = INV_MOTION; - inv_obj->flags[INV_MOTION_STATE_CHANGE] = INV_MOTION; - if (inv_params_obj.motion_cb_func) { - inv_params_obj.motion_cb_func(INV_MOTION); - } - } - } else if (sgb.motion == INV_NO_MOTION){ - // We are not moving - if (inv_obj->motion_state == INV_MOTION) { - //Trigger no motion callback - inv_obj->motion_state = INV_NO_MOTION; - inv_obj->got_no_motion_bias = TRUE; - inv_obj->flags[INV_MOTION_STATE_CHANGE] = INV_NO_MOTION; - if (inv_params_obj.motion_cb_func) { - inv_params_obj.motion_cb_func(INV_NO_MOTION); - } - } - } - - return result; -} - -inv_error_t inv_enable_set_bias(void) -{ - inv_error_t result; - memset(&sgb, 0, sizeof(sgb)); - - sgb.motion = inv_obj.motion_state; - - result = - inv_register_fifo_rate_process(MLSetGyroBiasCB, - INV_PRIORITY_SET_GYRO_BIASES); - if (result == INV_ERROR_INVALID_PARAMETER) - result = INV_SUCCESS; /* We already registered this */ - return result; -} - -inv_error_t inv_disable_set_bias(void) -{ - inv_error_t result; - result = inv_unregister_fifo_rate_process(MLSetGyroBiasCB); - return INV_SUCCESS; // FIXME need to disable -} diff --git a/invensense/mlsdk/mllite/mlSetGyroBias.h b/invensense/mlsdk/mllite/mlSetGyroBias.h deleted file mode 100644 index e56f18b..0000000 --- a/invensense/mlsdk/mllite/mlSetGyroBias.h +++ /dev/null @@ -1,49 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -/****************************************************************************** - * - * $Id$ - * - *****************************************************************************/ - -#ifndef INV_SET_GYRO_BIAS__H__ -#define INV_SET_GYRO_BIAS__H__ - -#include "mltypes.h" - -#ifdef __cplusplus -extern "C" { -#endif - -#define INV_SGB_NO_MOTION 4 -#define INV_SGB_FAST_NO_MOTION 5 -#define INV_SGB_TEMP_COMP 6 - - inv_error_t inv_enable_set_bias(void); - inv_error_t inv_disable_set_bias(void); - inv_error_t inv_set_gyro_bias_in_hw_unit(const short *bias, int mode); - inv_error_t inv_set_gyro_bias_in_dps(const long *bias, int mode); - inv_error_t inv_set_gyro_bias_in_dps_float(const float *bias, int mode); - void inv_convert_bias(const unsigned char *regs, short *bias); - void inv_set_motion_state(int motion); - -#ifdef __cplusplus -} -#endif -#endif // INV_SET_GYRO_BIAS__H__ diff --git a/invensense/mlsdk/mllite/ml_mputest.c b/invensense/mlsdk/mllite/ml_mputest.c deleted file mode 100644 index ffb17cd..0000000 --- a/invensense/mlsdk/mllite/ml_mputest.c +++ /dev/null @@ -1,180 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -/****************************************************************************** - * - * $Id: ml_mputest.c 5641 2011-06-14 02:10:02Z mcaramello $ - * - *****************************************************************************/ - -/** - * @defgroup MPU_SELF_TEST - * @brief C wrapper to integrate the MPU Self Test wrapper in MPL. - * Provides ML name compliant naming and an additional API that - * automates the suspension of normal MPL operations, runs the test, - * and resume. - * - * @{ - * @file ml_mputest.c - * @brief C wrapper to integrate the MPU Self Test wrapper in MPL. - * The main logic of the test and APIs can be found in mputest.c - */ - -#include <stdio.h> -#include <time.h> -#include <string.h> -#include <math.h> -#include <stdlib.h> - -#include "ml_mputest.h" - -#include "mlmath.h" -#include "mlinclude.h" -#include "ml.h" -#include "mlstates.h" -#include "mldl.h" -#include "mldl_cfg.h" - -#ifdef __cplusplus -extern "C" { -#endif - -/* - Globals -*/ -extern struct mldl_cfg *mputestCfgPtr; -extern signed char g_z_sign; - -/* - Prototypes -*/ -extern inv_error_t inv_factory_calibrate(void *mlsl_handle, - uint_fast8_t provide_result); - -/** - * @brief An MPL wrapper for the main MPU Self Test API inv_factory_calibrate(). - * See inv_factory_calibrate() function for more details. - * - * @pre inv_dmp_open() <b>must</b> have been called to populate the mldl_cfg - * data structure. - * On Windows, SetupPlatform() is also a madatory pre condition to - * ensure the accelerometer is properly configured before running the - * test. - * - * @param mlsl_handle - * serial interface handle to allow serial communication with the - * device, both gyro and accelerometer. - * @param provide_result - * If 1: - * perform and analyze the offset, drive frequency, and noise - * calculation and compare it against set thresholds. Report - * also the final result using a bit-mask like error code as - * described in the inv_test_gyro_xxxx() functions. - * When 0: - * skip the noise and drive frequency calculation and pass/fail - * assessment. It simply calculates the gyro and accel biases. - * NOTE: for MPU6050 devices, this parameter is currently - * ignored. - * - * @return INV_SUCCESS or first non-zero error code otherwise. - */ -inv_error_t inv_self_test_factory_calibrate(void *mlsl_handle, - unsigned char provide_result) -{ - INVENSENSE_FUNC_START; - inv_error_t firstError = INV_SUCCESS; - inv_error_t result; - unsigned char initState = inv_get_state(); - - if (initState < INV_STATE_DMP_OPENED) { - MPL_LOGE("Self Test cannot run before inv_dmp_open()\n"); - return INV_ERROR_SM_IMPROPER_STATE; - } - - /* obtain a pointer to the 'struct mldl_cfg' data structure. */ - mputestCfgPtr = inv_get_dl_config(); - - if(initState == INV_STATE_DMP_STARTED) { - result = inv_dmp_stop(); - ERROR_CHECK_FIRST(firstError, result); - } - - result = inv_factory_calibrate(mlsl_handle, provide_result); - ERROR_CHECK_FIRST(firstError, result); - - if(initState == INV_STATE_DMP_STARTED) { - result = inv_dmp_start(); - ERROR_CHECK_FIRST(firstError, result); - } - - return firstError; -} - -/** - * @brief Runs the MPU test at MPL runtime. - * If the DMP is operating, stops the DMP temporarely, - * runs the MPU Self Test, and re-starts the DMP. - * - * @return INV_SUCCESS or a non-zero error code otherwise. - */ -inv_error_t inv_self_test_run(void) -{ - return inv_self_test_factory_calibrate(inv_get_serial_handle(), TRUE); -} - -/** - * @brief Runs the MPU test for bias correction only at MPL runtime. - * If the DMP is operating, stops the DMP temporarely, - * runs the bias calculation routines, and re-starts the DMP. - * - * @return INV_SUCCESS or a non-zero error code otherwise. - */ -inv_error_t inv_self_test_bias_only(void) -{ - return inv_self_test_factory_calibrate(inv_get_serial_handle(), FALSE); -} - -/** - * @brief Set the orientation of the acceleroemter Z axis as it will be - * expected when running the MPU Self Test. - * Specifies the orientation of the accelerometer Z axis : Z axis - * pointing upwards or downwards. - * @param z_sign - * The sign of the accelerometer Z axis; valid values are +1 and - * -1 for +Z and -Z respectively. Any other value will cause the - * setting to be ignored and an error code to be returned. - * @return INV_SUCCESS or a non-zero error code. - */ -inv_error_t inv_self_test_set_accel_z_orient(signed char z_sign) -{ - if (z_sign != +1 && z_sign != -1) { - return INV_ERROR_INVALID_PARAMETER; - } - g_z_sign = z_sign; - return INV_SUCCESS; -} - - -#ifdef __cplusplus -} -#endif - -/** - * @} - */ - diff --git a/invensense/mlsdk/mllite/ml_mputest.h b/invensense/mlsdk/mllite/ml_mputest.h deleted file mode 100644 index 705d3cc..0000000 --- a/invensense/mlsdk/mllite/ml_mputest.h +++ /dev/null @@ -1,49 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -/****************************************************************************** - * - * $Id: ml_mputest.h 5629 2011-06-11 03:13:08Z mcaramello $ - * - *****************************************************************************/ - -#ifndef _INV_MPUTEST_H_ -#define _INV_MPUTEST_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -#include "mltypes.h" - -/* user APIs */ -inv_error_t inv_self_test_factory_calibrate( - void *mlsl_handle, unsigned char provide_result); -inv_error_t inv_self_test_set_accel_z_orient(signed char z_sign); -inv_error_t inv_self_test_run(void); -inv_error_t inv_self_test_bias_only(void); - -/* other functions */ -#define inv_set_self_test_parameters inv_set_test_parameters - -#ifdef __cplusplus -} -#endif - -#endif /* _INV_MPUTEST_H_ */ - diff --git a/invensense/mlsdk/mllite/ml_stored_data.c b/invensense/mlsdk/mllite/ml_stored_data.c deleted file mode 100644 index 35da3e8..0000000 --- a/invensense/mlsdk/mllite/ml_stored_data.c +++ /dev/null @@ -1,1586 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -/****************************************************************************** - * - * $Id: ml_stored_data.c 5641 2011-06-14 02:10:02Z mcaramello $ - * - *****************************************************************************/ - -/** - * @defgroup ML_STORED_DATA - * - * @{ - * @file ml_stored_data.c - * @brief functions for reading and writing stored data sets. - * Typically, these functions process stored calibration data. - */ - -#include "ml_stored_data.h" -#include "ml.h" -#include "mlFIFO.h" -#include "mltypes.h" -#include "mlinclude.h" -#include "compass.h" -#include "dmpKey.h" -#include "dmpDefault.h" -#include "mlstates.h" -#include "checksum.h" -#include "mlsupervisor.h" - -#include "mlsl.h" -#include "mlos.h" - -#include "log.h" -#undef MPL_LOG_TAG -#define MPL_LOG_TAG "MPL-storeload" - -/* - Typedefs -*/ -typedef inv_error_t(*tMLLoadFunc) (unsigned char *, unsigned short); - -/* - Globals -*/ -extern struct inv_obj_t inv_obj; - -/* - Debugging Definitions - set LOADCAL_DEBUG and/or STORECAL_DEBUG to 1 print the fields - being read or stored in human-readable format. - When set to 0, the compiler will optimize and remove the printouts - from the code. -*/ -#define LOADCAL_DEBUG 0 -#define STORECAL_DEBUG 0 - -#define LOADCAL_LOG(...) \ - if(LOADCAL_DEBUG) \ - MPL_LOGI("LOADCAL: " __VA_ARGS__) -#define STORECAL_LOG(...) \ - if(STORECAL_DEBUG) \ - MPL_LOGI("STORECAL: " __VA_ARGS__) - -/** - * @brief Duplicate of the inv_temp_comp_find_bin function in the libmpl - * advanced algorithms library. To remove cross-dependency, for now, - * we reimplement the same function here. - * @param temp - * the temperature (1 count == 1 degree C). - */ -int FindTempBin(float temp) -{ - int bin = (int)((temp - MIN_TEMP) / TEMP_PER_BIN); - if (bin < 0) - bin = 0; - if (bin > BINS - 1) - bin = BINS - 1; - return bin; -} - -/** - * @brief Returns the length of the <b>MPL internal calibration data</b>. - * Should be called before allocating the memory required to store - * this data to a file. - * This function returns the total size required to store the cal - * data including the header (4 bytes) and the checksum (2 bytes). - * - * @pre Must be in INV_STATE_DMP_OPENED state. - * inv_dmp_open() or inv_dmp_stop() must have been called. - * inv_dmp_start() and inv_dmp_close() must have <b>NOT</b> - * been called. - * - * @return the length of the internal calibrated data format. - */ -unsigned int inv_get_cal_length(void) -{ - INVENSENSE_FUNC_START; - unsigned int length; - length = INV_CAL_HDR_LEN + // header - BINS * PTS_PER_BIN * 4 * 4 + BINS * 4 * 2 + // gyro cal - INV_CAL_ACCEL_LEN + // accel cal - INV_CAL_COMPASS_LEN + // compass cal - INV_CAL_CHK_LEN; // checksum - return length; -} - -/** - * @brief Loads a type 0 set of calibration data. - * It parses a binary data set containing calibration data. - * The binary data set is intended to be loaded from a file. - * This calibrations data format stores values for (in order of - * appearance) : - * - temperature, - * - gyro biases for X, Y, Z axes. - * This calibration data would normally be produced by the MPU Self - * Test and its size is 18 bytes (header and checksum included). - * Calibration format type 0 is currently <b>NOT</b> used and - * is substituted by type 5 : inv_load_cal_V5(). - * - * @note This calibration data format is obsoleted and no longer supported - * by the rest of the MPL - * - * @pre inv_dmp_open() - * @ifnot MPL_MF - * or inv_open_low_power_pedometer() - * or inv_eis_open_dmp() - * @endif - * must have been called. - * - * @param calData - * A pointer to an array of bytes to be parsed. - * @param len - * the length of the calibration - * - * @return INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_load_cal_V0(unsigned char *calData, unsigned short len) -{ - INVENSENSE_FUNC_START; - const short expLen = 18; - long newGyroData[3] = { 0, 0, 0 }; - float newTemp; - int bin; - - LOADCAL_LOG("Entering inv_load_cal_V0\n"); - - if (len != expLen) { - MPL_LOGE("Calibration data type 1 must be %d bytes long\n", expLen); - return INV_ERROR_FILE_READ; - } - - newTemp = (float)inv_decode_temperature( - (unsigned short)calData[6] * 256 + calData[7]) / 65536.f; - LOADCAL_LOG("newTemp = %f\n", newTemp); - - newGyroData[0] = ((long)calData[8]) * 256 + ((long)calData[9]); - if (newGyroData[0] > 32767L) - newGyroData[0] -= 65536L; - LOADCAL_LOG("newGyroData[0] = %ld\n", newGyroData[0]); - newGyroData[1] = ((long)calData[10]) * 256 + ((long)calData[11]); - if (newGyroData[1] > 32767L) - newGyroData[1] -= 65536L; - LOADCAL_LOG("newGyroData[2] = %ld\n", newGyroData[2]); - newGyroData[2] = ((long)calData[12]) * 256 + ((long)calData[13]); - if (newGyroData[2] > 32767L) - newGyroData[2] -= 65536L; - LOADCAL_LOG("newGyroData[2] = %ld\n", newGyroData[2]); - - bin = FindTempBin(newTemp); - LOADCAL_LOG("bin = %d", bin); - - inv_obj.temp_data[bin][inv_obj.temp_ptrs[bin]] = newTemp; - LOADCAL_LOG("temp_data[%d][%d] = %f", - bin, inv_obj.temp_ptrs[bin], - inv_obj.temp_data[bin][inv_obj.temp_ptrs[bin]]); - inv_obj.x_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]] = - ((float)newGyroData[0]) / 65536.f; - LOADCAL_LOG("x_gyro_temp_data[%d][%d] = %f\n", - bin, inv_obj.temp_ptrs[bin], - inv_obj.x_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]]); - inv_obj.y_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]] = - ((float)newGyroData[0]) / 65536.f; - LOADCAL_LOG("y_gyro_temp_data[%d][%d] = %f\n", - bin, inv_obj.temp_ptrs[bin], - inv_obj.y_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]]); - inv_obj.z_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]] = - ((float)newGyroData[0]) / 65536.f; - LOADCAL_LOG("z_gyro_temp_data[%d][%d] = %f\n", - bin, inv_obj.temp_ptrs[bin], - inv_obj.z_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]]); - - inv_obj.temp_ptrs[bin] = (inv_obj.temp_ptrs[bin] + 1) % PTS_PER_BIN; - LOADCAL_LOG("temp_ptrs[%d] = %d\n", bin, inv_obj.temp_ptrs[bin]); - - if (inv_obj.temp_ptrs[bin] == 0) - inv_obj.temp_valid_data[bin] = TRUE; - LOADCAL_LOG("temp_valid_data[%d] = %ld\n", - bin, inv_obj.temp_valid_data[bin]); - - inv_obj.got_no_motion_bias = TRUE; - LOADCAL_LOG("got_no_motion_bias = 1\n"); - inv_obj.cal_loaded_flag = TRUE; - LOADCAL_LOG("cal_loaded_flag = 1\n"); - - LOADCAL_LOG("Exiting inv_load_cal_V0\n"); - return INV_SUCCESS; -} - -/** - * @brief Loads a type 1 set of calibration data. - * It parses a binary data set containing calibration data. - * The binary data set is intended to be loaded from a file. - * This calibrations data format stores values for (in order of - * appearance) : - * - temperature, - * - gyro biases for X, Y, Z axes, - * - accel biases for X, Y, Z axes. - * This calibration data would normally be produced by the MPU Self - * Test and its size is 24 bytes (header and checksum included). - * Calibration format type 1 is currently <b>NOT</b> used and - * is substituted by type 5 : inv_load_cal_V5(). - * - * @note In order to successfully work, the gyro bias must be stored - * expressed in 250 dps full scale (131.072 sensitivity). Other full - * scale range will produce unpredictable results in the gyro biases. - * - * @pre inv_dmp_open() - * @ifnot MPL_MF - * or inv_open_low_power_pedometer() - * or inv_eis_open_dmp() - * @endif - * must have been called. - * - * @param calData - * A pointer to an array of bytes to be parsed. - * @param len - * the length of the calibration - * - * @return INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_load_cal_V1(unsigned char *calData, unsigned short len) -{ - INVENSENSE_FUNC_START; - const short expLen = 24; - long newGyroData[3] = {0, 0, 0}; - long accelBias[3] = {0, 0, 0}; - float gyroBias[3] = {0, 0, 0}; - float newTemp = 0; - int bin; - - LOADCAL_LOG("Entering inv_load_cal_V1\n"); - - if (len != expLen) { - MPL_LOGE("Calibration data type 1 must be %d bytes long\n", expLen); - return INV_ERROR_FILE_READ; - } - - newTemp = (float)inv_decode_temperature( - (unsigned short)calData[6] * 256 + calData[7]) / 65536.f; - LOADCAL_LOG("newTemp = %f\n", newTemp); - - newGyroData[0] = ((long)calData[8]) * 256 + ((long)calData[9]); - if (newGyroData[0] > 32767L) - newGyroData[0] -= 65536L; - LOADCAL_LOG("newGyroData[0] = %ld\n", newGyroData[0]); - newGyroData[1] = ((long)calData[10]) * 256 + ((long)calData[11]); - if (newGyroData[1] > 32767L) - newGyroData[1] -= 65536L; - LOADCAL_LOG("newGyroData[1] = %ld\n", newGyroData[1]); - newGyroData[2] = ((long)calData[12]) * 256 + ((long)calData[13]); - if (newGyroData[2] > 32767L) - newGyroData[2] -= 65536L; - LOADCAL_LOG("newGyroData[2] = %ld\n", newGyroData[2]); - - bin = FindTempBin(newTemp); - LOADCAL_LOG("bin = %d\n", bin); - - gyroBias[0] = ((float)newGyroData[0]) / 131.072f; - gyroBias[1] = ((float)newGyroData[1]) / 131.072f; - gyroBias[2] = ((float)newGyroData[2]) / 131.072f; - LOADCAL_LOG("gyroBias[0] = %f\n", gyroBias[0]); - LOADCAL_LOG("gyroBias[1] = %f\n", gyroBias[1]); - LOADCAL_LOG("gyroBias[2] = %f\n", gyroBias[2]); - - inv_obj.temp_data[bin][inv_obj.temp_ptrs[bin]] = newTemp; - LOADCAL_LOG("temp_data[%d][%d] = %f", - bin, inv_obj.temp_ptrs[bin], - inv_obj.temp_data[bin][inv_obj.temp_ptrs[bin]]); - inv_obj.x_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]] = gyroBias[0]; - LOADCAL_LOG("x_gyro_temp_data[%d][%d] = %f\n", - bin, inv_obj.temp_ptrs[bin], - inv_obj.x_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]]); - inv_obj.y_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]] = gyroBias[1]; - LOADCAL_LOG("y_gyro_temp_data[%d][%d] = %f\n", - bin, inv_obj.temp_ptrs[bin], - inv_obj.y_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]]); - inv_obj.z_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]] = gyroBias[2]; - LOADCAL_LOG("z_gyro_temp_data[%d][%d] = %f\n", - bin, inv_obj.temp_ptrs[bin], - inv_obj.z_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]]); - - inv_obj.temp_ptrs[bin] = (inv_obj.temp_ptrs[bin] + 1) % PTS_PER_BIN; - LOADCAL_LOG("temp_ptrs[%d] = %d\n", bin, inv_obj.temp_ptrs[bin]); - - if (inv_obj.temp_ptrs[bin] == 0) - inv_obj.temp_valid_data[bin] = TRUE; - LOADCAL_LOG("temp_valid_data[%d] = %ld\n", - bin, inv_obj.temp_valid_data[bin]); - - /* load accel biases and apply immediately */ - accelBias[0] = ((long)calData[14]) * 256 + ((long)calData[15]); - if (accelBias[0] > 32767) - accelBias[0] -= 65536L; - accelBias[0] = (long)((long long)accelBias[0] * 65536L * - inv_obj.accel_sens / 1073741824L); - LOADCAL_LOG("accelBias[0] = %ld\n", accelBias[0]); - accelBias[1] = ((long)calData[16]) * 256 + ((long)calData[17]); - if (accelBias[1] > 32767) - accelBias[1] -= 65536L; - accelBias[1] = (long)((long long)accelBias[1] * 65536L * - inv_obj.accel_sens / 1073741824L); - LOADCAL_LOG("accelBias[1] = %ld\n", accelBias[1]); - accelBias[2] = ((long)calData[18]) * 256 + ((int)calData[19]); - if (accelBias[2] > 32767) - accelBias[2] -= 65536L; - accelBias[2] = (long)((long long)accelBias[2] * 65536L * - inv_obj.accel_sens / 1073741824L); - LOADCAL_LOG("accelBias[2] = %ld\n", accelBias[2]); - if (inv_set_array(INV_ACCEL_BIAS, accelBias)) { - LOG_RESULT_LOCATION(inv_set_array(INV_ACCEL_BIAS, accelBias)); - return inv_set_array(INV_ACCEL_BIAS, accelBias); - } - - inv_obj.got_no_motion_bias = TRUE; - LOADCAL_LOG("got_no_motion_bias = 1\n"); - inv_obj.cal_loaded_flag = TRUE; - LOADCAL_LOG("cal_loaded_flag = 1\n"); - - LOADCAL_LOG("Exiting inv_load_cal_V1\n"); - return INV_SUCCESS; -} - -/** - * @brief Loads a type 2 set of calibration data. - * It parses a binary data set containing calibration data. - * The binary data set is intended to be loaded from a file. - * This calibrations data format stores values for (in order of - * appearance) : - * - temperature compensation : temperature data points, - * - temperature compensation : gyro biases data points for X, Y, - * and Z axes. - * - accel biases for X, Y, Z axes. - * This calibration data is produced internally by the MPL and its - * size is 2222 bytes (header and checksum included). - * Calibration format type 2 is currently <b>NOT</b> used and - * is substituted by type 4 : inv_load_cal_V4(). - * - * @pre inv_dmp_open() - * @ifnot MPL_MF - * or inv_open_low_power_pedometer() - * or inv_eis_open_dmp() - * @endif - * must have been called. - * - * @param calData - * A pointer to an array of bytes to be parsed. - * @param len - * the length of the calibration - * - * @return INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_load_cal_V2(unsigned char *calData, unsigned short len) -{ - INVENSENSE_FUNC_START; - const short expLen = 2222; - long accel_bias[3]; - int ptr = INV_CAL_HDR_LEN; - - int i, j; - long long tmp; - - LOADCAL_LOG("Entering inv_load_cal_V2\n"); - - if (len != expLen) { - MPL_LOGE("Calibration data type 2 must be %d bytes long (got %d)\n", - expLen, len); - return INV_ERROR_FILE_READ; - } - - for (i = 0; i < BINS; i++) { - inv_obj.temp_ptrs[i] = 0; - inv_obj.temp_ptrs[i] += 16777216L * ((long)calData[ptr++]); - inv_obj.temp_ptrs[i] += 65536L * ((long)calData[ptr++]); - inv_obj.temp_ptrs[i] += 256 * ((int)calData[ptr++]); - inv_obj.temp_ptrs[i] += (int)calData[ptr++]; - LOADCAL_LOG("temp_ptrs[%d] = %d\n", i, inv_obj.temp_ptrs[i]); - } - for (i = 0; i < BINS; i++) { - inv_obj.temp_valid_data[i] = 0; - inv_obj.temp_valid_data[i] += 16777216L * ((long)calData[ptr++]); - inv_obj.temp_valid_data[i] += 65536L * ((long)calData[ptr++]); - inv_obj.temp_valid_data[i] += 256 * ((int)calData[ptr++]); - inv_obj.temp_valid_data[i] += (int)calData[ptr++]; - LOADCAL_LOG("temp_valid_data[%d] = %ld\n", - i, inv_obj.temp_valid_data[i]); - } - - for (i = 0; i < BINS; i++) { - for (j = 0; j < PTS_PER_BIN; j++) { - tmp = 0; - tmp += 16777216LL * (long long)calData[ptr++]; - tmp += 65536LL * (long long)calData[ptr++]; - tmp += 256LL * (long long)calData[ptr++]; - tmp += (long long)calData[ptr++]; - if (tmp > 2147483648LL) { - tmp -= 4294967296LL; - } - inv_obj.temp_data[i][j] = ((float)tmp) / 65536.0f; - LOADCAL_LOG("temp_data[%d][%d] = %f\n", - i, j, inv_obj.temp_data[i][j]); - } - - } - for (i = 0; i < BINS; i++) { - for (j = 0; j < PTS_PER_BIN; j++) { - tmp = 0; - tmp += 16777216LL * (long long)calData[ptr++]; - tmp += 65536LL * (long long)calData[ptr++]; - tmp += 256LL * (long long)calData[ptr++]; - tmp += (long long)calData[ptr++]; - if (tmp > 2147483648LL) { - tmp -= 4294967296LL; - } - inv_obj.x_gyro_temp_data[i][j] = ((float)tmp) / 65536.0f; - LOADCAL_LOG("x_gyro_temp_data[%d][%d] = %f\n", - i, j, inv_obj.x_gyro_temp_data[i][j]); - } - } - for (i = 0; i < BINS; i++) { - for (j = 0; j < PTS_PER_BIN; j++) { - tmp = 0; - tmp += 16777216LL * (long long)calData[ptr++]; - tmp += 65536LL * (long long)calData[ptr++]; - tmp += 256LL * (long long)calData[ptr++]; - tmp += (long long)calData[ptr++]; - if (tmp > 2147483648LL) { - tmp -= 4294967296LL; - } - inv_obj.y_gyro_temp_data[i][j] = ((float)tmp) / 65536.0f; - LOADCAL_LOG("y_gyro_temp_data[%d][%d] = %f\n", - i, j, inv_obj.y_gyro_temp_data[i][j]); - } - } - for (i = 0; i < BINS; i++) { - for (j = 0; j < PTS_PER_BIN; j++) { - tmp = 0; - tmp += 16777216LL * (long long)calData[ptr++]; - tmp += 65536LL * (long long)calData[ptr++]; - tmp += 256LL * (long long)calData[ptr++]; - tmp += (long long)calData[ptr++]; - if (tmp > 2147483648LL) { - tmp -= 4294967296LL; - } - inv_obj.z_gyro_temp_data[i][j] = ((float)tmp) / 65536.0f; - LOADCAL_LOG("z_gyro_temp_data[%d][%d] = %f\n", - i, j, inv_obj.z_gyro_temp_data[i][j]); - } - } - - /* read the accel biases */ - for (i = 0; i < 3; i++) { - uint32_t t = 0; - t += 16777216UL * ((uint32_t) calData[ptr++]); - t += 65536UL * ((uint32_t) calData[ptr++]); - t += 256u * ((uint32_t) calData[ptr++]); - t += (uint32_t) calData[ptr++]; - accel_bias[i] = (int32_t) t; - LOADCAL_LOG("accel_bias[%d] = %ld\n", i, accel_bias[i]); - } - - if (inv_set_array(INV_ACCEL_BIAS, accel_bias)) { - LOG_RESULT_LOCATION(inv_set_array(INV_ACCEL_BIAS, accel_bias)); - return inv_set_array(INV_ACCEL_BIAS, accel_bias); - } - - inv_obj.got_no_motion_bias = TRUE; - LOADCAL_LOG("got_no_motion_bias = 1\n"); - inv_obj.cal_loaded_flag = TRUE; - LOADCAL_LOG("cal_loaded_flag = 1\n"); - - LOADCAL_LOG("Exiting inv_load_cal_V2\n"); - return INV_SUCCESS; -} - -/** - * @brief Loads a type 3 set of calibration data. - * It parses a binary data set containing calibration data. - * The binary data set is intended to be loaded from a file. - * This calibrations data format stores values for (in order of - * appearance) : - * - temperature compensation : temperature data points, - * - temperature compensation : gyro biases data points for X, Y, - * and Z axes. - * - accel biases for X, Y, Z axes. - * - compass biases for X, Y, Z axes and bias tracking algorithm - * mock-up. - * This calibration data is produced internally by the MPL and its - * size is 2429 bytes (header and checksum included). - * Calibration format type 3 is currently <b>NOT</b> used and - * is substituted by type 4 : inv_load_cal_V4(). - - * @pre inv_dmp_open() - * @ifnot MPL_MF - * or inv_open_low_power_pedometer() - * or inv_eis_open_dmp() - * @endif - * must have been called. - * - * @param calData - * A pointer to an array of bytes to be parsed. - * @param len - * the length of the calibration - * - * @return INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_load_cal_V3(unsigned char *calData, unsigned short len) -{ - INVENSENSE_FUNC_START; - union doubleToLongLong { - double db; - unsigned long long ll; - } dToLL; - - const short expLen = 2429; - long bias[3]; - int i, j; - int ptr = INV_CAL_HDR_LEN; - long long tmp; - - LOADCAL_LOG("Entering inv_load_cal_V3\n"); - - if (len != expLen) { - MPL_LOGE("Calibration data type 3 must be %d bytes long (got %d)\n", - expLen, len); - return INV_ERROR_FILE_READ; - } - - for (i = 0; i < BINS; i++) { - inv_obj.temp_ptrs[i] = 0; - inv_obj.temp_ptrs[i] += 16777216L * ((long)calData[ptr++]); - inv_obj.temp_ptrs[i] += 65536L * ((long)calData[ptr++]); - inv_obj.temp_ptrs[i] += 256 * ((int)calData[ptr++]); - inv_obj.temp_ptrs[i] += (int)calData[ptr++]; - LOADCAL_LOG("temp_ptrs[%d] = %d\n", i, inv_obj.temp_ptrs[i]); - } - for (i = 0; i < BINS; i++) { - inv_obj.temp_valid_data[i] = 0; - inv_obj.temp_valid_data[i] += 16777216L * ((long)calData[ptr++]); - inv_obj.temp_valid_data[i] += 65536L * ((long)calData[ptr++]); - inv_obj.temp_valid_data[i] += 256 * ((int)calData[ptr++]); - inv_obj.temp_valid_data[i] += (int)calData[ptr++]; - LOADCAL_LOG("temp_valid_data[%d] = %ld\n", - i, inv_obj.temp_valid_data[i]); - } - - for (i = 0; i < BINS; i++) { - for (j = 0; j < PTS_PER_BIN; j++) { - tmp = 0; - tmp += 16777216LL * (long long)calData[ptr++]; - tmp += 65536LL * (long long)calData[ptr++]; - tmp += 256LL * (long long)calData[ptr++]; - tmp += (long long)calData[ptr++]; - if (tmp > 2147483648LL) { - tmp -= 4294967296LL; - } - inv_obj.temp_data[i][j] = ((float)tmp) / 65536.0f; - LOADCAL_LOG("temp_data[%d][%d] = %f\n", - i, j, inv_obj.temp_data[i][j]); - } - } - - for (i = 0; i < BINS; i++) { - for (j = 0; j < PTS_PER_BIN; j++) { - tmp = 0; - tmp += 16777216LL * (long long)calData[ptr++]; - tmp += 65536LL * (long long)calData[ptr++]; - tmp += 256LL * (long long)calData[ptr++]; - tmp += (long long)calData[ptr++]; - if (tmp > 2147483648LL) { - tmp -= 4294967296LL; - } - inv_obj.x_gyro_temp_data[i][j] = ((float)tmp) / 65536.0f; - LOADCAL_LOG("x_gyro_temp_data[%d][%d] = %f\n", - i, j, inv_obj.x_gyro_temp_data[i][j]); - } - } - for (i = 0; i < BINS; i++) { - for (j = 0; j < PTS_PER_BIN; j++) { - tmp = 0; - tmp += 16777216LL * (long long)calData[ptr++]; - tmp += 65536LL * (long long)calData[ptr++]; - tmp += 256LL * (long long)calData[ptr++]; - tmp += (long long)calData[ptr++]; - if (tmp > 2147483648LL) { - tmp -= 4294967296LL; - } - inv_obj.y_gyro_temp_data[i][j] = ((float)tmp) / 65536.0f; - LOADCAL_LOG("y_gyro_temp_data[%d][%d] = %f\n", - i, j, inv_obj.y_gyro_temp_data[i][j]); - } - } - for (i = 0; i < BINS; i++) { - for (j = 0; j < PTS_PER_BIN; j++) { - tmp = 0; - tmp += 16777216LL * (long long)calData[ptr++]; - tmp += 65536LL * (long long)calData[ptr++]; - tmp += 256LL * (long long)calData[ptr++]; - tmp += (long long)calData[ptr++]; - if (tmp > 2147483648LL) { - tmp -= 4294967296LL; - } - inv_obj.z_gyro_temp_data[i][j] = ((float)tmp) / 65536.0f; - LOADCAL_LOG("z_gyro_temp_data[%d][%d] = %f\n", - i, j, inv_obj.z_gyro_temp_data[i][j]); - } - } - - /* read the accel biases */ - for (i = 0; i < 3; i++) { - uint32_t t = 0; - t += 16777216UL * ((uint32_t) calData[ptr++]); - t += 65536UL * ((uint32_t) calData[ptr++]); - t += 256u * ((uint32_t) calData[ptr++]); - t += (uint32_t) calData[ptr++]; - bias[i] = (int32_t) t; - LOADCAL_LOG("accel_bias[%d] = %ld\n", i, bias[i]); - } - if (inv_set_array(INV_ACCEL_BIAS, bias)) { - LOG_RESULT_LOCATION(inv_set_array(INV_ACCEL_BIAS, bias)); - return inv_set_array(INV_ACCEL_BIAS, bias); - } - - /* read the compass biases */ - inv_obj.got_compass_bias = (int)calData[ptr++]; - inv_obj.got_init_compass_bias = (int)calData[ptr++]; - inv_obj.compass_state = (int)calData[ptr++]; - - for (i = 0; i < 3; i++) { - uint32_t t = 0; - t += 16777216UL * ((uint32_t) calData[ptr++]); - t += 65536UL * ((uint32_t) calData[ptr++]); - t += 256u * ((uint32_t) calData[ptr++]); - t += (uint32_t) calData[ptr++]; - inv_obj.compass_bias_error[i] = (int32_t) t; - LOADCAL_LOG("compass_bias_error[%d] = %ld\n", i, - inv_obj.compass_bias_error[i]); - } - for (i = 0; i < 3; i++) { - uint32_t t = 0; - t += 16777216UL * ((uint32_t) calData[ptr++]); - t += 65536UL * ((uint32_t) calData[ptr++]); - t += 256u * ((uint32_t) calData[ptr++]); - t += (uint32_t) calData[ptr++]; - inv_obj.init_compass_bias[i] = (int32_t) t; - LOADCAL_LOG("init_compass_bias[%d] = %ld\n", i, - inv_obj.init_compass_bias[i]); - } - for (i = 0; i < 3; i++) { - uint32_t t = 0; - t += 16777216UL * ((uint32_t) calData[ptr++]); - t += 65536UL * ((uint32_t) calData[ptr++]); - t += 256u * ((uint32_t) calData[ptr++]); - t += (uint32_t) calData[ptr++]; - inv_obj.compass_bias[i] = (int32_t) t; - LOADCAL_LOG("compass_bias[%d] = %ld\n", i, inv_obj.compass_bias[i]); - } - for (i = 0; i < 18; i++) { - uint32_t t = 0; - t += 16777216UL * ((uint32_t) calData[ptr++]); - t += 65536UL * ((uint32_t) calData[ptr++]); - t += 256u * ((uint32_t) calData[ptr++]); - t += (uint32_t) calData[ptr++]; - inv_obj.compass_peaks[i] = (int32_t) t; - LOADCAL_LOG("compass_peaks[%d] = %d\n", i, inv_obj.compass_peaks[i]); - } - for (i = 0; i < 3; i++) { - dToLL.ll = 0; - dToLL.ll += 72057594037927936ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 281474976710656ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 1099511627776ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 4294967296LL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 16777216ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 65536ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 256LL * ((unsigned long long)calData[ptr++]); - dToLL.ll += (unsigned long long)calData[ptr++]; - - inv_obj.compass_bias_v[i] = dToLL.db; - LOADCAL_LOG("compass_bias_v[%d] = %lf\n", i, inv_obj.compass_bias_v[i]); - } - for (i = 0; i < 9; i++) { - dToLL.ll = 0; - dToLL.ll += 72057594037927936ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 281474976710656ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 1099511627776ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 4294967296LL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 16777216ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 65536ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 256LL * ((unsigned long long)calData[ptr++]); - dToLL.ll += (unsigned long long)calData[ptr++]; - - inv_obj.compass_bias_ptr[i] = dToLL.db; - LOADCAL_LOG("compass_bias_ptr[%d] = %lf\n", i, - inv_obj.compass_bias_ptr[i]); - } - - inv_obj.got_no_motion_bias = TRUE; - LOADCAL_LOG("got_no_motion_bias = 1\n"); - inv_obj.cal_loaded_flag = TRUE; - LOADCAL_LOG("cal_loaded_flag = 1\n"); - - LOADCAL_LOG("Exiting inv_load_cal_V3\n"); - return INV_SUCCESS; -} - -/** - * @brief Loads a type 4 set of calibration data. - * It parses a binary data set containing calibration data. - * The binary data set is intended to be loaded from a file. - * This calibrations data format stores values for (in order of - * appearance) : - * - temperature compensation : temperature data points, - * - temperature compensation : gyro biases data points for X, Y, - * and Z axes. - * - accel biases for X, Y, Z axes. - * - compass biases for X, Y, Z axes, compass scale, and bias - * tracking algorithm mock-up. - * This calibration data is produced internally by the MPL and its - * size is 2777 bytes (header and checksum included). - * Calibration format type 4 is currently used and - * substitutes type 2 (inv_load_cal_V2()) and 3 (inv_load_cal_V3()). - * - * @pre inv_dmp_open() - * @ifnot MPL_MF - * or inv_open_low_power_pedometer() - * or inv_eis_open_dmp() - * @endif - * must have been called. - * - * @param calData - * A pointer to an array of bytes to be parsed. - * @param len - * the length of the calibration - * - * @return INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_load_cal_V4(unsigned char *calData, unsigned short len) -{ - INVENSENSE_FUNC_START; - union doubleToLongLong { - double db; - unsigned long long ll; - } dToLL; - - const unsigned int expLen = 2782; - long bias[3]; - int ptr = INV_CAL_HDR_LEN; - int i, j; - long long tmp; - inv_error_t result; - - LOADCAL_LOG("Entering inv_load_cal_V4\n"); - - if (len != expLen) { - MPL_LOGE("Calibration data type 4 must be %d bytes long (got %d)\n", - expLen, len); - return INV_ERROR_FILE_READ; - } - - for (i = 0; i < BINS; i++) { - inv_obj.temp_ptrs[i] = 0; - inv_obj.temp_ptrs[i] += 16777216L * ((long)calData[ptr++]); - inv_obj.temp_ptrs[i] += 65536L * ((long)calData[ptr++]); - inv_obj.temp_ptrs[i] += 256 * ((int)calData[ptr++]); - inv_obj.temp_ptrs[i] += (int)calData[ptr++]; - LOADCAL_LOG("temp_ptrs[%d] = %d\n", i, inv_obj.temp_ptrs[i]); - } - for (i = 0; i < BINS; i++) { - inv_obj.temp_valid_data[i] = 0; - inv_obj.temp_valid_data[i] += 16777216L * ((long)calData[ptr++]); - inv_obj.temp_valid_data[i] += 65536L * ((long)calData[ptr++]); - inv_obj.temp_valid_data[i] += 256 * ((int)calData[ptr++]); - inv_obj.temp_valid_data[i] += (int)calData[ptr++]; - LOADCAL_LOG("temp_valid_data[%d] = %ld\n", - i, inv_obj.temp_valid_data[i]); - } - - for (i = 0; i < BINS; i++) { - for (j = 0; j < PTS_PER_BIN; j++) { - tmp = 0; - tmp += 16777216LL * (long long)calData[ptr++]; - tmp += 65536LL * (long long)calData[ptr++]; - tmp += 256LL * (long long)calData[ptr++]; - tmp += (long long)calData[ptr++]; - if (tmp > 2147483648LL) { - tmp -= 4294967296LL; - } - inv_obj.temp_data[i][j] = ((float)tmp) / 65536.0f; - LOADCAL_LOG("temp_data[%d][%d] = %f\n", - i, j, inv_obj.temp_data[i][j]); - } - } - - for (i = 0; i < BINS; i++) { - for (j = 0; j < PTS_PER_BIN; j++) { - tmp = 0; - tmp += 16777216LL * (long long)calData[ptr++]; - tmp += 65536LL * (long long)calData[ptr++]; - tmp += 256LL * (long long)calData[ptr++]; - tmp += (long long)calData[ptr++]; - if (tmp > 2147483648LL) { - tmp -= 4294967296LL; - } - inv_obj.x_gyro_temp_data[i][j] = ((float)tmp) / 65536.0f; - LOADCAL_LOG("x_gyro_temp_data[%d][%d] = %f\n", - i, j, inv_obj.x_gyro_temp_data[i][j]); - } - } - for (i = 0; i < BINS; i++) { - for (j = 0; j < PTS_PER_BIN; j++) { - tmp = 0; - tmp += 16777216LL * (long long)calData[ptr++]; - tmp += 65536LL * (long long)calData[ptr++]; - tmp += 256LL * (long long)calData[ptr++]; - tmp += (long long)calData[ptr++]; - if (tmp > 2147483648LL) { - tmp -= 4294967296LL; - } - inv_obj.y_gyro_temp_data[i][j] = ((float)tmp) / 65536.0f; - LOADCAL_LOG("y_gyro_temp_data[%d][%d] = %f\n", - i, j, inv_obj.y_gyro_temp_data[i][j]); - } - } - for (i = 0; i < BINS; i++) { - for (j = 0; j < PTS_PER_BIN; j++) { - tmp = 0; - tmp += 16777216LL * (long long)calData[ptr++]; - tmp += 65536LL * (long long)calData[ptr++]; - tmp += 256LL * (long long)calData[ptr++]; - tmp += (long long)calData[ptr++]; - if (tmp > 2147483648LL) { - tmp -= 4294967296LL; - } - inv_obj.z_gyro_temp_data[i][j] = ((float)tmp) / 65536.0f; - LOADCAL_LOG("z_gyro_temp_data[%d][%d] = %f\n", - i, j, inv_obj.z_gyro_temp_data[i][j]); - } - } - - /* read the accel biases */ - for (i = 0; i < 3; i++) { - uint32_t t = 0; - t += 16777216UL * ((uint32_t) calData[ptr++]); - t += 65536UL * ((uint32_t) calData[ptr++]); - t += 256u * ((uint32_t) calData[ptr++]); - t += (uint32_t) calData[ptr++]; - bias[i] = (int32_t) t; - LOADCAL_LOG("accel_bias[%d] = %ld\n", i, bias[i]); - } - if (inv_set_array(INV_ACCEL_BIAS, bias)) { - LOG_RESULT_LOCATION(inv_set_array(INV_ACCEL_BIAS, bias)); - return inv_set_array(INV_ACCEL_BIAS, bias); - } - - /* read the compass biases */ - inv_reset_compass_calibration(); - - inv_obj.got_compass_bias = (int)calData[ptr++]; - LOADCAL_LOG("got_compass_bias = %ld\n", inv_obj.got_compass_bias); - inv_obj.got_init_compass_bias = (int)calData[ptr++]; - LOADCAL_LOG("got_init_compass_bias = %d\n", inv_obj.got_init_compass_bias); - inv_obj.compass_state = (int)calData[ptr++]; - LOADCAL_LOG("compass_state = %ld\n", inv_obj.compass_state); - - for (i = 0; i < 3; i++) { - uint32_t t = 0; - t += 16777216UL * ((uint32_t) calData[ptr++]); - t += 65536UL * ((uint32_t) calData[ptr++]); - t += 256u * ((uint32_t) calData[ptr++]); - t += (uint32_t) calData[ptr++]; - inv_obj.compass_bias_error[i] = (int32_t) t; - LOADCAL_LOG("compass_bias_error[%d] = %ld\n", i, - inv_obj.compass_bias_error[i]); - } - for (i = 0; i < 3; i++) { - uint32_t t = 0; - t += 16777216UL * ((uint32_t) calData[ptr++]); - t += 65536UL * ((uint32_t) calData[ptr++]); - t += 256u * ((uint32_t) calData[ptr++]); - t += (uint32_t) calData[ptr++]; - inv_obj.init_compass_bias[i] = (int32_t) t; - LOADCAL_LOG("init_compass_bias[%d] = %ld\n", i, - inv_obj.init_compass_bias[i]); - } - for (i = 0; i < 3; i++) { - uint32_t t = 0; - t += 16777216UL * ((uint32_t) calData[ptr++]); - t += 65536UL * ((uint32_t) calData[ptr++]); - t += 256u * ((uint32_t) calData[ptr++]); - t += (uint32_t) calData[ptr++]; - inv_obj.compass_bias[i] = (int32_t) t; - LOADCAL_LOG("compass_bias[%d] = %ld\n", i, inv_obj.compass_bias[i]); - } - for (i = 0; i < 18; i++) { - uint32_t t = 0; - t += 16777216UL * ((uint32_t) calData[ptr++]); - t += 65536UL * ((uint32_t) calData[ptr++]); - t += 256u * ((uint32_t) calData[ptr++]); - t += (uint32_t) calData[ptr++]; - inv_obj.compass_peaks[i] = (int32_t) t; - LOADCAL_LOG("compass_peaks[%d] = %d\n", i, inv_obj.compass_peaks[i]); - } - for (i = 0; i < 3; i++) { - dToLL.ll = 72057594037927936ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 281474976710656ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 1099511627776ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 4294967296LL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 16777216ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 65536ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 256LL * ((unsigned long long)calData[ptr++]); - dToLL.ll += (unsigned long long)calData[ptr++]; - - inv_obj.compass_bias_v[i] = dToLL.db; - LOADCAL_LOG("compass_bias_v[%d] = %lf\n", i, inv_obj.compass_bias_v[i]); - } - for (i = 0; i < 9; i++) { - dToLL.ll = 72057594037927936ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 281474976710656ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 1099511627776ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 4294967296LL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 16777216ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 65536ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 256LL * ((unsigned long long)calData[ptr++]); - dToLL.ll += (unsigned long long)calData[ptr++]; - - inv_obj.compass_bias_ptr[i] = dToLL.db; - LOADCAL_LOG("compass_bias_ptr[%d] = %lf\n", i, - inv_obj.compass_bias_ptr[i]); - } - for (i = 0; i < 3; i++) { - uint32_t t = 0; - t += 16777216UL * ((uint32_t) calData[ptr++]); - t += 65536UL * ((uint32_t) calData[ptr++]); - t += 256u * ((uint32_t) calData[ptr++]); - t += (uint32_t) calData[ptr++]; - inv_obj.compass_scale[i] = (int32_t) t; - LOADCAL_LOG("compass_scale[%d] = %d\n", i, (int32_t) t); - } - for (i = 0; i < 6; i++) { - dToLL.ll = 72057594037927936ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 281474976710656ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 1099511627776ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 4294967296LL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 16777216ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 65536ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 256LL * ((unsigned long long)calData[ptr++]); - dToLL.ll += (unsigned long long)calData[ptr++]; - - inv_obj.compass_prev_xty[i] = dToLL.db; - LOADCAL_LOG("compass_prev_xty[%d] = %f\n", i, dToLL.db); - } - for (i = 0; i < 36; i++) { - dToLL.ll = 72057594037927936ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 281474976710656ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 1099511627776ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 4294967296LL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 16777216ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 65536ULL * ((unsigned long long)calData[ptr++]); - dToLL.ll += 256LL * ((unsigned long long)calData[ptr++]); - dToLL.ll += (unsigned long long)calData[ptr++]; - - inv_obj.compass_prev_m[i] = dToLL.db; - LOADCAL_LOG("compass_prev_m[%d] = %f\n", i, dToLL.db); - } - - /* Load the compass offset flag and values */ - inv_obj.flags[INV_COMPASS_OFFSET_VALID] = calData[ptr++]; - inv_obj.compass_offsets[0] = calData[ptr++]; - inv_obj.compass_offsets[1] = calData[ptr++]; - inv_obj.compass_offsets[2] = calData[ptr++]; - - inv_obj.compass_accuracy = calData[ptr++]; - /* push the compass offset values to the device */ - result = inv_set_compass_offset(); - - if (result == INV_SUCCESS) { - if (inv_compass_check_range() != INV_SUCCESS) { - MPL_LOGI("range check fail"); - inv_reset_compass_calibration(); - inv_obj.flags[INV_COMPASS_OFFSET_VALID] = 0; - inv_set_compass_offset(); - } - } - - inv_obj.got_no_motion_bias = TRUE; - LOADCAL_LOG("got_no_motion_bias = 1\n"); - inv_obj.cal_loaded_flag = TRUE; - LOADCAL_LOG("cal_loaded_flag = 1\n"); - - LOADCAL_LOG("Exiting inv_load_cal_V4\n"); - return INV_SUCCESS; -} - -/** - * @brief Loads a type 5 set of calibration data. - * It parses a binary data set containing calibration data. - * The binary data set is intended to be loaded from a file. - * This calibrations data format stores values for (in order of - * appearance) : - * - temperature, - * - gyro biases for X, Y, Z axes, - * - accel biases for X, Y, Z axes. - * This calibration data would normally be produced by the MPU Self - * Test and its size is 36 bytes (header and checksum included). - * Calibration format type 5 is produced by the MPU Self Test and - * substitutes the type 1 : inv_load_cal_V1(). - * - * @pre inv_dmp_open() - * @ifnot MPL_MF - * or inv_open_low_power_pedometer() - * or inv_eis_open_dmp() - * @endif - * must have been called. - * - * @param calData - * A pointer to an array of bytes to be parsed. - * @param len - * the length of the calibration - * - * @return INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_load_cal_V5(unsigned char *calData, unsigned short len) -{ - INVENSENSE_FUNC_START; - const short expLen = 36; - long accelBias[3] = { 0, 0, 0 }; - float gyroBias[3] = { 0, 0, 0 }; - - int ptr = INV_CAL_HDR_LEN; - unsigned short temp; - float newTemp; - int bin; - int i; - - LOADCAL_LOG("Entering inv_load_cal_V5\n"); - - if (len != expLen) { - MPL_LOGE("Calibration data type 5 must be %d bytes long (got %d)\n", - expLen, len); - return INV_ERROR_FILE_READ; - } - - /* load the temperature */ - temp = (unsigned short)calData[ptr++] * (1L << 8); - temp += calData[ptr++]; - newTemp = (float)inv_decode_temperature(temp) / 65536.f; - LOADCAL_LOG("newTemp = %f\n", newTemp); - - /* load the gyro biases (represented in 2 ^ 16 == 1 dps) */ - for (i = 0; i < 3; i++) { - int32_t tmp = 0; - tmp += (int32_t) calData[ptr++] * (1L << 24); - tmp += (int32_t) calData[ptr++] * (1L << 16); - tmp += (int32_t) calData[ptr++] * (1L << 8); - tmp += (int32_t) calData[ptr++]; - gyroBias[i] = (float)tmp / 65536.0f; - LOADCAL_LOG("gyroBias[%d] = %f\n", i, gyroBias[i]); - } - /* find the temperature bin */ - bin = FindTempBin(newTemp); - - /* populate the temp comp data structure */ - inv_obj.temp_data[bin][inv_obj.temp_ptrs[bin]] = newTemp; - LOADCAL_LOG("temp_data[%d][%d] = %f\n", - bin, inv_obj.temp_ptrs[bin], newTemp); - - inv_obj.x_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]] = gyroBias[0]; - LOADCAL_LOG("x_gyro_temp_data[%d][%d] = %f\n", - bin, inv_obj.temp_ptrs[bin], gyroBias[0]); - inv_obj.y_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]] = gyroBias[1]; - LOADCAL_LOG("y_gyro_temp_data[%d][%d] = %f\n", - bin, inv_obj.temp_ptrs[bin], gyroBias[1]); - inv_obj.z_gyro_temp_data[bin][inv_obj.temp_ptrs[bin]] = gyroBias[2]; - LOADCAL_LOG("z_gyro_temp_data[%d][%d] = %f\n", - bin, inv_obj.temp_ptrs[bin], gyroBias[2]); - inv_obj.temp_ptrs[bin] = (inv_obj.temp_ptrs[bin] + 1) % PTS_PER_BIN; - LOADCAL_LOG("temp_ptrs[%d] = %d\n", bin, inv_obj.temp_ptrs[bin]); - - if (inv_obj.temp_ptrs[bin] == 0) - inv_obj.temp_valid_data[bin] = TRUE; - LOADCAL_LOG("temp_valid_data[%d] = %ld\n", - bin, inv_obj.temp_valid_data[bin]); - - /* load accel biases (represented in 2 ^ 16 == 1 gee) - and apply immediately */ - for (i = 0; i < 3; i++) { - int32_t tmp = 0; - tmp += (int32_t) calData[ptr++] * (1L << 24); - tmp += (int32_t) calData[ptr++] * (1L << 16); - tmp += (int32_t) calData[ptr++] * (1L << 8); - tmp += (int32_t) calData[ptr++]; - accelBias[i] = (long)tmp; - LOADCAL_LOG("accelBias[%d] = %ld\n", i, accelBias[i]); - } - if (inv_set_array(INV_ACCEL_BIAS, accelBias)) { - LOG_RESULT_LOCATION(inv_set_array(INV_ACCEL_BIAS, accelBias)); - return inv_set_array(INV_ACCEL_BIAS, accelBias); - } - - inv_obj.got_no_motion_bias = TRUE; - LOADCAL_LOG("got_no_motion_bias = 1\n"); - inv_obj.cal_loaded_flag = TRUE; - LOADCAL_LOG("cal_loaded_flag = 1\n"); - - LOADCAL_LOG("Exiting inv_load_cal_V5\n"); - return INV_SUCCESS; -} - -/** - * @brief Loads a set of calibration data. - * It parses a binary data set containing calibration data. - * The binary data set is intended to be loaded from a file. - * - * @pre inv_dmp_open() - * @ifnot MPL_MF - * or inv_open_low_power_pedometer() - * or inv_eis_open_dmp() - * @endif - * must have been called. - * - * @param calData - * A pointer to an array of bytes to be parsed. - * - * @return INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_load_cal(unsigned char *calData) -{ - INVENSENSE_FUNC_START; - int calType = 0; - int len = 0; - int ptr; - uint32_t chk = 0; - uint32_t cmp_chk = 0; - - tMLLoadFunc loaders[] = { - inv_load_cal_V0, - inv_load_cal_V1, - inv_load_cal_V2, - inv_load_cal_V3, - inv_load_cal_V4, - inv_load_cal_V5 - }; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - /* read the header (type and len) - len is the total record length including header and checksum */ - len = 0; - len += 16777216L * ((int)calData[0]); - len += 65536L * ((int)calData[1]); - len += 256 * ((int)calData[2]); - len += (int)calData[3]; - - calType = ((int)calData[4]) * 256 + ((int)calData[5]); - if (calType > 5) { - MPL_LOGE("Unsupported calibration file format %d. " - "Valid types 0..5\n", calType); - return INV_ERROR_INVALID_PARAMETER; - } - - /* check the checksum */ - chk = 0; - ptr = len - INV_CAL_CHK_LEN; - - chk += 16777216L * ((uint32_t) calData[ptr++]); - chk += 65536L * ((uint32_t) calData[ptr++]); - chk += 256 * ((uint32_t) calData[ptr++]); - chk += (uint32_t) calData[ptr++]; - - cmp_chk = inv_checksum(calData + INV_CAL_HDR_LEN, - len - (INV_CAL_HDR_LEN + INV_CAL_CHK_LEN)); - - if (chk != cmp_chk) { - return INV_ERROR_CALIBRATION_CHECKSUM; - } - - /* call the proper method to read in the data */ - return loaders[calType] (calData, len); -} - -/** - * @brief Stores a set of calibration data. - * It generates a binary data set containing calibration data. - * The binary data set is intended to be stored into a file. - * - * @pre inv_dmp_open() - * - * @param calData - * A pointer to an array of bytes to be stored. - * @param length - * The amount of bytes available in the array. - * - * @return INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_store_cal(unsigned char *calData, int length) -{ - INVENSENSE_FUNC_START; - int ptr = 0; - int i = 0; - int j = 0; - long long tmp; - uint32_t chk; - long bias[3]; - //unsigned char state; - union doubleToLongLong { - double db; - unsigned long long ll; - } dToLL; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - STORECAL_LOG("Entering inv_store_cal\n"); - - // length - calData[0] = (unsigned char)((length >> 24) & 0xff); - calData[1] = (unsigned char)((length >> 16) & 0xff); - calData[2] = (unsigned char)((length >> 8) & 0xff); - calData[3] = (unsigned char)(length & 0xff); - STORECAL_LOG("calLen = %d\n", length); - - // calibration data format type - calData[4] = 0; - calData[5] = 4; - STORECAL_LOG("calType = %d\n", (int)calData[4] * 256 + calData[5]); - - // data - ptr = 6; - for (i = 0; i < BINS; i++) { - tmp = (int)inv_obj.temp_ptrs[i]; - calData[ptr++] = (unsigned char)((tmp >> 24) & 0xff); - calData[ptr++] = (unsigned char)((tmp >> 16) & 0xff); - calData[ptr++] = (unsigned char)((tmp >> 8) & 0xff); - calData[ptr++] = (unsigned char)(tmp & 0xff); - STORECAL_LOG("temp_ptrs[%d] = %lld\n", i, tmp); - } - - for (i = 0; i < BINS; i++) { - tmp = (int)inv_obj.temp_valid_data[i]; - calData[ptr++] = (unsigned char)((tmp >> 24) & 0xff); - calData[ptr++] = (unsigned char)((tmp >> 16) & 0xff); - calData[ptr++] = (unsigned char)((tmp >> 8) & 0xff); - calData[ptr++] = (unsigned char)(tmp & 0xff); - STORECAL_LOG("temp_valid_data[%d] = %lld\n", i, tmp); - } - for (i = 0; i < BINS; i++) { - for (j = 0; j < PTS_PER_BIN; j++) { - tmp = (long long)(inv_obj.temp_data[i][j] * 65536.0f); - if (tmp < 0) { - tmp += 4294967296LL; - } - calData[ptr++] = (unsigned char)((tmp >> 24) & 0xff); - calData[ptr++] = (unsigned char)((tmp >> 16) & 0xff); - calData[ptr++] = (unsigned char)((tmp >> 8) & 0xff); - calData[ptr++] = (unsigned char)(tmp & 0xff); - STORECAL_LOG("temp_data[%d][%d] = %f\n", - i, j, inv_obj.temp_data[i][j]); - } - } - - for (i = 0; i < BINS; i++) { - for (j = 0; j < PTS_PER_BIN; j++) { - tmp = (long long)(inv_obj.x_gyro_temp_data[i][j] * 65536.0f); - if (tmp < 0) { - tmp += 4294967296LL; - } - calData[ptr++] = (unsigned char)((tmp >> 24) & 0xff); - calData[ptr++] = (unsigned char)((tmp >> 16) & 0xff); - calData[ptr++] = (unsigned char)((tmp >> 8) & 0xff); - calData[ptr++] = (unsigned char)(tmp & 0xff); - STORECAL_LOG("x_gyro_temp_data[%d][%d] = %f\n", - i, j, inv_obj.x_gyro_temp_data[i][j]); - } - } - for (i = 0; i < BINS; i++) { - for (j = 0; j < PTS_PER_BIN; j++) { - tmp = (long long)(inv_obj.y_gyro_temp_data[i][j] * 65536.0f); - if (tmp < 0) { - tmp += 4294967296LL; - } - calData[ptr++] = (unsigned char)((tmp >> 24) & 0xff); - calData[ptr++] = (unsigned char)((tmp >> 16) & 0xff); - calData[ptr++] = (unsigned char)((tmp >> 8) & 0xff); - calData[ptr++] = (unsigned char)(tmp & 0xff); - STORECAL_LOG("y_gyro_temp_data[%d][%d] = %f\n", - i, j, inv_obj.y_gyro_temp_data[i][j]); - } - } - for (i = 0; i < BINS; i++) { - for (j = 0; j < PTS_PER_BIN; j++) { - tmp = (long long)(inv_obj.z_gyro_temp_data[i][j] * 65536.0f); - if (tmp < 0) { - tmp += 4294967296LL; - } - calData[ptr++] = (unsigned char)((tmp >> 24) & 0xff); - calData[ptr++] = (unsigned char)((tmp >> 16) & 0xff); - calData[ptr++] = (unsigned char)((tmp >> 8) & 0xff); - calData[ptr++] = (unsigned char)(tmp & 0xff); - STORECAL_LOG("z_gyro_temp_data[%d][%d] = %f\n", - i, j, inv_obj.z_gyro_temp_data[i][j]); - } - } - - inv_get_array(INV_ACCEL_BIAS, bias); - - /* write the accel biases */ - for (i = 0; i < 3; i++) { - uint32_t t = (uint32_t) bias[i]; - calData[ptr++] = (unsigned char)((t >> 24) & 0xff); - calData[ptr++] = (unsigned char)((t >> 16) & 0xff); - calData[ptr++] = (unsigned char)((t >> 8) & 0xff); - calData[ptr++] = (unsigned char)(t & 0xff); - STORECAL_LOG("accel_bias[%d] = %ld\n", i, bias[i]); - } - - /* write the compass calibration state */ - calData[ptr++] = (unsigned char)(inv_obj.got_compass_bias); - STORECAL_LOG("got_compass_bias = %ld\n", inv_obj.got_compass_bias); - calData[ptr++] = (unsigned char)(inv_obj.got_init_compass_bias); - STORECAL_LOG("got_init_compass_bias = %d\n", inv_obj.got_init_compass_bias); - if (inv_obj.compass_state == SF_UNCALIBRATED) { - calData[ptr++] = SF_UNCALIBRATED; - } else { - calData[ptr++] = SF_STARTUP_SETTLE; - } - STORECAL_LOG("compass_state = %ld\n", inv_obj.compass_state); - - for (i = 0; i < 3; i++) { - uint32_t t = (uint32_t) inv_obj.compass_bias_error[i]; - calData[ptr++] = (unsigned char)((t >> 24) & 0xff); - calData[ptr++] = (unsigned char)((t >> 16) & 0xff); - calData[ptr++] = (unsigned char)((t >> 8) & 0xff); - calData[ptr++] = (unsigned char)(t & 0xff); - STORECAL_LOG("compass_bias_error[%d] = %ld\n", - i, inv_obj.compass_bias_error[i]); - } - for (i = 0; i < 3; i++) { - uint32_t t = (uint32_t) inv_obj.init_compass_bias[i]; - calData[ptr++] = (unsigned char)((t >> 24) & 0xff); - calData[ptr++] = (unsigned char)((t >> 16) & 0xff); - calData[ptr++] = (unsigned char)((t >> 8) & 0xff); - calData[ptr++] = (unsigned char)(t & 0xff); - STORECAL_LOG("init_compass_bias[%d] = %ld\n", i, - inv_obj.init_compass_bias[i]); - } - for (i = 0; i < 3; i++) { - uint32_t t = (uint32_t) inv_obj.compass_bias[i]; - calData[ptr++] = (unsigned char)((t >> 24) & 0xff); - calData[ptr++] = (unsigned char)((t >> 16) & 0xff); - calData[ptr++] = (unsigned char)((t >> 8) & 0xff); - calData[ptr++] = (unsigned char)(t & 0xff); - STORECAL_LOG("compass_bias[%d] = %ld\n", i, inv_obj.compass_bias[i]); - } - for (i = 0; i < 18; i++) { - uint32_t t = (uint32_t) inv_obj.compass_peaks[i]; - calData[ptr++] = (unsigned char)((t >> 24) & 0xff); - calData[ptr++] = (unsigned char)((t >> 16) & 0xff); - calData[ptr++] = (unsigned char)((t >> 8) & 0xff); - calData[ptr++] = (unsigned char)(t & 0xff); - STORECAL_LOG("compass_peaks[%d] = %d\n", i, inv_obj.compass_peaks[i]); - } - for (i = 0; i < 3; i++) { - dToLL.db = inv_obj.compass_bias_v[i]; - calData[ptr++] = (unsigned char)((dToLL.ll >> 56) & 0xff); - calData[ptr++] = (unsigned char)((dToLL.ll >> 48) & 0xff); - calData[ptr++] = (unsigned char)((dToLL.ll >> 40) & 0xff); - calData[ptr++] = (unsigned char)((dToLL.ll >> 32) & 0xff); - calData[ptr++] = (unsigned char)((dToLL.ll >> 24) & 0xff); - calData[ptr++] = (unsigned char)((dToLL.ll >> 16) & 0xff); - calData[ptr++] = (unsigned char)((dToLL.ll >> 8) & 0xff); - calData[ptr++] = (unsigned char)(dToLL.ll & 0xff); - STORECAL_LOG("compass_bias_v[%d] = %lf\n", i, - inv_obj.compass_bias_v[i]); - } - for (i = 0; i < 9; i++) { - dToLL.db = inv_obj.compass_bias_ptr[i]; - calData[ptr++] = (unsigned char)((dToLL.ll >> 56) & 0xff); - calData[ptr++] = (unsigned char)((dToLL.ll >> 48) & 0xff); - calData[ptr++] = (unsigned char)((dToLL.ll >> 40) & 0xff); - calData[ptr++] = (unsigned char)((dToLL.ll >> 32) & 0xff); - calData[ptr++] = (unsigned char)((dToLL.ll >> 24) & 0xff); - calData[ptr++] = (unsigned char)((dToLL.ll >> 16) & 0xff); - calData[ptr++] = (unsigned char)((dToLL.ll >> 8) & 0xff); - calData[ptr++] = (unsigned char)(dToLL.ll & 0xff); - STORECAL_LOG("compass_bias_ptr[%d] = %lf\n", i, - inv_obj.compass_bias_ptr[i]); - } - for (i = 0; i < 3; i++) { - uint32_t t = (uint32_t) inv_obj.compass_scale[i]; - calData[ptr++] = (unsigned char)((t >> 24) & 0xff); - calData[ptr++] = (unsigned char)((t >> 16) & 0xff); - calData[ptr++] = (unsigned char)((t >> 8) & 0xff); - calData[ptr++] = (unsigned char)(t & 0xff); - STORECAL_LOG("compass_scale[%d] = %ld\n", i, inv_obj.compass_scale[i]); - } - for (i = 0; i < 6; i++) { - dToLL.db = inv_obj.compass_prev_xty[i]; - calData[ptr++] = (unsigned char)((dToLL.ll >> 56) & 0xff); - calData[ptr++] = (unsigned char)((dToLL.ll >> 48) & 0xff); - calData[ptr++] = (unsigned char)((dToLL.ll >> 40) & 0xff); - calData[ptr++] = (unsigned char)((dToLL.ll >> 32) & 0xff); - calData[ptr++] = (unsigned char)((dToLL.ll >> 24) & 0xff); - calData[ptr++] = (unsigned char)((dToLL.ll >> 16) & 0xff); - calData[ptr++] = (unsigned char)((dToLL.ll >> 8) & 0xff); - calData[ptr++] = (unsigned char)(dToLL.ll & 0xff); - STORECAL_LOG("compass_prev_xty[%d] = %lf\n", i, - inv_obj.compass_prev_xty[i]); - } - for (i = 0; i < 36; i++) { - dToLL.db = inv_obj.compass_prev_m[i]; - calData[ptr++] = (unsigned char)((dToLL.ll >> 56) & 0xff); - calData[ptr++] = (unsigned char)((dToLL.ll >> 48) & 0xff); - calData[ptr++] = (unsigned char)((dToLL.ll >> 40) & 0xff); - calData[ptr++] = (unsigned char)((dToLL.ll >> 32) & 0xff); - calData[ptr++] = (unsigned char)((dToLL.ll >> 24) & 0xff); - calData[ptr++] = (unsigned char)((dToLL.ll >> 16) & 0xff); - calData[ptr++] = (unsigned char)((dToLL.ll >> 8) & 0xff); - calData[ptr++] = (unsigned char)(dToLL.ll & 0xff); - STORECAL_LOG("compass_prev_m[%d] = %lf\n", i, - inv_obj.compass_prev_m[i]); - } - - /* store the compass offsets and validity flag */ - calData[ptr++] = (unsigned char)inv_obj.flags[INV_COMPASS_OFFSET_VALID]; - calData[ptr++] = (unsigned char)inv_obj.compass_offsets[0]; - calData[ptr++] = (unsigned char)inv_obj.compass_offsets[1]; - calData[ptr++] = (unsigned char)inv_obj.compass_offsets[2]; - - /* store the compass accuracy */ - calData[ptr++] = (unsigned char)(inv_obj.compass_accuracy); - - /* add a checksum */ - chk = inv_checksum(calData + INV_CAL_HDR_LEN, - length - (INV_CAL_HDR_LEN + INV_CAL_CHK_LEN)); - calData[ptr++] = (unsigned char)((chk >> 24) & 0xff); - calData[ptr++] = (unsigned char)((chk >> 16) & 0xff); - calData[ptr++] = (unsigned char)((chk >> 8) & 0xff); - calData[ptr++] = (unsigned char)(chk & 0xff); - - STORECAL_LOG("Exiting inv_store_cal\n"); - return INV_SUCCESS; -} - -/** - * @brief Load a calibration file. - * - * @pre Must be in INV_STATE_DMP_OPENED state. - * inv_dmp_open() or inv_dmp_stop() must have been called. - * inv_dmp_start() and inv_dmp_close() must have <b>NOT</b> - * been called. - * - * @return 0 or error code. - */ -inv_error_t inv_load_calibration(void) -{ - unsigned char *calData; - inv_error_t result; - unsigned int length; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - result = inv_serial_get_cal_length(&length); - if (result == INV_ERROR_FILE_OPEN) { - MPL_LOGI("Calibration data not loaded\n"); - return INV_SUCCESS; - } - if (result || length <= 0) { - MPL_LOGE("Could not get file calibration length - " - "error %d - aborting\n", result); - return result; - } - calData = (unsigned char *)inv_malloc(length); - if (!calData) { - MPL_LOGE("Could not allocate buffer of %d bytes - " - "aborting\n", length); - return INV_ERROR_MEMORY_EXAUSTED; - } - result = inv_serial_read_cal(calData, length); - if (result) { - MPL_LOGE("Could not read the calibration data from file - " - "error %d - aborting\n", result); - goto free_mem_n_exit; - - } - result = inv_load_cal(calData); - if (result) { - MPL_LOGE("Could not load the calibration data - " - "error %d - aborting\n", result); - goto free_mem_n_exit; - - } - - - -free_mem_n_exit: - inv_free(calData); - return INV_SUCCESS; -} - -/** - * @brief Store runtime calibration data to a file - * - * @pre Must be in INV_STATE_DMP_OPENED state. - * inv_dmp_open() or inv_dmp_stop() must have been called. - * inv_dmp_start() and inv_dmp_close() must have <b>NOT</b> - * been called. - * - * @return 0 or error code. - */ -inv_error_t inv_store_calibration(void) -{ - unsigned char *calData; - inv_error_t result; - unsigned int length; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - length = inv_get_cal_length(); - calData = (unsigned char *)inv_malloc(length); - if (!calData) { - MPL_LOGE("Could not allocate buffer of %d bytes - " - "aborting\n", length); - return INV_ERROR_MEMORY_EXAUSTED; - } - result = inv_store_cal(calData, length); - if (result) { - MPL_LOGE("Could not store calibrated data on file - " - "error %d - aborting\n", result); - goto free_mem_n_exit; - - } - result = inv_serial_write_cal(calData, length); - if (result) { - MPL_LOGE("Could not write calibration data - " "error %d\n", result); - goto free_mem_n_exit; - - } - - - -free_mem_n_exit: - inv_free(calData); - return INV_SUCCESS; -} - -/** - * @} - */ diff --git a/invensense/mlsdk/mllite/ml_stored_data.h b/invensense/mlsdk/mllite/ml_stored_data.h deleted file mode 100644 index 74c2b7c..0000000 --- a/invensense/mlsdk/mllite/ml_stored_data.h +++ /dev/null @@ -1,62 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -/******************************************************************************* - * - * $Id:$ - * - ******************************************************************************/ - -#ifndef INV_STORED_DATA_H -#define INV_STORED_DATA_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* - Includes. -*/ - -#include "mltypes.h" - -/* - Defines -*/ -#define INV_CAL_ACCEL_LEN (12) -#define INV_CAL_COMPASS_LEN (555 + 5) -#define INV_CAL_HDR_LEN (6) -#define INV_CAL_CHK_LEN (4) - -/* - APIs -*/ - inv_error_t inv_load_calibration(void); - inv_error_t inv_store_calibration(void); - -/* - Other prototypes -*/ - inv_error_t inv_load_cal(unsigned char *calData); - inv_error_t inv_store_cal(unsigned char *calData, int length); - unsigned int inv_get_cal_length(void); - -#ifdef __cplusplus -} -#endif -#endif /* INV_STORED_DATA_H */ diff --git a/invensense/mlsdk/mllite/mlarray.c b/invensense/mlsdk/mllite/mlarray.c deleted file mode 100644 index 2ee9a8c..0000000 --- a/invensense/mlsdk/mllite/mlarray.c +++ /dev/null @@ -1,2524 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -/****************************************************************************** - * - * $Id: mlarray.c 5085 2011-04-08 22:25:14Z phickey $ - * - *****************************************************************************/ - -/** - * @defgroup ML - * @{ - * @file mlarray.c - * @brief APIs to read different data sets from FIFO. - */ - -/* ------------------ */ -/* - Include Files. - */ -/* ------------------ */ -#include "ml.h" -#include "mltypes.h" -#include "mlinclude.h" -#include "mlMathFunc.h" -#include "mlmath.h" -#include "mlstates.h" -#include "mlFIFO.h" -#include "mlsupervisor.h" -#include "mldl.h" -#include "dmpKey.h" -#include "compass.h" - -/** - * @brief inv_get_gyro is used to get the most recent gyroscope measurement. - * The argument array elements are ordered X,Y,Z. - * The values are scaled at 1 dps = 2^16 LSBs. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long </b>. - * - * @return Zero if the command is successful; an ML error code otherwise. - */ - - /* inv_get_gyro implemented in mlFIFO.c */ - -/** - * @brief inv_get_accel is used to get the most recent - * accelerometer measurement. - * The argument array elements are ordered X,Y,Z. - * The values are scaled in units of g (gravity), - * where 1 g = 2^16 LSBs. - * - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long </b>. - * - * @return Zero if the command is successful; an ML error code otherwise. - */ - /* inv_get_accel implemented in mlFIFO.c */ - -/** - * @brief inv_get_temperature is used to get the most recent - * temperature measurement. - * The argument array should only have one element. - * The value is in units of deg C (degrees Celsius), where - * 2^16 LSBs = 1 deg C. - * - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to the data to be passed back to the user. - * - * @return Zero if the command is successful; an ML error code otherwise. - */ - /* inv_get_temperature implemented in mlFIFO.c */ - -/** - * @brief inv_get_rot_mat is used to get the rotation matrix - * representation of the current sensor fusion solution. - * The array format will be R11, R12, R13, R21, R22, R23, R31, R32, - * R33, representing the matrix: - * <center>R11 R12 R13</center> - * <center>R21 R22 R23</center> - * <center>R31 R32 R33</center> - * Values are scaled, where 1.0 = 2^30 LSBs. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 9 cells long</b>. - * - * @return Zero if the command is successful; an ML error code otherwise. - */ -inv_error_t inv_get_rot_mat(long *data) -{ - inv_error_t result = INV_SUCCESS; - long qdata[4]; - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - inv_get_quaternion(qdata); - inv_quaternion_to_rotation(qdata, data); - - return result; -} - -/** - * @brief inv_get_quaternion is used to get the quaternion representation - * of the current sensor fusion solution. - * The values are scaled where 1.0 = 2^30 LSBs. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 4 cells long </b>. - * - * @return INV_SUCCESS if the command is successful; an ML error code otherwise. - */ - /* inv_get_quaternion implemented in mlFIFO.c */ - -/** - * @brief inv_get_linear_accel is used to get an estimate of linear - * acceleration, based on the most recent accelerometer measurement - * and sensor fusion solution. - * The values are scaled where 1 g (gravity) = 2^16 LSBs. - * - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long </b>. - * - * @return Zero if the command is successful; an ML error code otherwise. - */ - /* inv_get_linear_accel implemented in mlFIFO.c */ - -/** - * @brief inv_get_linear_accel_in_world is used to get an estimate of - * linear acceleration, in the world frame, based on the most - * recent accelerometer measurement and sensor fusion solution. - * The values are scaled where 1 g (gravity) = 2^16 LSBs. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long</b>. - * - * @return Zero if the command is successful; an ML error code otherwise. - */ - /* inv_get_linear_accel_in_world implemented in mlFIFO.c */ - -/** - * @brief inv_get_gravity is used to get an estimate of the body frame - * gravity vector, based on the most recent sensor fusion solution. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long</b>. - * - * @return Zero if the command is successful; an ML error code otherwise. - */ - /* inv_get_gravity implemented in mlFIFO.c */ - -/** - * @internal - * @brief inv_get_angular_velocity is used to get an estimate of the body - * frame angular velocity, which is computed from the current and - * previous sensor fusion solutions. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long </b>. - * - * @return Zero if the command is successful; an ML error code otherwise. - */ -inv_error_t inv_get_angular_velocity(long *data __unused) -{ - - return INV_ERROR_FEATURE_NOT_IMPLEMENTED; - /* not implemented. old (invalid) implementation: - if ( inv_get_state() < INV_STATE_DMP_OPENED ) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - data[0] = inv_obj.ang_v_body[0]; - data[1] = inv_obj.ang_v_body[1]; - data[2] = inv_obj.ang_v_body[2]; - - return result; - */ -} - -/** - * @brief inv_get_euler_angles is used to get the Euler angle representation - * of the current sensor fusion solution. - * Euler angles may follow various conventions. This function is equivelant - * to inv_get_euler_angles_x, refer to inv_get_euler_angles_x for more - * information. - * - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long </b>. - * - * @return Zero if the command is successful; an ML error code otherwise. - */ -inv_error_t inv_get_euler_angles(long *data) -{ - return inv_get_euler_angles_x(data); -} - -/** - * @brief inv_get_euler_angles_x is used to get the Euler angle representation - * of the current sensor fusion solution. - * Euler angles are returned according to the X convention. - * This is typically the convention used for mobile devices where the X - * axis is the width of the screen, Y axis is the height, and Z the - * depth. In this case roll is defined as the rotation around the X - * axis of the device. - * <TABLE> - * <TR><TD>Element </TD><TD><b>Euler angle</b></TD><TD><b>Rotation about </b></TD></TR> - * <TR><TD> 0 </TD><TD>Roll </TD><TD>X axis </TD></TR> - * <TR><TD> 1 </TD><TD>Pitch </TD><TD>Y axis </TD></TR> - * <TR><TD> 2 </TD><TD>Yaw </TD><TD>Z axis </TD></TR> - * </TABLE> - * - * Values are scaled where 1.0 = 2^16. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long </b>. - * - * @return Zero if the command is successful; an ML error code otherwise. - */ -inv_error_t inv_get_euler_angles_x(long *data) -{ - inv_error_t result = INV_SUCCESS; - float rotMatrix[9]; - float tmp; - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - result = inv_get_rot_mat_float(rotMatrix); - tmp = rotMatrix[6]; - if (tmp > 1.0f) { - tmp = 1.0f; - } - if (tmp < -1.0f) { - tmp = -1.0f; - } - data[0] = - (long)((float) - (atan2f(rotMatrix[7], rotMatrix[8]) * 57.29577951308) * - 65536L); - data[1] = (long)((float)((double)asin(tmp) * 57.29577951308) * 65536L); - data[2] = - (long)((float) - (atan2f(rotMatrix[3], rotMatrix[0]) * 57.29577951308) * - 65536L); - return result; -} - -/** - * @brief inv_get_euler_angles_y is used to get the Euler angle representation - * of the current sensor fusion solution. - * Euler angles are returned according to the Y convention. - * This convention is typically used in augmented reality applications, - * where roll is defined as the rotation around the axis along the - * height of the screen of a mobile device, namely the Y axis. - * <TABLE> - * <TR><TD>Element </TD><TD><b>Euler angle</b></TD><TD><b>Rotation about </b></TD></TR> - * <TR><TD> 0 </TD><TD>Roll </TD><TD>Y axis </TD></TR> - * <TR><TD> 1 </TD><TD>Pitch </TD><TD>X axis </TD></TR> - * <TR><TD> 2 </TD><TD>Yaw </TD><TD>Z axis </TD></TR> - * </TABLE> - * - * Values are scaled where 1.0 = 2^16. - * - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long</b>. - * - * @return Zero if the command is successful; an ML error code otherwise. - */ -inv_error_t inv_get_euler_angles_y(long *data) -{ - inv_error_t result = INV_SUCCESS; - float rotMatrix[9]; - float tmp; - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - result = inv_get_rot_mat_float(rotMatrix); - tmp = rotMatrix[7]; - if (tmp > 1.0f) { - tmp = 1.0f; - } - if (tmp < -1.0f) { - tmp = -1.0f; - } - data[0] = - (long)((float) - (atan2f(rotMatrix[8], rotMatrix[6]) * 57.29577951308f) * - 65536L); - data[1] = (long)((float)((double)asin(tmp) * 57.29577951308) * 65536L); - data[2] = - (long)((float) - (atan2f(rotMatrix[4], rotMatrix[1]) * 57.29577951308f) * - 65536L); - return result; -} - -/** @brief inv_get_euler_angles_z is used to get the Euler angle representation - * of the current sensor fusion solution. - * This convention is mostly used in application involving the use - * of a camera, typically placed on the back of a mobile device, that - * is along the Z axis. In this convention roll is defined as the - * rotation around the Z axis. - * Euler angles are returned according to the Y convention. - * <TABLE> - * <TR><TD>Element </TD><TD><b>Euler angle</b></TD><TD><b>Rotation about </b></TD></TR> - * <TR><TD> 0 </TD><TD>Roll </TD><TD>Z axis </TD></TR> - * <TR><TD> 1 </TD><TD>Pitch </TD><TD>X axis </TD></TR> - * <TR><TD> 2 </TD><TD>Yaw </TD><TD>Y axis </TD></TR> - * </TABLE> - * - * Values are scaled where 1.0 = 2^16. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long</b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - */ - -inv_error_t inv_get_euler_angles_z(long *data) -{ - inv_error_t result = INV_SUCCESS; - float rotMatrix[9]; - float tmp; - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - result = inv_get_rot_mat_float(rotMatrix); - tmp = rotMatrix[8]; - if (tmp > 1.0f) { - tmp = 1.0f; - } - if (tmp < -1.0f) { - tmp = -1.0f; - } - data[0] = - (long)((float) - (atan2f(rotMatrix[6], rotMatrix[7]) * 57.29577951308) * - 65536L); - data[1] = (long)((float)((double)asin(tmp) * 57.29577951308) * 65536L); - data[2] = - (long)((float) - (atan2f(rotMatrix[5], rotMatrix[2]) * 57.29577951308) * - 65536L); - return result; -} - -/** - * @brief inv_get_gyro_temp_slope is used to get is used to get the temperature - * compensation algorithm's estimate of the gyroscope bias temperature - * coefficient. - * The argument array elements are ordered X,Y,Z. - * Values are in units of dps per deg C (degrees per second per degree - * Celcius). Values are scaled so that 1 dps per deg C = 2^16 LSBs. - * Please refer to the provided "9-Axis Sensor Fusion - * Application Note" document. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long </b>. - * - * @return Zero if the command is successful; an ML error code otherwise. - */ -inv_error_t inv_get_gyro_temp_slope(long *data) -{ - inv_error_t result = INV_SUCCESS; - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - if (inv_params_obj.bias_mode & INV_LEARN_BIAS_FROM_TEMPERATURE) { - data[0] = (long)(inv_obj.x_gyro_coef[1] * 65536.0f); - data[1] = (long)(inv_obj.y_gyro_coef[1] * 65536.0f); - data[2] = (long)(inv_obj.z_gyro_coef[1] * 65536.0f); - } else { - data[0] = inv_obj.temp_slope[0]; - data[1] = inv_obj.temp_slope[1]; - data[2] = inv_obj.temp_slope[2]; - } - return result; -} - -/** - * @brief inv_get_gyro_bias is used to get the gyroscope biases. - * The argument array elements are ordered X,Y,Z. - * The values are scaled such that 1 dps = 2^16 LSBs. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long</b>. - * - * @return Zero if the command is successful; an ML error code otherwise. - */ -inv_error_t inv_get_gyro_bias(long *data) -{ - inv_error_t result = INV_SUCCESS; - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - data[0] = inv_obj.gyro_bias[0]; - data[1] = inv_obj.gyro_bias[1]; - data[2] = inv_obj.gyro_bias[2]; - - return result; -} - -/** - * @brief inv_get_accel_bias is used to get the accelerometer baises. - * The argument array elements are ordered X,Y,Z. - * The values are scaled such that 1 g (gravity) = 2^16 LSBs. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long </b>. - * - * @return Zero if the command is successful; an ML error code otherwise. - */ -inv_error_t inv_get_accel_bias(long *data) -{ - inv_error_t result = INV_SUCCESS; - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - data[0] = inv_obj.accel_bias[0]; - data[1] = inv_obj.accel_bias[1]; - data[2] = inv_obj.accel_bias[2]; - - return result; -} - -/** - * @cond MPL - * @brief inv_get_mag_bias is used to get Magnetometer Bias - * - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long </b>. - * - * @return Zero if the command is successful; an ML error code otherwise. - * @endcond - */ -inv_error_t inv_get_mag_bias(long *data) -{ - inv_error_t result = INV_SUCCESS; - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - data[0] = - inv_obj.compass_bias[0] + - (long)((long long)inv_obj.init_compass_bias[0] * inv_obj.compass_sens / - 16384); - data[1] = - inv_obj.compass_bias[1] + - (long)((long long)inv_obj.init_compass_bias[1] * inv_obj.compass_sens / - 16384); - data[2] = - inv_obj.compass_bias[2] + - (long)((long long)inv_obj.init_compass_bias[2] * inv_obj.compass_sens / - 16384); - - return result; -} - -/** - * @brief inv_get_gyro_and_accel_sensor is used to get the most recent set of all sensor data. - * The argument array elements are ordered gyroscope X,Y, and Z, - * accelerometer X, Y, and Z, and magnetometer X,Y, and Z. - * \if UMPL The magnetometer elements are not populated in UMPL. \endif - * The gyroscope and accelerometer data is not scaled or offset, it is - * copied directly from the sensor registers. - * In the case of accelerometers with 8-bit output resolution, the data - * is scaled up to match the 2^14 = 1 g typical represntation of +/- 2 g - * full scale range - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 9 cells long</b>. - * - * @return Zero if the command is successful; an ML error code otherwise. - */ - /* inv_get_gyro_and_accel_sensor implemented in mlFIFO.c */ - -/** - * @cond MPL - * @brief inv_get_mag_raw_data is used to get Raw magnetometer data. - * - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long </b>. - * - * @return Zero if the command is successful; an ML error code otherwise. - * @endcond - */ -inv_error_t inv_get_mag_raw_data(long *data) -{ - inv_error_t result = INV_SUCCESS; - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - data[0] = inv_obj.compass_sensor_data[0]; - data[1] = inv_obj.compass_sensor_data[1]; - data[2] = inv_obj.compass_sensor_data[2]; - - return result; -} - -/** - * @cond MPL - * @brief inv_get_magnetometer is used to get magnetometer data. - * - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long</b>. - * - * @return Zero if the command is successful; an ML error code otherwise. - * @endcond - */ -inv_error_t inv_get_magnetometer(long *data) -{ - inv_error_t result = INV_SUCCESS; - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - data[0] = inv_obj.compass_sensor_data[0] + inv_obj.init_compass_bias[0]; - data[1] = inv_obj.compass_sensor_data[1] + inv_obj.init_compass_bias[1]; - data[2] = inv_obj.compass_sensor_data[2] + inv_obj.init_compass_bias[2]; - - return result; -} - -/** - * @cond MPL - * @brief inv_get_pressure is used to get Pressure data. - * - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to data to be passed back to the user. - * - * @return Zero if the command is successful; an ML error code otherwise. - * @endcond - */ -inv_error_t inv_get_pressure(long *data) -{ - inv_error_t result = INV_SUCCESS; - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - data[0] = inv_obj.pressure; - - return result; -} - -/** - * @cond MPL - * @brief inv_get_heading is used to get heading from Rotation Matrix. - * - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to data to be passed back to the user. - * - * @return Zero if the command is successful; an ML error code otherwise. - * @endcond - */ - -inv_error_t inv_get_heading(long *data) -{ - inv_error_t result = INV_SUCCESS; - float rotMatrix[9]; - float tmp; - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - result = inv_get_rot_mat_float(rotMatrix); - if ((rotMatrix[7] < 0.707) && (rotMatrix[7] > -0.707)) { - tmp = - (float)(atan2f(rotMatrix[4], rotMatrix[1]) * 57.29577951308 - - 90.0f); - } else { - tmp = - (float)(atan2f(rotMatrix[5], rotMatrix[2]) * 57.29577951308 + - 90.0f); - } - if (tmp < 0) { - tmp += 360.0f; - } - data[0] = (long)((360 - tmp) * 65536.0f); - - return result; -} - -/** - * @brief inv_get_gyro_cal_matrix is used to get the gyroscope - * calibration matrix. The gyroscope calibration matrix defines the relationship - * between the gyroscope sensor axes and the sensor fusion solution axes. - * Calibration matrix data members will have a value of 1, 0, or -1. - * The matrix has members - * <center>C11 C12 C13</center> - * <center>C21 C22 C23</center> - * <center>C31 C32 C33</center> - * The argument array elements are ordered C11, C12, C13, C21, C22, C23, C31, C32, C33. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 9 cells long</b>. - * - * @return Zero if the command is successful; an ML error code otherwise. - */ -inv_error_t inv_get_gyro_cal_matrix(long *data) -{ - inv_error_t result = INV_SUCCESS; - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - data[0] = inv_obj.gyro_cal[0]; - data[1] = inv_obj.gyro_cal[1]; - data[2] = inv_obj.gyro_cal[2]; - data[3] = inv_obj.gyro_cal[3]; - data[4] = inv_obj.gyro_cal[4]; - data[5] = inv_obj.gyro_cal[5]; - data[6] = inv_obj.gyro_cal[6]; - data[7] = inv_obj.gyro_cal[7]; - data[8] = inv_obj.gyro_cal[8]; - - return result; -} - -/** - * @brief inv_get_accel_cal_matrix is used to get the accelerometer - * calibration matrix. - * Calibration matrix data members will have a value of 1, 0, or -1. - * The matrix has members - * <center>C11 C12 C13</center> - * <center>C21 C22 C23</center> - * <center>C31 C32 C33</center> - * The argument array elements are ordered C11, C12, C13, C21, C22, C23, C31, C32, C33. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 9 cells long</b>. - * - * @return Zero if the command is successful; an ML error code otherwise. - */ -inv_error_t inv_get_accel_cal_matrix(long *data) -{ - inv_error_t result = INV_SUCCESS; - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - data[0] = inv_obj.accel_cal[0]; - data[1] = inv_obj.accel_cal[1]; - data[2] = inv_obj.accel_cal[2]; - data[3] = inv_obj.accel_cal[3]; - data[4] = inv_obj.accel_cal[4]; - data[5] = inv_obj.accel_cal[5]; - data[6] = inv_obj.accel_cal[6]; - data[7] = inv_obj.accel_cal[7]; - data[8] = inv_obj.accel_cal[8]; - - return result; -} - -/** - * @cond MPL - * @brief inv_get_mag_cal_matrix is used to get magnetometer calibration matrix. - * - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 9 cells long at least</b>. - * - * @return Zero if the command is successful; an ML error code otherwise. - * @endcond - */ -inv_error_t inv_get_mag_cal_matrix(long *data) -{ - inv_error_t result = INV_SUCCESS; - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - data[0] = inv_obj.compass_cal[0]; - data[1] = inv_obj.compass_cal[1]; - data[2] = inv_obj.compass_cal[2]; - data[3] = inv_obj.compass_cal[3]; - data[4] = inv_obj.compass_cal[4]; - data[5] = inv_obj.compass_cal[5]; - data[6] = inv_obj.compass_cal[6]; - data[7] = inv_obj.compass_cal[7]; - data[8] = inv_obj.compass_cal[8]; - - return result; -} - -/** - * @cond MPL - * @brief inv_get_mag_bias_error is used to get magnetometer Bias error. - * - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long at least</b>. - * - * @return Zero if the command is successful; an ML error code otherwise. - * @endcond - */ -inv_error_t inv_get_mag_bias_error(long *data) -{ - inv_error_t result = INV_SUCCESS; - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - if (inv_obj.large_field == 0) { - data[0] = inv_obj.compass_bias_error[0]; - data[1] = inv_obj.compass_bias_error[1]; - data[2] = inv_obj.compass_bias_error[2]; - } else { - data[0] = P_INIT; - data[1] = P_INIT; - data[2] = P_INIT; - } - - return result; -} - -/** - * @cond MPL - * @brief inv_get_mag_scale is used to get magnetometer scale. - * - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long at least</b>. - * - * @return Zero if the command is successful; an ML error code otherwise. - * @endcond - */ -inv_error_t inv_get_mag_scale(long *data) -{ - inv_error_t result = INV_SUCCESS; - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - data[0] = inv_obj.compass_scale[0]; - data[1] = inv_obj.compass_scale[1]; - data[2] = inv_obj.compass_scale[2]; - - return result; -} - -/** - * @cond MPL - * @brief inv_get_local_field is used to get local magnetic field data. - * - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long at least</b>. - * - * @return Zero if the command is successful; an ML error code otherwise. - * @endcond - */ -inv_error_t inv_get_local_field(long *data) -{ - inv_error_t result = INV_SUCCESS; - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - data[0] = inv_obj.local_field[0]; - data[1] = inv_obj.local_field[1]; - data[2] = inv_obj.local_field[2]; - - return result; -} - -/** - * @cond MPL - * @brief inv_get_relative_quaternion is used to get relative quaternion. - * - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 4 cells long at least</b>. - * - * @return Zero if the command is successful; an ML error code otherwise. - * @endcond - */ -/* inv_get_relative_quaternion implemented in mlFIFO.c */ - -/** - * @brief inv_get_gyro_float is used to get the most recent gyroscope measurement. - * The argument array elements are ordered X,Y,Z. - * The values are in units of dps (degrees per second). - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long</b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - */ -inv_error_t inv_get_gyro_float(float *data) -{ - INVENSENSE_FUNC_START; - - inv_error_t result = INV_SUCCESS; - long ldata[3]; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - result = inv_get_gyro(ldata); - data[0] = (float)ldata[0] / 65536.0f; - data[1] = (float)ldata[1] / 65536.0f; - data[2] = (float)ldata[2] / 65536.0f; - - return result; -} - -/** - * @internal - * @brief inv_get_angular_velocity_float is used to get an array of three data points representing the angular - * velocity as derived from <b>both</b> gyroscopes and accelerometers. - * This requires that ML_SENSOR_FUSION be enabled, to fuse data from - * the gyroscope and accelerometer device, appropriately scaled and - * oriented according to the respective mounting matrices. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long</b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - */ -inv_error_t inv_get_angular_velocity_float(float *data __unused) -{ - return INV_ERROR_FEATURE_NOT_IMPLEMENTED; - /* not implemented. old (invalid) implementation: - return inv_get_gyro_float(data); - */ -} - -/** - * @brief inv_get_accel_float is used to get the most recent accelerometer measurement. - * The argument array elements are ordered X,Y,Z. - * The values are in units of g (gravity). - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long</b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - */ - /* inv_get_accel_float implemented in mlFIFO.c */ - -/** - * @brief inv_get_temperature_float is used to get the most recent - * temperature measurement. - * The argument array should only have one element. - * The value is in units of deg C (degrees Celsius). - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to data to be passed back to the user. - * - * @return Zero if the command is successful; an ML error code otherwise. - */ -inv_error_t inv_get_temperature_float(float *data) -{ - INVENSENSE_FUNC_START; - - inv_error_t result = INV_SUCCESS; - long ldata[1]; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - result = inv_get_temperature(ldata); - data[0] = (float)ldata[0] / 65536.0f; - - return result; -} - -/** - * @brief inv_get_rot_mat_float is used to get an array of nine data points representing the rotation - * matrix generated from all available sensors. - * The array format will be R11, R12, R13, R21, R22, R23, R31, R32, - * R33, representing the matrix: - * <center>R11 R12 R13</center> - * <center>R21 R22 R23</center> - * <center>R31 R32 R33</center> - * <b>Please refer to the "9-Axis Sensor Fusion Application Note" document, - * section 7 "Sensor Fusion Output", for details regarding rotation - * matrix output</b>. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 9 cells long at least</b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - */ -inv_error_t inv_get_rot_mat_float(float *data) -{ - INVENSENSE_FUNC_START; - - inv_error_t result = INV_SUCCESS; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - { - long qdata[4], rdata[9]; - inv_get_quaternion(qdata); - inv_quaternion_to_rotation(qdata, rdata); - data[0] = (float)rdata[0] / 1073741824.0f; - data[1] = (float)rdata[1] / 1073741824.0f; - data[2] = (float)rdata[2] / 1073741824.0f; - data[3] = (float)rdata[3] / 1073741824.0f; - data[4] = (float)rdata[4] / 1073741824.0f; - data[5] = (float)rdata[5] / 1073741824.0f; - data[6] = (float)rdata[6] / 1073741824.0f; - data[7] = (float)rdata[7] / 1073741824.0f; - data[8] = (float)rdata[8] / 1073741824.0f; - } - - return result; -} - -/** - * @brief inv_get_quaternion_float is used to get the quaternion representation - * of the current sensor fusion solution. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 4 cells long</b>. - * - * @return INV_SUCCESS if the command is successful; an ML error code otherwise. - */ - /* inv_get_quaternion_float implemented in mlFIFO.c */ - -/** - * @brief inv_get_linear_accel_float is used to get an estimate of linear - * acceleration, based on the most recent accelerometer measurement - * and sensor fusion solution. - * The values are in units of g (gravity). - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long</b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - */ -inv_error_t inv_get_linear_accel_float(float *data) -{ - INVENSENSE_FUNC_START; - - inv_error_t result = INV_SUCCESS; - long ldata[3]; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - result = inv_get_linear_accel(ldata); - data[0] = (float)ldata[0] / 65536.0f; - data[1] = (float)ldata[1] / 65536.0f; - data[2] = (float)ldata[2] / 65536.0f; - - return result; -} - -/** - * @brief inv_get_linear_accel_in_world_float is used to get an estimate of - * linear acceleration, in the world frame, based on the most - * recent accelerometer measurement and sensor fusion solution. - * The values are in units of g (gravity). - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long</b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - */ -inv_error_t inv_get_linear_accel_in_world_float(float *data) -{ - INVENSENSE_FUNC_START; - - inv_error_t result = INV_SUCCESS; - long ldata[3]; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - result = inv_get_linear_accel_in_world(ldata); - data[0] = (float)ldata[0] / 65536.0f; - data[1] = (float)ldata[1] / 65536.0f; - data[2] = (float)ldata[2] / 65536.0f; - - return result; -} - -/** - * @brief inv_get_gravity_float is used to get an estimate of the body frame - * gravity vector, based on the most recent sensor fusion solution. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long at least</b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - */ -inv_error_t inv_get_gravity_float(float *data) -{ - INVENSENSE_FUNC_START; - - inv_error_t result = INV_SUCCESS; - long ldata[3]; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - result = inv_get_gravity(ldata); - data[0] = (float)ldata[0] / 65536.0f; - data[1] = (float)ldata[1] / 65536.0f; - data[2] = (float)ldata[2] / 65536.0f; - - return result; -} - -/** - * @brief inv_get_gyro_cal_matrix_float is used to get the gyroscope - * calibration matrix. The gyroscope calibration matrix defines the relationship - * between the gyroscope sensor axes and the sensor fusion solution axes. - * Calibration matrix data members will have a value of 1.0, 0, or -1.0. - * The matrix has members - * <center>C11 C12 C13</center> - * <center>C21 C22 C23</center> - * <center>C31 C32 C33</center> - * The argument array elements are ordered C11, C12, C13, C21, C22, C23, C31, C32, C33. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 9 cells long</b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - */ -inv_error_t inv_get_gyro_cal_matrix_float(float *data) -{ - INVENSENSE_FUNC_START; - - inv_error_t result = INV_SUCCESS; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - data[0] = (float)inv_obj.gyro_cal[0] / 1073741824.0f; - data[1] = (float)inv_obj.gyro_cal[1] / 1073741824.0f; - data[2] = (float)inv_obj.gyro_cal[2] / 1073741824.0f; - data[3] = (float)inv_obj.gyro_cal[3] / 1073741824.0f; - data[4] = (float)inv_obj.gyro_cal[4] / 1073741824.0f; - data[5] = (float)inv_obj.gyro_cal[5] / 1073741824.0f; - data[6] = (float)inv_obj.gyro_cal[6] / 1073741824.0f; - data[7] = (float)inv_obj.gyro_cal[7] / 1073741824.0f; - data[8] = (float)inv_obj.gyro_cal[8] / 1073741824.0f; - - return result; -} - -/** - * @brief inv_get_accel_cal_matrix_float is used to get the accelerometer - * calibration matrix. - * Calibration matrix data members will have a value of 1.0, 0, or -1.0. - * The matrix has members - * <center>C11 C12 C13</center> - * <center>C21 C22 C23</center> - * <center>C31 C32 C33</center> - * The argument array elements are ordered C11, C12, C13, C21, C22, C23, C31, C32, C33. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 9 cells long</b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - */ - -inv_error_t inv_get_accel_cal_matrix_float(float *data) -{ - INVENSENSE_FUNC_START; - - inv_error_t result = INV_SUCCESS; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - data[0] = (float)inv_obj.accel_cal[0] / 1073741824.0f; - data[1] = (float)inv_obj.accel_cal[1] / 1073741824.0f; - data[2] = (float)inv_obj.accel_cal[2] / 1073741824.0f; - data[3] = (float)inv_obj.accel_cal[3] / 1073741824.0f; - data[4] = (float)inv_obj.accel_cal[4] / 1073741824.0f; - data[5] = (float)inv_obj.accel_cal[5] / 1073741824.0f; - data[6] = (float)inv_obj.accel_cal[6] / 1073741824.0f; - data[7] = (float)inv_obj.accel_cal[7] / 1073741824.0f; - data[8] = (float)inv_obj.accel_cal[8] / 1073741824.0f; - - return result; -} - -/** - * @cond MPL - * @brief inv_get_mag_cal_matrix_float is used to get an array of nine data points - * representing the calibration matrix for the compass: - * <center>C11 C12 C13</center> - * <center>C21 C22 C23</center> - * <center>C31 C32 C33</center> - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 9 cells long at least</b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - * @endcond - */ -inv_error_t inv_get_mag_cal_matrix_float(float *data) -{ - INVENSENSE_FUNC_START; - - inv_error_t result = INV_SUCCESS; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - data[0] = (float)inv_obj.compass_cal[0] / 1073741824.0f; - data[1] = (float)inv_obj.compass_cal[1] / 1073741824.0f; - data[2] = (float)inv_obj.compass_cal[2] / 1073741824.0f; - data[3] = (float)inv_obj.compass_cal[3] / 1073741824.0f; - data[4] = (float)inv_obj.compass_cal[4] / 1073741824.0f; - data[5] = (float)inv_obj.compass_cal[5] / 1073741824.0f; - data[6] = (float)inv_obj.compass_cal[6] / 1073741824.0f; - data[7] = (float)inv_obj.compass_cal[7] / 1073741824.0f; - data[8] = (float)inv_obj.compass_cal[8] / 1073741824.0f; - return result; -} - -/** - * @brief inv_get_gyro_temp_slope_float is used to get the temperature - * compensation algorithm's estimate of the gyroscope bias temperature - * coefficient. - * The argument array elements are ordered X,Y,Z. - * Values are in units of dps per deg C (degrees per second per degree - * Celcius) - * Please refer to the provided "9-Axis Sensor Fusion - * Application Note" document. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long </b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - */ -inv_error_t inv_get_gyro_temp_slope_float(float *data) -{ - INVENSENSE_FUNC_START; - - inv_error_t result = INV_SUCCESS; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - if (inv_params_obj.bias_mode & INV_LEARN_BIAS_FROM_TEMPERATURE) { - data[0] = inv_obj.x_gyro_coef[1]; - data[1] = inv_obj.y_gyro_coef[1]; - data[2] = inv_obj.z_gyro_coef[1]; - } else { - data[0] = (float)inv_obj.temp_slope[0] / 65536.0f; - data[1] = (float)inv_obj.temp_slope[1] / 65536.0f; - data[2] = (float)inv_obj.temp_slope[2] / 65536.0f; - } - - return result; -} - -/** - * @brief inv_get_gyro_bias_float is used to get the gyroscope biases. - * The argument array elements are ordered X,Y,Z. - * The values are in units of dps (degrees per second). - - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long</b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - */ -inv_error_t inv_get_gyro_bias_float(float *data) -{ - INVENSENSE_FUNC_START; - - inv_error_t result = INV_SUCCESS; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - data[0] = (float)inv_obj.gyro_bias[0] / 65536.0f; - data[1] = (float)inv_obj.gyro_bias[1] / 65536.0f; - data[2] = (float)inv_obj.gyro_bias[2] / 65536.0f; - - return result; -} - -/** - * @brief inv_get_accel_bias_float is used to get the accelerometer baises. - * The argument array elements are ordered X,Y,Z. - * The values are in units of g (gravity). - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long</b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - */ -inv_error_t inv_get_accel_bias_float(float *data) -{ - INVENSENSE_FUNC_START; - - inv_error_t result = INV_SUCCESS; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - data[0] = (float)inv_obj.accel_bias[0] / 65536.0f; - data[1] = (float)inv_obj.accel_bias[1] / 65536.0f; - data[2] = (float)inv_obj.accel_bias[2] / 65536.0f; - - return result; -} - -/** - * @cond MPL - * @brief inv_get_mag_bias_float is used to get an array of three data points representing - * the compass biases. - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long</b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - * @endcond - */ -inv_error_t inv_get_mag_bias_float(float *data) -{ - INVENSENSE_FUNC_START; - - inv_error_t result = INV_SUCCESS; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - data[0] = - ((float) - (inv_obj.compass_bias[0] + - (long)((long long)inv_obj.init_compass_bias[0] * - inv_obj.compass_sens / 16384))) / 65536.0f; - data[1] = - ((float) - (inv_obj.compass_bias[1] + - (long)((long long)inv_obj.init_compass_bias[1] * - inv_obj.compass_sens / 16384))) / 65536.0f; - data[2] = - ((float) - (inv_obj.compass_bias[2] + - (long)((long long)inv_obj.init_compass_bias[2] * - inv_obj.compass_sens / 16384))) / 65536.0f; - - return result; -} - -/** - * @brief inv_get_gyro_and_accel_sensor_float is used to get the most recent set of all sensor data. - * The argument array elements are ordered gyroscope X,Y, and Z, - * accelerometer X, Y, and Z, and magnetometer X,Y, and Z. - * \if UMPL The magnetometer elements are not populated in UMPL. \endif - * The gyroscope and accelerometer data is not scaled or offset, it is - * copied directly from the sensor registers, and cast as a float. - * In the case of accelerometers with 8-bit output resolution, the data - * is scaled up to match the 2^14 = 1 g typical represntation of +/- 2 g - * full scale range - - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 9 cells long</b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - */ -inv_error_t inv_get_gyro_and_accel_sensor_float(float *data) -{ - INVENSENSE_FUNC_START; - - inv_error_t result = INV_SUCCESS; - long ldata[6]; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - result = inv_get_gyro_and_accel_sensor(ldata); - data[0] = (float)ldata[0]; - data[1] = (float)ldata[1]; - data[2] = (float)ldata[2]; - data[3] = (float)ldata[3]; - data[4] = (float)ldata[4]; - data[5] = (float)ldata[5]; - data[6] = (float)inv_obj.compass_sensor_data[0]; - data[7] = (float)inv_obj.compass_sensor_data[1]; - data[8] = (float)inv_obj.compass_sensor_data[2]; - - return result; -} - -/** - * @brief inv_get_euler_angles_x is used to get the Euler angle representation - * of the current sensor fusion solution. - * Euler angles are returned according to the X convention. - * This is typically the convention used for mobile devices where the X - * axis is the width of the screen, Y axis is the height, and Z the - * depth. In this case roll is defined as the rotation around the X - * axis of the device. - * <TABLE> - * <TR><TD>Element </TD><TD><b>Euler angle</b></TD><TD><b>Rotation about </b></TD></TR> - * <TR><TD> 0 </TD><TD>Roll </TD><TD>X axis </TD></TR> - * <TR><TD> 1 </TD><TD>Pitch </TD><TD>Y axis </TD></TR> - * <TR><TD> 2 </TD><TD>Yaw </TD><TD>Z axis </TD></TR> - * - </TABLE> - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long</b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - */ -inv_error_t inv_get_euler_angles_x_float(float *data) -{ - INVENSENSE_FUNC_START; - - inv_error_t result = INV_SUCCESS; - float rotMatrix[9]; - float tmp; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - result = inv_get_rot_mat_float(rotMatrix); - tmp = rotMatrix[6]; - if (tmp > 1.0f) { - tmp = 1.0f; - } - if (tmp < -1.0f) { - tmp = -1.0f; - } - data[0] = - (float)(atan2f(rotMatrix[7], - rotMatrix[8]) * 57.29577951308); - data[1] = (float)((double)asin(tmp) * 57.29577951308); - data[2] = - (float)(atan2f(rotMatrix[3], rotMatrix[0]) * 57.29577951308); - - return result; -} - -/** - * @brief inv_get_euler_angles_float is used to get an array of three data points three data points - * representing roll, pitch, and yaw corresponding to the INV_EULER_ANGLES_X output and it is - * therefore the default convention for Euler angles. - * Please refer to the INV_EULER_ANGLES_X for a detailed description. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long</b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - */ -inv_error_t inv_get_euler_angles_float(float *data) -{ - return inv_get_euler_angles_x_float(data); -} - -/** @brief inv_get_euler_angles_y_float is used to get the Euler angle representation - * of the current sensor fusion solution. - * Euler angles are returned according to the Y convention. - * This convention is typically used in augmented reality applications, - * where roll is defined as the rotation around the axis along the - * height of the screen of a mobile device, namely the Y axis. - * <TABLE> - * <TR><TD>Element </TD><TD><b>Euler angle</b></TD><TD><b>Rotation about </b></TD></TR> - * <TR><TD> 0 </TD><TD>Roll </TD><TD>Y axis </TD></TR> - * <TR><TD> 1 </TD><TD>Pitch </TD><TD>X axis </TD></TR> - * <TR><TD> 2 </TD><TD>Yaw </TD><TD>Z axis </TD></TR> - * </TABLE> - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long</b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - */ -inv_error_t inv_get_euler_angles_y_float(float *data) -{ - INVENSENSE_FUNC_START; - - inv_error_t result = INV_SUCCESS; - float rotMatrix[9]; - float tmp; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - result = inv_get_rot_mat_float(rotMatrix); - tmp = rotMatrix[7]; - if (tmp > 1.0f) { - tmp = 1.0f; - } - if (tmp < -1.0f) { - tmp = -1.0f; - } - data[0] = - (float)(atan2f(rotMatrix[8], rotMatrix[6]) * 57.29577951308); - data[1] = (float)((double)asin(tmp) * 57.29577951308); - data[2] = - (float)(atan2f(rotMatrix[4], rotMatrix[1]) * 57.29577951308); - - return result; -} - -/** @brief inv_get_euler_angles_z_float is used to get the Euler angle representation - * of the current sensor fusion solution. - * This convention is mostly used in application involving the use - * of a camera, typically placed on the back of a mobile device, that - * is along the Z axis. In this convention roll is defined as the - * rotation around the Z axis. - * Euler angles are returned according to the Y convention. - * <TABLE> - * <TR><TD>Element </TD><TD><b>Euler angle</b></TD><TD><b>Rotation about </b></TD></TR> - * <TR><TD> 0 </TD><TD>Roll </TD><TD>Z axis </TD></TR> - * <TR><TD> 1 </TD><TD>Pitch </TD><TD>X axis </TD></TR> - * <TR><TD> 2 </TD><TD>Yaw </TD><TD>Y axis </TD></TR> - * </TABLE> - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long</b>. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long</b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - */ -inv_error_t inv_get_euler_angles_z_float(float *data) -{ - INVENSENSE_FUNC_START; - - inv_error_t result = INV_SUCCESS; - float rotMatrix[9]; - float tmp; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - result = inv_get_rot_mat_float(rotMatrix); - tmp = rotMatrix[8]; - if (tmp > 1.0f) { - tmp = 1.0f; - } - if (tmp < -1.0f) { - tmp = -1.0f; - } - data[0] = - (float)(atan2f(rotMatrix[6], rotMatrix[7]) * 57.29577951308); - data[1] = (float)((double)asin(tmp) * 57.29577951308); - data[2] = - (float)(atan2f(rotMatrix[5], rotMatrix[2]) * 57.29577951308); - - return result; -} - -/** - * @cond MPL - * @brief inv_get_mag_raw_data_float is used to get Raw magnetometer data - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long</b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - * @endcond - */ -inv_error_t inv_get_mag_raw_data_float(float *data) -{ - INVENSENSE_FUNC_START; - - inv_error_t result = INV_SUCCESS; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - data[0] = - (float)(inv_obj.compass_sensor_data[0] + inv_obj.init_compass_bias[0]); - data[1] = - (float)(inv_obj.compass_sensor_data[1] + inv_obj.init_compass_bias[1]); - data[2] = - (float)(inv_obj.compass_sensor_data[2] + inv_obj.init_compass_bias[2]); - - return result; -} - -/** - * @cond MPL - * @brief inv_get_magnetometer_float is used to get magnetometer data - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long</b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - * @endcond - */ -inv_error_t inv_get_magnetometer_float(float *data) -{ - INVENSENSE_FUNC_START; - - inv_error_t result = INV_SUCCESS; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - data[0] = (float)inv_obj.compass_calibrated_data[0] / 65536.0f; - data[1] = (float)inv_obj.compass_calibrated_data[1] / 65536.0f; - data[2] = (float)inv_obj.compass_calibrated_data[2] / 65536.0f; - - return result; -} - -/** - * @cond MPL - * @brief inv_get_pressure_float is used to get a single value representing the pressure in Pascal - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to the data to be passed back to the user. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - * @endcond - */ -inv_error_t inv_get_pressure_float(float *data) -{ - INVENSENSE_FUNC_START; - - inv_error_t result = INV_SUCCESS; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - data[0] = (float)inv_obj.pressure; - - return result; -} - -/** - * @cond MPL - * @brief inv_get_heading_float is used to get single number representing the heading of the device - * relative to the Earth, in which 0 represents North, 90 degrees - * represents East, and so on. - * The heading is defined as the direction of the +Y axis if the Y - * axis is horizontal, and otherwise the direction of the -Z axis. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to the data to be passed back to the user. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - * @endcond - */ -inv_error_t inv_get_heading_float(float *data) -{ - INVENSENSE_FUNC_START; - - inv_error_t result = INV_SUCCESS; - float rotMatrix[9]; - float tmp; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - inv_get_rot_mat_float(rotMatrix); - if ((rotMatrix[7] < 0.707) && (rotMatrix[7] > -0.707)) { - tmp = - (float)(atan2f(rotMatrix[4], rotMatrix[1]) * 57.29577951308 - - 90.0f); - } else { - tmp = - (float)(atan2f(rotMatrix[5], rotMatrix[2]) * 57.29577951308 + - 90.0f); - } - if (tmp < 0) { - tmp += 360.0f; - } - data[0] = 360 - tmp; - - return result; -} - -/** - * @cond MPL - * @brief inv_get_mag_bias_error_float is used to get an array of three numbers representing - * the current estimated error in the compass biases. These numbers are unitless and serve - * as rough estimates in which numbers less than 100 typically represent - * reasonably well calibrated compass axes. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long</b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - * @endcond - */ -inv_error_t inv_get_mag_bias_error_float(float *data) -{ - INVENSENSE_FUNC_START; - - inv_error_t result = INV_SUCCESS; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - if (inv_obj.large_field == 0) { - data[0] = (float)inv_obj.compass_bias_error[0]; - data[1] = (float)inv_obj.compass_bias_error[1]; - data[2] = (float)inv_obj.compass_bias_error[2]; - } else { - data[0] = (float)P_INIT; - data[1] = (float)P_INIT; - data[2] = (float)P_INIT; - } - - return result; -} - -/** - * @cond MPL - * @brief inv_get_mag_scale_float is used to get magnetometer scale. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long</b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - * @endcond - */ -inv_error_t inv_get_mag_scale_float(float *data) -{ - INVENSENSE_FUNC_START; - - inv_error_t result = INV_SUCCESS; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - data[0] = (float)inv_obj.compass_scale[0] / 65536.0f; - data[1] = (float)inv_obj.compass_scale[1] / 65536.0f; - data[2] = (float)inv_obj.compass_scale[2] / 65536.0f; - - return result; -} - -/** - * @cond MPL - * @brief inv_get_local_field_float is used to get local magnetic field data. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 3 cells long</b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - * @endcond - */ -inv_error_t inv_get_local_field_float(float *data) -{ - INVENSENSE_FUNC_START; - - inv_error_t result = INV_SUCCESS; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - data[0] = (float)inv_obj.local_field[0] / 65536.0f; - data[1] = (float)inv_obj.local_field[1] / 65536.0f; - data[2] = (float)inv_obj.local_field[2] / 65536.0f; - - return result; -} - -/** - * @cond MPL - * @brief inv_get_relative_quaternion_float is used to get relative quaternion data. - * - * @pre MLDmpOpen() \ifnot UMPL or MLDmpPedometerStandAloneOpen() \endif - * must have been called. - * - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 4 cells long at least</b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - * @endcond - */ -inv_error_t inv_get_relative_quaternion_float(float *data) -{ - INVENSENSE_FUNC_START; - - inv_error_t result = INV_SUCCESS; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - data[0] = (float)inv_obj.relative_quat[0] / 1073741824.0f; - data[1] = (float)inv_obj.relative_quat[1] / 1073741824.0f; - data[2] = (float)inv_obj.relative_quat[2] / 1073741824.0f; - data[3] = (float)inv_obj.relative_quat[3] / 1073741824.0f; - - return result; -} - -/** - * Returns the curren compass accuracy. - * - * - 0: Unknown: The accuracy is unreliable and compass data should not be used - * - 1: Low: The compass accuracy is low. - * - 2: Medium: The compass accuracy is medium. - * - 3: High: The compas acurracy is high and can be trusted - * - * @param accuracy The accuracy level in the range 0-3 - * - * @return ML_SUCCESS or non-zero error code - */ -inv_error_t inv_get_compass_accuracy(int *accuracy) -{ - if (inv_get_state() != INV_STATE_DMP_STARTED) - return INV_ERROR_SM_IMPROPER_STATE; - - *accuracy = inv_obj.compass_accuracy; - return INV_SUCCESS; -} - -/** - * @brief inv_set_gyro_bias is used to set the gyroscope bias. - * The argument array elements are ordered X,Y,Z. - * The values are scaled at 1 dps = 2^16 LSBs. - * - * Please refer to the provided "9-Axis Sensor Fusion - * Application Note" document provided. - * - * @pre MLDmpOpen() \ifnot UMPL or - * MLDmpPedometerStandAloneOpen() \endif - * - * @param data A pointer to an array to be copied from the user. - * - * @return INV_SUCCESS if successful; a non-zero error code otherwise. - */ -inv_error_t inv_set_gyro_bias(long *data) -{ - INVENSENSE_FUNC_START; - inv_error_t result = INV_SUCCESS; - long biasTmp; - long sf = 0; - short offset[GYRO_NUM_AXES]; - int i; - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - - if (mldl_cfg->gyro_sens_trim != 0) { - sf = 2000 * 131 / mldl_cfg->gyro_sens_trim; - } else { - sf = 2000; - } - for (i = 0; i < GYRO_NUM_AXES; i++) { - inv_obj.gyro_bias[i] = data[i]; - biasTmp = -inv_obj.gyro_bias[i] / sf; - if (biasTmp < 0) - biasTmp += 65536L; - offset[i] = (short)biasTmp; - } - result = inv_set_offset(offset); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - return INV_SUCCESS; -} - -/** - * @brief inv_set_accel_bias is used to set the accelerometer bias. - * The argument array elements are ordered X,Y,Z. - * The values are scaled in units of g (gravity), - * where 1 g = 2^16 LSBs. - * - * Please refer to the provided "9-Axis Sensor Fusion - * Application Note" document provided. - * - * @pre MLDmpOpen() \ifnot UMPL or - * MLDmpPedometerStandAloneOpen() \endif - * - * @param data A pointer to an array to be copied from the user. - * - * @return INV_SUCCESS if successful; a non-zero error code otherwise. - */ -inv_error_t inv_set_accel_bias(long *data) -{ - INVENSENSE_FUNC_START; - inv_error_t result = INV_SUCCESS; - long biasTmp; - int i, j; - unsigned char regs[6]; - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - - for (i = 0; i < ACCEL_NUM_AXES; i++) { - inv_obj.accel_bias[i] = data[i]; - if (inv_obj.accel_sens != 0 && mldl_cfg && mldl_cfg->pdata) { - long long tmp64; - inv_obj.scaled_accel_bias[i] = 0; - for (j = 0; j < ACCEL_NUM_AXES; j++) { - inv_obj.scaled_accel_bias[i] += - data[j] * - (long)mldl_cfg->pdata->accel.orientation[i * 3 + j]; - } - tmp64 = (long long)inv_obj.scaled_accel_bias[i] << 13; - biasTmp = (long)(tmp64 / inv_obj.accel_sens); - } else { - biasTmp = 0; - } - if (biasTmp < 0) - biasTmp += 65536L; - regs[2 * i + 0] = (unsigned char)(biasTmp / 256); - regs[2 * i + 1] = (unsigned char)(biasTmp % 256); - } - result = inv_set_mpu_memory(KEY_D_1_8, 2, ®s[0]); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_set_mpu_memory(KEY_D_1_10, 2, ®s[2]); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_set_mpu_memory(KEY_D_1_2, 2, ®s[4]); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - return INV_SUCCESS; -} - -/** - * @cond MPL - * @brief inv_set_mag_bias is used to set Compass Bias - * - * Please refer to the provided "9-Axis Sensor Fusion - * Application Note" document provided. - * - * @pre MLDmpOpen() \ifnot UMPL or - * MLDmpPedometerStandAloneOpen() \endif - * @pre MLDmpStart() must <b>NOT</b> have been called. - * - * @param data A pointer to an array to be copied from the user. - * - * @return INV_SUCCESS if successful; a non-zero error code otherwise. - * @endcond - */ -inv_error_t inv_set_mag_bias(long *data) -{ - INVENSENSE_FUNC_START; - inv_error_t result = INV_SUCCESS; - - inv_set_compass_bias(data); - inv_obj.init_compass_bias[0] = 0; - inv_obj.init_compass_bias[1] = 0; - inv_obj.init_compass_bias[2] = 0; - inv_obj.got_compass_bias = 1; - inv_obj.got_init_compass_bias = 1; - inv_obj.compass_state = SF_STARTUP_SETTLE; - - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - return INV_SUCCESS; -} - -/** - * @brief inv_set_gyro_temp_slope is used to set the temperature - * compensation algorithm's estimate of the gyroscope bias temperature - * coefficient. - * The argument array elements are ordered X,Y,Z. - * Values are in units of dps per deg C (degrees per second per degree - * Celcius), and scaled such that 1 dps per deg C = 2^16 LSBs. - * Please refer to the provided "9-Axis Sensor Fusion - * Application Note" document. - * - * @brief inv_set_gyro_temp_slope is used to set Gyro temperature slope - * - * - * @pre MLDmpOpen() \ifnot UMPL or - * MLDmpPedometerStandAloneOpen() \endif - * - * @param data A pointer to an array to be copied from the user. - * - * @return INV_SUCCESS if successful; a non-zero error code otherwise. - */ -inv_error_t inv_set_gyro_temp_slope(long *data) -{ - INVENSENSE_FUNC_START; - inv_error_t result = INV_SUCCESS; - int i; - long sf; - unsigned char regs[3]; - - inv_obj.factory_temp_comp = 1; - inv_obj.temp_slope[0] = data[0]; - inv_obj.temp_slope[1] = data[1]; - inv_obj.temp_slope[2] = data[2]; - for (i = 0; i < GYRO_NUM_AXES; i++) { - sf = -inv_obj.temp_slope[i] / 1118; - if (sf > 127) { - sf -= 256; - } - regs[i] = (unsigned char)sf; - } - result = inv_set_offsetTC(regs); - - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - return INV_SUCCESS; -} - -/** - * @cond MPL - * @brief inv_set_local_field is used to set local magnetic field - * - * Please refer to the provided "9-Axis Sensor Fusion - * Application Note" document provided. - * - * @pre MLDmpOpen() \ifnot UMPL or - * MLDmpPedometerStandAloneOpen() \endif - * @pre MLDmpStart() must <b>NOT</b> have been called. - * - * @param data A pointer to an array to be copied from the user. - * - * @return INV_SUCCESS if successful; a non-zero error code otherwise. - * @endcond - */ -inv_error_t inv_set_local_field(long *data) -{ - INVENSENSE_FUNC_START; - inv_error_t result = INV_SUCCESS; - - inv_obj.local_field[0] = data[0]; - inv_obj.local_field[1] = data[1]; - inv_obj.local_field[2] = data[2]; - inv_obj.new_local_field = 1; - - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - return INV_SUCCESS; -} - -/** - * @cond MPL - * @brief inv_set_mag_scale is used to set magnetometer scale - * - * Please refer to the provided "9-Axis Sensor Fusion - * Application Note" document provided. - * - * @pre MLDmpOpen() \ifnot UMPL or - * MLDmpPedometerStandAloneOpen() \endif - * @pre MLDmpStart() must <b>NOT</b> have been called. - * - * @param data A pointer to an array to be copied from the user. - * - * @return INV_SUCCESS if successful; a non-zero error code otherwise. - * @endcond - */ -inv_error_t inv_set_mag_scale(long *data) -{ - INVENSENSE_FUNC_START; - inv_error_t result = INV_SUCCESS; - - inv_obj.compass_scale[0] = data[0]; - inv_obj.compass_scale[1] = data[1]; - inv_obj.compass_scale[2] = data[2]; - - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - return INV_SUCCESS; -} - -/** - * @brief inv_set_gyro_temp_slope_float is used to get the temperature - * compensation algorithm's estimate of the gyroscope bias temperature - * coefficient. - * The argument array elements are ordered X,Y,Z. - * Values are in units of dps per deg C (degrees per second per degree - * Celcius) - - * Please refer to the provided "9-Axis Sensor Fusion - * Application Note" document provided. - * - * @pre MLDmpOpen() \ifnot UMPL or - * MLDmpPedometerStandAloneOpen() \endif - * - * @param data A pointer to an array to be copied from the user. - * - * @return INV_SUCCESS if successful; a non-zero error code otherwise. - */ -inv_error_t inv_set_gyro_temp_slope_float(float *data) -{ - long arrayTmp[3]; - arrayTmp[0] = (long)(data[0] * 65536.f); - arrayTmp[1] = (long)(data[1] * 65536.f); - arrayTmp[2] = (long)(data[2] * 65536.f); - return inv_set_gyro_temp_slope(arrayTmp); -} - -/** - * @brief inv_set_gyro_bias_float is used to set the gyroscope bias. - * The argument array elements are ordered X,Y,Z. - * The values are in units of dps (degrees per second). - * - * Please refer to the provided "9-Axis Sensor Fusion - * Application Note" document provided. - * - * @pre MLDmpOpen() \ifnot UMPL or - * MLDmpPedometerStandAloneOpen() \endif - * @pre MLDmpStart() must <b>NOT</b> have been called. - * - * @param data A pointer to an array to be copied from the user. - * - * @return INV_SUCCESS if successful; a non-zero error code otherwise. - */ -inv_error_t inv_set_gyro_bias_float(float *data) -{ - long arrayTmp[3]; - arrayTmp[0] = (long)(data[0] * 65536.f); - arrayTmp[1] = (long)(data[1] * 65536.f); - arrayTmp[2] = (long)(data[2] * 65536.f); - return inv_set_gyro_bias(arrayTmp); - -} - -/** - * @brief inv_set_accel_bias_float is used to set the accelerometer bias. - * The argument array elements are ordered X,Y,Z. - * The values are in units of g (gravity). - * - * Please refer to the provided "9-Axis Sensor Fusion - * Application Note" document provided. - * - * @pre MLDmpOpen() \ifnot UMPL or - * MLDmpPedometerStandAloneOpen() \endif - * @pre MLDmpStart() must <b>NOT</b> have been called. - * - * @param data A pointer to an array to be copied from the user. - * - * @return INV_SUCCESS if successful; a non-zero error code otherwise. - */ -inv_error_t inv_set_accel_bias_float(float *data) -{ - long arrayTmp[3]; - arrayTmp[0] = (long)(data[0] * 65536.f); - arrayTmp[1] = (long)(data[1] * 65536.f); - arrayTmp[2] = (long)(data[2] * 65536.f); - return inv_set_accel_bias(arrayTmp); - -} - -/** - * @cond MPL - * @brief inv_set_mag_bias_float is used to set compass bias - * - * Please refer to the provided "9-Axis Sensor Fusion - * Application Note" document provided. - * - * @pre MLDmpOpen()\ifnot UMPL or - * MLDmpPedometerStandAloneOpen() \endif - * @pre MLDmpStart() must <b>NOT</b> have been called. - * - * @param data A pointer to an array to be copied from the user. - * - * @return INV_SUCCESS if successful; a non-zero error code otherwise. - * @endcond - */ -inv_error_t inv_set_mag_bias_float(float *data) -{ - long arrayTmp[3]; - arrayTmp[0] = (long)(data[0] * 65536.f); - arrayTmp[1] = (long)(data[1] * 65536.f); - arrayTmp[2] = (long)(data[2] * 65536.f); - return inv_set_mag_bias(arrayTmp); -} - -/** - * @cond MPL - * @brief inv_set_local_field_float is used to set local magnetic field - * - * Please refer to the provided "9-Axis Sensor Fusion - * Application Note" document provided. - * - * @pre MLDmpOpen() \ifnot UMPL or - * MLDmpPedometerStandAloneOpen() \endif - * @pre MLDmpStart() must <b>NOT</b> have been called. - * - * @param data A pointer to an array to be copied from the user. - * - * @return INV_SUCCESS if successful; a non-zero error code otherwise. - * @endcond - */ -inv_error_t inv_set_local_field_float(float *data) -{ - long arrayTmp[3]; - arrayTmp[0] = (long)(data[0] * 65536.f); - arrayTmp[1] = (long)(data[1] * 65536.f); - arrayTmp[2] = (long)(data[2] * 65536.f); - return inv_set_local_field(arrayTmp); -} - -/** - * @cond MPL - * @brief inv_set_mag_scale_float is used to set magnetometer scale - * - * Please refer to the provided "9-Axis Sensor Fusion - * Application Note" document provided. - * - * @pre MLDmpOpen() \ifnot UMPL or - * MLDmpPedometerStandAloneOpen() \endif - * @pre MLDmpStart() must <b>NOT</b> have been called. - * - * @param data A pointer to an array to be copied from the user. - * - * @return INV_SUCCESS if successful; a non-zero error code otherwise. - * @endcond - */ -inv_error_t inv_set_mag_scale_float(float *data) -{ - long arrayTmp[3]; - arrayTmp[0] = (long)(data[0] * 65536.f); - arrayTmp[1] = (long)(data[1] * 65536.f); - arrayTmp[2] = (long)(data[2] * 65536.f); - return inv_set_mag_scale(arrayTmp); -} diff --git a/invensense/mlsdk/mllite/mlarray_legacy.c b/invensense/mlsdk/mllite/mlarray_legacy.c deleted file mode 100644 index 20d9116..0000000 --- a/invensense/mlsdk/mllite/mlarray_legacy.c +++ /dev/null @@ -1,587 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -/****************************************************************************** - * - * $Id: mlarray_legacy.c $ - * - *****************************************************************************/ - -/** - * @defgroup MLArray_Legacy - * @brief Legacy Motion Library Array APIs. - * The Motion Library Array APIs provide the user access to the - * Motion Library state. These Legacy APIs provide access to - * individual state arrays using a data set name as the first - * argument to the API. This format has been replaced by unique - * named APIs for each data set, found in the MLArray group. - * - * @{ - * @file mlarray_legacy.c - * @brief The Legacy Motion Library Array APIs. - */ - -#include "ml.h" -#include "mltypes.h" -#include "mlinclude.h" -#include "mlFIFO.h" -#include "mldl_cfg.h" - -/** - * @brief inv_get_array is used to get an array of processed motion sensor data. - * inv_get_array can be used to retrieve various data sets. Certain data - * sets require functions to be enabled using MLEnable in order to be - * valid. - * - * The available data sets are: - * - * - INV_ROTATION_MATRIX - * - INV_QUATERNION - * - INV_EULER_ANGLES_X - * - INV_EULER_ANGLES_Y - * - INV_EULER_ANGLES_Z - * - INV_EULER_ANGLES - * - INV_LINEAR_ACCELERATION - * - INV_LINEAR_ACCELERATION_WORLD - * - INV_GRAVITY - * - INV_ANGULAR_VELOCITY - * - INV_RAW_DATA - * - INV_GYROS - * - INV_ACCELS - * - INV_MAGNETOMETER - * - INV_GYRO_BIAS - * - INV_ACCEL_BIAS - * - INV_MAG_BIAS - * - INV_HEADING - * - INV_MAG_BIAS_ERROR - * - INV_PRESSURE - * - * Please refer to the documentation of inv_get_float_array() for a - * description of these data sets. - * - * @pre MLDmpOpen() or MLDmpPedometerStandAloneOpen() - * must have been called. - * - * @param dataSet - * A constant specifying an array of data processed by the - * motion processor. - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 9 cells long at least</b>. - * - * @return Zero if the command is successful; an ML error code otherwise. - */ -inv_error_t inv_get_array(int dataSet, long *data) -{ - inv_error_t result; - switch (dataSet) { - case INV_GYROS: - result = inv_get_gyro(data); - break; - case INV_ACCELS: - result = inv_get_accel(data); - break; - case INV_TEMPERATURE: - result = inv_get_temperature(data); - break; - case INV_ROTATION_MATRIX: - result = inv_get_rot_mat(data); - break; - case INV_QUATERNION: - result = inv_get_quaternion(data); - break; - case INV_LINEAR_ACCELERATION: - result = inv_get_linear_accel(data); - break; - case INV_LINEAR_ACCELERATION_WORLD: - result = inv_get_linear_accel_in_world(data); - break; - case INV_GRAVITY: - result = inv_get_gravity(data); - break; - case INV_ANGULAR_VELOCITY: - result = inv_get_angular_velocity(data); - break; - case INV_EULER_ANGLES: - result = inv_get_euler_angles(data); - break; - case INV_EULER_ANGLES_X: - result = inv_get_euler_angles_x(data); - break; - case INV_EULER_ANGLES_Y: - result = inv_get_euler_angles_y(data); - break; - case INV_EULER_ANGLES_Z: - result = inv_get_euler_angles_z(data); - break; - case INV_GYRO_TEMP_SLOPE: - result = inv_get_gyro_temp_slope(data); - break; - case INV_GYRO_BIAS: - result = inv_get_gyro_bias(data); - break; - case INV_ACCEL_BIAS: - result = inv_get_accel_bias(data); - break; - case INV_MAG_BIAS: - result = inv_get_mag_bias(data); - break; - case INV_RAW_DATA: - result = inv_get_gyro_and_accel_sensor(data); - break; - case INV_MAG_RAW_DATA: - result = inv_get_mag_raw_data(data); - break; - case INV_MAGNETOMETER: - result = inv_get_magnetometer(data); - break; - case INV_PRESSURE: - result = inv_get_pressure(data); - break; - case INV_HEADING: - result = inv_get_heading(data); - break; - case INV_GYRO_CALIBRATION_MATRIX: - result = inv_get_gyro_cal_matrix(data); - break; - case INV_ACCEL_CALIBRATION_MATRIX: - result = inv_get_accel_cal_matrix(data); - break; - case INV_MAG_CALIBRATION_MATRIX: - result = inv_get_mag_cal_matrix(data); - break; - case INV_MAG_BIAS_ERROR: - result = inv_get_mag_bias_error(data); - break; - case INV_MAG_SCALE: - result = inv_get_mag_scale(data); - break; - case INV_LOCAL_FIELD: - result = inv_get_local_field(data); - break; - case INV_RELATIVE_QUATERNION: - result = inv_get_relative_quaternion(data); - break; - default: - return INV_ERROR_INVALID_PARAMETER; - break; - } - return result; -} - -/** - * @brief inv_get_float_array is used to get an array of processed motion sensor - * data. inv_get_array can be used to retrieve various data sets. - * Certain data sets require functions to be enabled using MLEnable - * in order to be valid. - * - * The available data sets are: - * - * - INV_ROTATION_MATRIX : - * Returns an array of nine data points representing the rotation - * matrix generated from all available sensors. - * This requires that ML_SENSOR_FUSION be enabled. - * The array format will be R11, R12, R13, R21, R22, R23, R31, R32, - * R33, representing the matrix: - * <center>R11 R12 R13</center> - * <center>R21 R22 R23</center> - * <center>R31 R32 R33</center> - * <b>Please refer to the "9-Axis Sensor Fusion Application Note" document, - * section 7 "Sensor Fusion Output", for details regarding rotation - * matrix output</b>. - * - * - INV_QUATERNION : - * Returns an array of four data points representing the quaternion - * generated from all available sensors. - * This requires that ML_SENSOR_FUSION be enabled. - * - * - INV_EULER_ANGLES_X : - * Returns an array of three data points representing roll, pitch, and - * yaw using the X axis of the gyroscope, accelerometer, and compass as - * reference axis. - * This is typically the convention used for mobile devices where the X - * axis is the width of the screen, Y axis is the height, and Z the - * depth. In this case roll is defined as the rotation around the X - * axis of the device. - * The euler angles convention for this output is the following: - * <TABLE> - * <TR><TD><b>EULER ANGLE</b></TD><TD><b>ROTATION AROUND</b></TD></TR> - * <TR><TD>roll </TD><TD>X axis </TD></TR> - * <TR><TD>pitch </TD><TD>Y axis </TD></TR> - * <TR><TD>yaw </TD><TD>Z axis </TD></TR> - * </TABLE> - * INV_EULER_ANGLES_X corresponds to the INV_EULER_ANGLES output and is - * therefore the default convention. - * - * - INV_EULER_ANGLES_Y : - * Returns an array of three data points representing roll, pitch, and - * yaw using the Y axis of the gyroscope, accelerometer, and compass as - * reference axis. - * This convention is typically used in augmented reality applications, - * where roll is defined as the rotation around the axis along the - * height of the screen of a mobile device, namely the Y axis. - * The euler angles convention for this output is the following: - * <TABLE> - * <TR><TD><b>EULER ANGLE</b></TD><TD><b>ROTATION AROUND</b></TD></TR> - * <TR><TD>roll </TD><TD>Y axis </TD></TR> - * <TR><TD>pitch </TD><TD>X axis </TD></TR> - * <TR><TD>yaw </TD><TD>Z axis </TD></TR> - * </TABLE> - * - * - INV_EULER_ANGLES_Z : - * Returns an array of three data points representing roll, pitch, and - * yaw using the Z axis of the gyroscope, accelerometer, and compass as - * reference axis. - * This convention is mostly used in application involving the use - * of a camera, typically placed on the back of a mobile device, that - * is along the Z axis. In this convention roll is defined as the - * rotation around the Z axis. - * The euler angles convention for this output is the following: - * <TABLE> - * <TR><TD><b>EULER ANGLE</b></TD><TD><b>ROTATION AROUND</b></TD></TR> - * <TR><TD>roll </TD><TD>Z axis </TD></TR> - * <TR><TD>pitch </TD><TD>X axis </TD></TR> - * <TR><TD>yaw </TD><TD>Y axis </TD></TR> - * </TABLE> - * - * - INV_EULER_ANGLES : - * Returns an array of three data points representing roll, pitch, and - * yaw corresponding to the INV_EULER_ANGLES_X output and it is - * therefore the default convention for Euler angles. - * Please refer to the INV_EULER_ANGLES_X for a detailed description. - * - * - INV_LINEAR_ACCELERATION : - * Returns an array of three data points representing the linear - * acceleration as derived from both gyroscopes and accelerometers. - * This requires that ML_SENSOR_FUSION be enabled. - * - * - INV_LINEAR_ACCELERATION_WORLD : - * Returns an array of three data points representing the linear - * acceleration in world coordinates, as derived from both gyroscopes - * and accelerometers. - * This requires that ML_SENSOR_FUSION be enabled. - * - * - INV_GRAVITY : - * Returns an array of three data points representing the direction - * of gravity in body coordinates, as derived from both gyroscopes - * and accelerometers. - * This requires that ML_SENSOR_FUSION be enabled. - * - * - INV_ANGULAR_VELOCITY : - * Returns an array of three data points representing the angular - * velocity as derived from <b>both</b> gyroscopes and accelerometers. - * This requires that ML_SENSOR_FUSION be enabled, to fuse data from - * the gyroscope and accelerometer device, appropriately scaled and - * oriented according to the respective mounting matrices. - * - * - INV_RAW_DATA : - * Returns an array of nine data points representing raw sensor data - * of the gyroscope X, Y, Z, accelerometer X, Y, Z, and - * compass X, Y, Z values. - * These values are not scaled and come out directly from the devices' - * sensor data output. In case of accelerometers with lower output - * resolution, e.g 8-bit, the sensor data is scaled up to match the - * 2^14 = 1 gee typical representation for a +/- 2 gee full scale - * range. - * - * - INV_GYROS : - * Returns an array of three data points representing the X gyroscope, - * Y gyroscope, and Z gyroscope values. - * The values are not sensor fused with other sensor types data but - * reflect the orientation from the mounting matrices in use. - * The INV_GYROS values are scaled to ensure 1 dps corresponds to 2^16 - * codes. - * - * - INV_ACCELS : - * Returns an array of three data points representing the X - * accelerometer, Y accelerometer, and Z accelerometer values. - * The values are not sensor fused with other sensor types data but - * reflect the orientation from the mounting matrices in use. - * The INV_ACCELS values are scaled to ensure 1 gee corresponds to 2^16 - * codes. - * - * - INV_MAGNETOMETER : - * Returns an array of three data points representing the compass - * X, Y, and Z values. - * The values are not sensor fused with other sensor types data but - * reflect the orientation from the mounting matrices in use. - * The INV_MAGNETOMETER values are scaled to ensure 1 micro Tesla (uT) - * corresponds to 2^16 codes. - * - * - INV_GYRO_BIAS : - * Returns an array of three data points representing the gyroscope - * biases. - * - * - INV_ACCEL_BIAS : - * Returns an array of three data points representing the - * accelerometer biases. - * - * - INV_MAG_BIAS : - * Returns an array of three data points representing the compass - * biases. - * - * - INV_GYRO_CALIBRATION_MATRIX : - * Returns an array of nine data points representing the calibration - * matrix for the gyroscopes: - * <center>C11 C12 C13</center> - * <center>C21 C22 C23</center> - * <center>C31 C32 C33</center> - * - * - INV_ACCEL_CALIBRATION_MATRIX : - * Returns an array of nine data points representing the calibration - * matrix for the accelerometers: - * <center>C11 C12 C13</center> - * <center>C21 C22 C23</center> - * <center>C31 C32 C33</center> - * - * - INV_MAG_CALIBRATION_MATRIX : - * Returns an array of nine data points representing the calibration - * matrix for the compass: - * <center>C11 C12 C13</center> - * <center>C21 C22 C23</center> - * <center>C31 C32 C33</center> - * - * - INV_PRESSURE : - * Returns a single value representing the pressure in Pascal - * - * - INV_HEADING : - * Returns a single number representing the heading of the device - * relative to the Earth, in which 0 represents North, 90 degrees - * represents East, and so on. - * The heading is defined as the direction of the +Y axis if the Y - * axis is horizontal, and otherwise the direction of the -Z axis. - * - * - INV_MAG_BIAS_ERROR : - * Returns an array of three numbers representing the current estimated - * error in the compass biases. These numbers are unitless and serve - * as rough estimates in which numbers less than 100 typically represent - * reasonably well calibrated compass axes. - * - * @pre MLDmpOpen() or MLDmpPedometerStandAloneOpen() - * must have been called. - * - * @param dataSet - * A constant specifying an array of data processed by - * the motion processor. - * @param data - * A pointer to an array to be passed back to the user. - * <b>Must be 9 cells long at least</b>. - * - * @return INV_SUCCESS if the command is successful; an error code otherwise. - */ -inv_error_t inv_get_float_array(int dataSet, float *data) -{ - inv_error_t result; - switch (dataSet) { - case INV_GYROS: - result = inv_get_gyro_float(data); - break; - case INV_ACCELS: - result = inv_get_accel_float(data); - break; - case INV_TEMPERATURE: - result = inv_get_temperature_float(data); - break; - case INV_ROTATION_MATRIX: - result = inv_get_rot_mat_float(data); - break; - case INV_QUATERNION: - result = inv_get_quaternion_float(data); - break; - case INV_LINEAR_ACCELERATION: - result = inv_get_linear_accel_float(data); - break; - case INV_LINEAR_ACCELERATION_WORLD: - result = inv_get_linear_accel_in_world_float(data); - break; - case INV_GRAVITY: - result = inv_get_gravity_float(data); - break; - case INV_ANGULAR_VELOCITY: - result = inv_get_angular_velocity_float(data); - break; - case INV_EULER_ANGLES: - result = inv_get_euler_angles_float(data); - break; - case INV_EULER_ANGLES_X: - result = inv_get_euler_angles_x_float(data); - break; - case INV_EULER_ANGLES_Y: - result = inv_get_euler_angles_y_float(data); - break; - case INV_EULER_ANGLES_Z: - result = inv_get_euler_angles_z_float(data); - break; - case INV_GYRO_TEMP_SLOPE: - result = inv_get_gyro_temp_slope_float(data); - break; - case INV_GYRO_BIAS: - result = inv_get_gyro_bias_float(data); - break; - case INV_ACCEL_BIAS: - result = inv_get_accel_bias_float(data); - break; - case INV_MAG_BIAS: - result = inv_get_mag_bias_float(data); - break; - case INV_RAW_DATA: - result = inv_get_gyro_and_accel_sensor_float(data); - break; - case INV_MAG_RAW_DATA: - result = inv_get_mag_raw_data_float(data); - break; - case INV_MAGNETOMETER: - result = inv_get_magnetometer_float(data); - break; - case INV_PRESSURE: - result = inv_get_pressure_float(data); - break; - case INV_HEADING: - result = inv_get_heading_float(data); - break; - case INV_GYRO_CALIBRATION_MATRIX: - result = inv_get_gyro_cal_matrix_float(data); - break; - case INV_ACCEL_CALIBRATION_MATRIX: - result = inv_get_accel_cal_matrix_float(data); - break; - case INV_MAG_CALIBRATION_MATRIX: - result = inv_get_mag_cal_matrix_float(data); - break; - case INV_MAG_BIAS_ERROR: - result = inv_get_mag_bias_error_float(data); - break; - case INV_MAG_SCALE: - result = inv_get_mag_scale_float(data); - break; - case INV_LOCAL_FIELD: - result = inv_get_local_field_float(data); - break; - case INV_RELATIVE_QUATERNION: - result = inv_get_relative_quaternion_float(data); - break; - default: - return INV_ERROR_INVALID_PARAMETER; - break; - } - return result; -} - -/** - * @brief used to set an array of motion sensor data. - * Handles the following data sets: - * - INV_GYRO_BIAS - * - INV_ACCEL_BIAS - * - INV_MAG_BIAS - * - INV_GYRO_TEMP_SLOPE - * - * For more details about the use of the data sets - * please refer to the documentation of inv_set_float_array(). - * - * Please also refer to the provided "9-Axis Sensor Fusion - * Application Note" document provided. - * - * @pre MLDmpOpen() or - * MLDmpPedometerStandAloneOpen() - * @pre MLDmpStart() must <b>NOT</b> have been called. - * - * @param dataSet A constant specifying an array of data. - * @param data A pointer to an array to be copied from the user. - * - * @return INV_SUCCESS if successful; a non-zero error code otherwise. - */ -inv_error_t inv_set_array(int dataSet, long *data) -{ - INVENSENSE_FUNC_START; - inv_error_t result; - switch (dataSet) { - case INV_GYRO_BIAS: - result = inv_set_gyro_bias(data); - break; - case INV_ACCEL_BIAS: - result = inv_set_accel_bias(data); - break; - case INV_MAG_BIAS: - result = inv_set_mag_bias(data); - break; - case INV_GYRO_TEMP_SLOPE: - result = inv_set_gyro_temp_slope(data); - break; - case INV_LOCAL_FIELD: - result = inv_set_local_field(data); - break; - case INV_MAG_SCALE: - result = inv_set_mag_scale(data); - break; - default: - return INV_ERROR_INVALID_PARAMETER; - break; - } - return result; -} - -/** - * @brief used to set an array of motion sensor data. - * Handles various data sets: - * - INV_GYRO_BIAS - * - INV_ACCEL_BIAS - * - INV_MAG_BIAS - * - INV_GYRO_TEMP_SLOPE - * - * Please refer to the provided "9-Axis Sensor Fusion Application - * Note" document provided. - * - * @pre MLDmpOpen() or - * MLDmpPedometerStandAloneOpen() - * @pre MLDmpStart() must <b>NOT</b> have been called. - * - * @param dataSet A constant specifying an array of data. - * @param data A pointer to an array to be copied from the user. - * - * @return INV_SUCCESS if successful; a non-zero error code otherwise. - */ -inv_error_t inv_set_float_array(int dataSet, float *data) -{ - INVENSENSE_FUNC_START; - inv_error_t result; - - switch (dataSet) { - case INV_GYRO_TEMP_SLOPE: // internal - result = inv_set_gyro_temp_slope_float(data); - break; - case INV_GYRO_BIAS: // internal - result = inv_set_gyro_bias_float(data); - break; - case INV_ACCEL_BIAS: // internal - result = inv_set_accel_bias_float(data); - break; - case INV_MAG_BIAS: // internal - result = inv_set_mag_bias_float(data); - break; - case INV_LOCAL_FIELD: // internal - result = inv_set_local_field_float(data); - break; - case INV_MAG_SCALE: // internal - result = inv_set_mag_scale_float(data); - break; - default: - result = INV_ERROR_INVALID_PARAMETER; - break; - } - - return result; -} diff --git a/invensense/mlsdk/mllite/mlcontrol.c b/invensense/mlsdk/mllite/mlcontrol.c deleted file mode 100644 index 278438a..0000000 --- a/invensense/mlsdk/mllite/mlcontrol.c +++ /dev/null @@ -1,797 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -/******************************************************************************* - * - * $Id: mlcontrol.c 5641 2011-06-14 02:10:02Z mcaramello $ - * - *******************************************************************************/ - -/** - * @defgroup CONTROL - * @brief Motion Library - Control Engine. - * The Control Library processes gyroscopes, accelerometers, and - * compasses to provide control signals that can be used in user - * interfaces. - * These signals can be used to manipulate objects such as documents, - * images, cursors, menus, etc. - * - * @{ - * @file mlcontrol.c - * @brief The Control Library. - * - */ - -/* ------------------ */ -/* - Include Files. - */ -/* ------------------ */ - -#include "mltypes.h" -#include "mlinclude.h" -#include "mltypes.h" -#include "ml.h" -#include "mlos.h" -#include "mlsl.h" -#include "mldl.h" -#include "mlcontrol.h" -#include "dmpKey.h" -#include "mlstates.h" -#include "mlFIFO.h" -#include "string.h" - -/* - Global Vars. - */ -struct control_params cntrl_params = { - { - MLCTRL_SENSITIVITY_0_DEFAULT, - MLCTRL_SENSITIVITY_1_DEFAULT, - MLCTRL_SENSITIVITY_2_DEFAULT, - MLCTRL_SENSITIVITY_3_DEFAULT}, // sensitivity - MLCTRL_FUNCTIONS_DEFAULT, // functions - { - MLCTRL_PARAMETER_ARRAY_0_DEFAULT, - MLCTRL_PARAMETER_ARRAY_1_DEFAULT, - MLCTRL_PARAMETER_ARRAY_2_DEFAULT, - MLCTRL_PARAMETER_ARRAY_3_DEFAULT}, // parameterArray - { - MLCTRL_PARAMETER_AXIS_0_DEFAULT, - MLCTRL_PARAMETER_AXIS_1_DEFAULT, - MLCTRL_PARAMETER_AXIS_2_DEFAULT, - MLCTRL_PARAMETER_AXIS_3_DEFAULT}, // parameterAxis - { - MLCTRL_GRID_THRESHOLD_0_DEFAULT, - MLCTRL_GRID_THRESHOLD_1_DEFAULT, - MLCTRL_GRID_THRESHOLD_2_DEFAULT, - MLCTRL_GRID_THRESHOLD_3_DEFAULT}, // gridThreshold - { - MLCTRL_GRID_MAXIMUM_0_DEFAULT, - MLCTRL_GRID_MAXIMUM_1_DEFAULT, - MLCTRL_GRID_MAXIMUM_2_DEFAULT, - MLCTRL_GRID_MAXIMUM_3_DEFAULT}, // gridMaximum - MLCTRL_GRID_CALLBACK_DEFAULT // gridCallback -}; - -/* - Extern Vars. - */ -struct control_obj cntrl_obj; -extern const unsigned char *dmpConfig1; - -/* -------------- */ -/* - Functions. - */ -/* -------------- */ - -/** - * @brief inv_set_control_sensitivity is used to set the sensitivity for a control - * signal. - * - * @pre inv_dmp_open() Must be called with MLDmpDefaultOpen() or - * inv_open_low_power_pedometer(). - * - * @param controlSignal Indicates which control signal is being modified. - * Must be one of: - * - INV_CONTROL_1, - * - INV_CONTROL_2, - * - INV_CONTROL_3 or - * - INV_CONTROL_4. - * - * @param sensitivity The sensitivity of the control signal. - * - * @return error code - */ -inv_error_t inv_set_control_sensitivity(unsigned short controlSignal, - long sensitivity) -{ - INVENSENSE_FUNC_START; - unsigned char regs[2]; - long finalSens = 0; - inv_error_t result; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - finalSens = sensitivity * 100; - if (finalSens > 16384) { - finalSens = 16384; - } - regs[0] = (unsigned char)(finalSens / 256); - regs[1] = (unsigned char)(finalSens % 256); - switch (controlSignal) { - case INV_CONTROL_1: - result = inv_set_mpu_memory(KEY_D_0_224, 2, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - cntrl_params.sensitivity[0] = (unsigned short)sensitivity; - break; - case INV_CONTROL_2: - result = inv_set_mpu_memory(KEY_D_0_228, 2, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - cntrl_params.sensitivity[1] = (unsigned short)sensitivity; - break; - case INV_CONTROL_3: - result = inv_set_mpu_memory(KEY_D_0_232, 2, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - cntrl_params.sensitivity[2] = (unsigned short)sensitivity; - break; - case INV_CONTROL_4: - result = inv_set_mpu_memory(KEY_D_0_236, 2, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - cntrl_params.sensitivity[3] = (unsigned short)sensitivity; - break; - default: - break; - } - if (finalSens != sensitivity * 100) { - return INV_ERROR_INVALID_PARAMETER; - } else { - return INV_SUCCESS; - } -} - -/** - * @brief inv_set_control_func allows the user to choose how the sensor data will - * be processed in order to provide a control parameter. - * inv_set_control_func allows the user to choose which control functions - * will be incorporated in the sensor data processing. - * The control functions are: - * - INV_GRID - * Indicates that the user will be controlling a system that - * has discrete steps, such as icons, menu entries, pixels, etc. - * - INV_SMOOTH - * Indicates that noise from unintentional motion should be filtered out. - * - INV_DEAD_ZONE - * Indicates that a dead zone should be used, below which sensor - * data is set to zero. - * - INV_HYSTERESIS - * Indicates that, when INV_GRID is selected, hysteresis should - * be used to prevent the control signal from switching rapidly across - * elements of the grid. - * - * @pre inv_dmp_open() Must be called with MLDmpDefaultOpen() or - * inv_open_low_power_pedometer(). - * - * @param function Indicates what functions will be used. - * Can be a bitwise OR of several values. - * - * @return Zero if the command is successful; an ML error code otherwise. - */ -inv_error_t inv_set_control_func(unsigned short function) -{ - INVENSENSE_FUNC_START; - unsigned char regs[8] = { DINA06, DINA26, - DINA46, DINA66, - DINA0E, DINA2E, - DINA4E, DINA6E - }; - unsigned char i; - inv_error_t result; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if ((function & INV_SMOOTH) == 0) { - for (i = 0; i < 8; i++) { - regs[i] = DINA80 + 3; - } - } - result = inv_set_mpu_memory(KEY_CFG_4, 8, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - cntrl_params.functions = function; - result = inv_set_dead_zone(); - - return result; -} - -/** - * @brief inv_get_control_signal is used to get the current control signal with - * high precision. - * inv_get_control_signal is used to acquire the current data of a control signal. - * If INV_GRID is being used, inv_get_grid_number will probably be preferrable. - * - * @param controlSignal Indicates which control signal is being queried. - * Must be one of: - * - INV_CONTROL_1, - * - INV_CONTROL_2, - * - INV_CONTROL_3 or - * - INV_CONTROL_4. - * - * @param reset Indicates whether the control signal should be reset to zero. - * Options are INV_RESET or INV_NO_RESET - * @param data A pointer to the current control signal data. - * - * @return Zero if the command is successful; an ML error code otherwise. - */ -inv_error_t inv_get_control_signal(unsigned short controlSignal, - unsigned short reset, long *data) -{ - INVENSENSE_FUNC_START; - - if (inv_get_state() != INV_STATE_DMP_STARTED) - return INV_ERROR_SM_IMPROPER_STATE; - - switch (controlSignal) { - case INV_CONTROL_1: - *data = cntrl_obj.controlInt[0]; - if (reset == INV_RESET) { - cntrl_obj.controlInt[0] = 0; - } - break; - case INV_CONTROL_2: - *data = cntrl_obj.controlInt[1]; - if (reset == INV_RESET) { - cntrl_obj.controlInt[1] = 0; - } - break; - case INV_CONTROL_3: - *data = cntrl_obj.controlInt[2]; - if (reset == INV_RESET) { - cntrl_obj.controlInt[2] = 0; - } - break; - case INV_CONTROL_4: - *data = cntrl_obj.controlInt[3]; - if (reset == INV_RESET) { - cntrl_obj.controlInt[3] = 0; - } - break; - default: - break; - } - return INV_SUCCESS; -} - -/** - * @brief inv_get_grid_num is used to get the current grid location for a certain - * control signal. - * inv_get_grid_num is used to acquire the current grid location. - * - * @pre inv_dmp_open() Must be called with MLDmpDefaultOpen() or - * inv_open_low_power_pedometer(). - * - * @param controlSignal Indicates which control signal is being queried. - * Must be one of: - * - INV_CONTROL_1, - * - INV_CONTROL_2, - * - INV_CONTROL_3 or - * - INV_CONTROL_4. - * - * @param reset Indicates whether the control signal should be reset to zero. - * Options are INV_RESET or INV_NO_RESET - * @param data A pointer to the current grid number. - * - * @return Zero if the command is successful; an ML error code otherwise. - */ - -inv_error_t inv_get_grid_num(unsigned short controlSignal, unsigned short reset, - long *data) -{ - INVENSENSE_FUNC_START; - - if (inv_get_state() != INV_STATE_DMP_STARTED) - return INV_ERROR_SM_IMPROPER_STATE; - - switch (controlSignal) { - case INV_CONTROL_1: - *data = cntrl_obj.gridNum[0]; - if (reset == INV_RESET) { - cntrl_obj.gridNum[0] = 0; - } - break; - case INV_CONTROL_2: - *data = cntrl_obj.gridNum[1]; - if (reset == INV_RESET) { - cntrl_obj.gridNum[1] = 0; - } - break; - case INV_CONTROL_3: - *data = cntrl_obj.gridNum[2]; - if (reset == INV_RESET) { - cntrl_obj.gridNum[2] = 0; - } - break; - case INV_CONTROL_4: - *data = cntrl_obj.gridNum[3]; - if (reset == INV_RESET) { - cntrl_obj.gridNum[3] = 0; - } - break; - default: - break; - } - - return INV_SUCCESS; -} - -/** - * @brief inv_set_grid_thresh is used to set the grid size for a control signal. - * inv_set_grid_thresh is used to adjust the size of the grid being controlled. - * @param controlSignal Indicates which control signal is being modified. - * Must be one of: - * - INV_CONTROL_1, - * - INV_CONTROL_2, - * - INV_CONTROL_3 and - * - INV_CONTROL_4. - * @param threshold The threshold of the control signal at which the grid - * number will be incremented or decremented. - * @return Zero if the command is successful; an ML error code otherwise. - */ - -inv_error_t inv_set_grid_thresh(unsigned short controlSignal, long threshold) -{ - INVENSENSE_FUNC_START; - - if (inv_get_state() < INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - switch (controlSignal) { - case INV_CONTROL_1: - cntrl_params.gridThreshold[0] = threshold; - break; - case INV_CONTROL_2: - cntrl_params.gridThreshold[1] = threshold; - break; - case INV_CONTROL_3: - cntrl_params.gridThreshold[2] = threshold; - break; - case INV_CONTROL_4: - cntrl_params.gridThreshold[3] = threshold; - break; - default: - return INV_ERROR_INVALID_PARAMETER; - break; - } - - return INV_SUCCESS; -} - -/** - * @brief inv_set_grid_max is used to set the maximum grid number for a control signal. - * inv_set_grid_max is used to adjust the maximum allowed grid number, above - * which the grid number will not be incremented. - * The minimum grid number is always zero. - * - * @pre inv_dmp_open() Must be called with MLDmpDefaultOpen() or - * inv_open_low_power_pedometer(). - * - * @param controlSignal Indicates which control signal is being modified. - * Must be one of: - * - INV_CONTROL_1, - * - INV_CONTROL_2, - * - INV_CONTROL_3 and - * - INV_CONTROL_4. - * - * @param maximum The maximum grid number for a control signal. - * @return Zero if the command is successful; an ML error code otherwise. - */ - -inv_error_t inv_set_grid_max(unsigned short controlSignal, long maximum) -{ - INVENSENSE_FUNC_START; - - if (inv_get_state() != INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - switch (controlSignal) { - case INV_CONTROL_1: - cntrl_params.gridMaximum[0] = maximum; - break; - case INV_CONTROL_2: - cntrl_params.gridMaximum[1] = maximum; - break; - case INV_CONTROL_3: - cntrl_params.gridMaximum[2] = maximum; - break; - case INV_CONTROL_4: - cntrl_params.gridMaximum[3] = maximum; - break; - default: - return INV_ERROR_INVALID_PARAMETER; - break; - } - - return INV_SUCCESS; -} - -/** - * @brief GridCallback function pointer type, to be passed as argument of - * inv_set_grid_callback. - * - * @param controlSignal Indicates which control signal crossed a grid threshold. - * Must be one of: - * - INV_CONTROL_1, - * - INV_CONTROL_2, - * - INV_CONTROL_3 and - * - INV_CONTROL_4. - * - * @param gridNumber An array of four numbers representing the grid number for each - * control signal. - * @param gridChange An array of four numbers representing the change in grid number - * for each control signal. -**/ -typedef void (*fpGridCb) (unsigned short controlSignal, long *gridNum, - long *gridChange); - -/** - * @brief inv_set_grid_callback is used to register a callback function that - * will trigger when the grid location changes. - * inv_set_grid_callback allows a user to define a callback function that will - * run when a control signal crosses a grid threshold. - - * @pre inv_dmp_open() Must be called with MLDmpDefaultOpen() or - * inv_open_low_power_pedometer(). inv_dmp_start must <b>NOT</b> have - * been called. - * - * @param func A user defined callback function - * @return Zero if the command is successful; an ML error code otherwise. -**/ -inv_error_t inv_set_grid_callback(fpGridCb func) -{ - INVENSENSE_FUNC_START; - - if (inv_get_state() != INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - cntrl_params.gridCallback = func; - return INV_SUCCESS; -} - -/** - * @brief inv_set_control_data is used to assign physical parameters to control signals. - * inv_set_control_data allows flexibility in assigning physical parameters to - * control signals. For example, the user is allowed to use raw gyroscope data - * as an input to the control algorithm. - * Alternatively, angular velocity can be used, which combines gyroscopes and - * accelerometers to provide a more robust physical parameter. Finally, angular - * velocity in world coordinates can be used, providing a control signal in - * which pitch and yaw are provided relative to gravity. - * - * @pre inv_dmp_open() Must be called with MLDmpDefaultOpen() or - * inv_open_low_power_pedometer(). - * - * @param controlSignal Indicates which control signal is being modified. - * Must be one of: - * - INV_CONTROL_1, - * - INV_CONTROL_2, - * - INV_CONTROL_3 or - * - INV_CONTROL_4. - * - * @param parameterArray Indicates which parameter array is being assigned to a - * control signal. Must be one of: - * - INV_GYROS, - * - INV_ANGULAR_VELOCITY, or - * - * @param parameterAxis Indicates which axis of the parameter array will be used. - * Must be: - * - INV_ROLL, - * - INV_PITCH, or - * - INV_YAW. - */ - -inv_error_t inv_set_control_data(unsigned short controlSignal, - unsigned short parameterArray, - unsigned short parameterAxis) -{ - INVENSENSE_FUNC_START; - unsigned char regs[2] = { DINA80 + 10, DINA20 }; - inv_error_t result; - - if (inv_get_state() != INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - if (parameterArray == INV_ANGULAR_VELOCITY) { - regs[0] = DINA80 + 5; - regs[1] = DINA00; - } - switch (controlSignal) { - case INV_CONTROL_1: - cntrl_params.parameterArray[0] = parameterArray; - switch (parameterAxis) { - case INV_PITCH: - regs[1] += 0x02; - cntrl_params.parameterAxis[0] = 0; - break; - case INV_ROLL: - regs[1] = DINA22; - cntrl_params.parameterAxis[0] = 1; - break; - case INV_YAW: - regs[1] = DINA42; - cntrl_params.parameterAxis[0] = 2; - break; - default: - return INV_ERROR_INVALID_PARAMETER; - } - result = inv_set_mpu_memory(KEY_CFG_3, 2, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - break; - case INV_CONTROL_2: - cntrl_params.parameterArray[1] = parameterArray; - switch (parameterAxis) { - case INV_PITCH: - regs[1] += DINA0E; - cntrl_params.parameterAxis[1] = 0; - break; - case INV_ROLL: - regs[1] += DINA2E; - cntrl_params.parameterAxis[1] = 1; - break; - case INV_YAW: - regs[1] += DINA4E; - cntrl_params.parameterAxis[1] = 2; - break; - default: - return INV_ERROR_INVALID_PARAMETER; - } - result = inv_set_mpu_memory(KEY_CFG_3B, 2, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - break; - case INV_CONTROL_3: - cntrl_params.parameterArray[2] = parameterArray; - switch (parameterAxis) { - case INV_PITCH: - regs[1] += DINA0E; - cntrl_params.parameterAxis[2] = 0; - break; - case INV_ROLL: - regs[1] += DINA2E; - cntrl_params.parameterAxis[2] = 1; - break; - case INV_YAW: - regs[1] += DINA4E; - cntrl_params.parameterAxis[2] = 2; - break; - default: - return INV_ERROR_INVALID_PARAMETER; - } - result = inv_set_mpu_memory(KEY_CFG_3C, 2, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - break; - case INV_CONTROL_4: - cntrl_params.parameterArray[3] = parameterArray; - switch (parameterAxis) { - case INV_PITCH: - regs[1] += DINA0E; - cntrl_params.parameterAxis[3] = 0; - break; - case INV_ROLL: - regs[1] += DINA2E; - cntrl_params.parameterAxis[3] = 1; - break; - case INV_YAW: - regs[1] += DINA4E; - cntrl_params.parameterAxis[3] = 2; - break; - default: - return INV_ERROR_INVALID_PARAMETER; - } - result = inv_set_mpu_memory(KEY_CFG_3D, 2, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - break; - default: - result = INV_ERROR_INVALID_PARAMETER; - break; - } - return result; -} - -/** - * @brief inv_get_control_data is used to get the current control data. - * - * @pre inv_dmp_open() Must be called with MLDmpDefaultOpen() or - * inv_open_low_power_pedometer(). - * - * @param controlSignal Indicates which control signal is being queried. - * Must be one of: - * - INV_CONTROL_1, - * - INV_CONTROL_2, - * - INV_CONTROL_3 or - * - INV_CONTROL_4. - * - * @param gridNum A pointer to pass gridNum info back to the user. - * @param gridChange A pointer to pass gridChange info back to the user. - * - * @return Zero if the command is successful; an ML error code otherwise. - */ - -inv_error_t inv_get_control_data(long *controlSignal, long *gridNum, - long *gridChange) -{ - INVENSENSE_FUNC_START; - int_fast8_t i = 0; - - if (inv_get_state() != INV_STATE_DMP_STARTED) - return INV_ERROR_SM_IMPROPER_STATE; - - for (i = 0; i < 4; i++) { - controlSignal[i] = cntrl_obj.controlInt[i]; - gridNum[i] = cntrl_obj.gridNum[i]; - gridChange[i] = cntrl_obj.gridChange[i]; - } - return INV_SUCCESS; -} - -/** - * @internal - * @brief Update the ML Control engine. This function should be called - * every time new data from the MPU becomes available. - * Control engine outputs are written to the cntrl_obj data - * structure. - * @return INV_SUCCESS or an error code. -**/ -inv_error_t inv_update_control(struct inv_obj_t * inv_obj __unused) -{ - INVENSENSE_FUNC_START; - unsigned char i; - long gridTmp; - long tmp; - - inv_get_cntrl_data(cntrl_obj.mlGridNumDMP); - - for (i = 0; i < 4; i++) { - if (cntrl_params.functions & INV_GRID) { - if (cntrl_params.functions & INV_HYSTERESIS) { - cntrl_obj.mlGridNumDMP[i] += cntrl_obj.gridNumOffset[i]; - } - cntrl_obj.mlGridNumDMP[i] = - cntrl_obj.mlGridNumDMP[i] / 2 + 1073741824L; - cntrl_obj.controlInt[i] = - (cntrl_obj.mlGridNumDMP[i] % - (128 * cntrl_params.gridThreshold[i])) / 128; - gridTmp = - cntrl_obj.mlGridNumDMP[i] / (128 * - cntrl_params.gridThreshold[i]); - tmp = 1 + 16777216L / cntrl_params.gridThreshold[i]; - cntrl_obj.gridChange[i] = gridTmp - cntrl_obj.lastGridNum[i]; - if (cntrl_obj.gridChange[i] > tmp / 2) { - cntrl_obj.gridChange[i] = - gridTmp - tmp - cntrl_obj.lastGridNum[i]; - } else if (cntrl_obj.gridChange[i] < -tmp / 2) { - cntrl_obj.gridChange[i] = - gridTmp + tmp - cntrl_obj.lastGridNum[i]; - } - if ((cntrl_params.functions & INV_HYSTERESIS) - && (cntrl_obj.gridChange[i] != 0)) { - if (cntrl_obj.gridChange[i] > 0) { - cntrl_obj.gridNumOffset[i] += - 128 * cntrl_params.gridThreshold[i]; - cntrl_obj.controlInt[i] = cntrl_params.gridThreshold[i] / 2; - } - if (cntrl_obj.gridChange[i] < 0) { - cntrl_obj.gridNumOffset[i] -= - 128 * cntrl_params.gridThreshold[i]; - cntrl_obj.controlInt[i] = cntrl_params.gridThreshold[i] / 2; - } - } - cntrl_obj.gridNum[i] += cntrl_obj.gridChange[i]; - if (cntrl_obj.gridNum[i] >= cntrl_params.gridMaximum[i]) { - cntrl_obj.gridNum[i] = cntrl_params.gridMaximum[i]; - if (cntrl_obj.controlInt[i] >= - cntrl_params.gridThreshold[i] / 2) { - cntrl_obj.controlInt[i] = cntrl_params.gridThreshold[i] / 2; - } - } else if (cntrl_obj.gridNum[i] <= 0) { - cntrl_obj.gridNum[i] = 0; - if (cntrl_obj.controlInt[i] < cntrl_params.gridThreshold[i] / 2) { - cntrl_obj.controlInt[i] = cntrl_params.gridThreshold[i] / 2; - } - } - cntrl_obj.lastGridNum[i] = gridTmp; - if ((cntrl_params.gridCallback) && (cntrl_obj.gridChange[i] != 0)) { - cntrl_params.gridCallback((INV_CONTROL_1 << i), - cntrl_obj.gridNum, - cntrl_obj.gridChange); - } - - } else { - cntrl_obj.controlInt[i] = cntrl_obj.mlGridNumDMP[i]; - } - - } - - return INV_SUCCESS; -} - -/** - * @brief Enables the INV_CONTROL engine. - * - * @note This function replaces MLEnable(INV_CONTROL) - * - * @pre inv_dmp_open() with MLDmpDefaultOpen or MLDmpPedometerStandAlone() must - * have been called. - * - * @return INV_SUCCESS or non-zero error code - */ -inv_error_t inv_enable_control(void) -{ - INVENSENSE_FUNC_START; - - if (inv_get_state() != INV_STATE_DMP_OPENED) - return INV_ERROR_SM_IMPROPER_STATE; - - memset(&cntrl_obj, 0, sizeof(cntrl_obj)); - - inv_register_fifo_rate_process(inv_update_control, INV_PRIORITY_CONTROL); // fixme, someone needs to send control data to the fifo - return INV_SUCCESS; -} - -/** - * @brief Disables the INV_CONTROL engine. - * - * @note This function replaces MLDisable(INV_CONTROL) - * - * @pre inv_dmp_open() with MLDmpDefaultOpen or MLDmpPedometerStandAlone() must - * have been called. - * - * @return INV_SUCCESS or non-zero error code - */ -inv_error_t inv_disable_control(void) -{ - INVENSENSE_FUNC_START; - - if (inv_get_state() < INV_STATE_DMP_STARTED) - return INV_ERROR_SM_IMPROPER_STATE; - - return INV_SUCCESS; -} - -/** - * @} - */ diff --git a/invensense/mlsdk/mllite/mlcontrol.h b/invensense/mlsdk/mllite/mlcontrol.h deleted file mode 100644 index abdefa3..0000000 --- a/invensense/mlsdk/mllite/mlcontrol.h +++ /dev/null @@ -1,217 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -/******************************************************************************* - * - * $RCSfile: mlcontrol.h,v $ - * - * $Date: 2011-06-10 20:13:08 -0700 (Fri, 10 Jun 2011) $ - * - * $Revision: 5629 $ - * - *******************************************************************************/ - -/*******************************************************************************/ -/** @defgroup INV_CONTROL - - The Control processes gyroscopes and accelerometers to provide control - signals that can be used in user interfaces to manipulate objects such as - documents, images, cursors, menus, etc. - - @{ - @file mlcontrol.h - @brief Header file for the Control Library. -*/ -/******************************************************************************/ -#ifndef MLCONTROL_H -#define MLCONTROL_H - -#ifdef __cplusplus -extern "C" { -#endif - -#include "mltypes.h" -#include "ml.h" -#ifdef INV_INCLUDE_LEGACY_HEADERS -#include "mlcontrol_legacy.h" -#endif - - /* ------------ */ - /* - Defines. - */ - /* ------------ */ - - /*******************************************************************************/ - /* Control Signals. */ - /*******************************************************************************/ - -#define INV_CONTROL_1 0x0001 -#define INV_CONTROL_2 0x0002 -#define INV_CONTROL_3 0x0004 -#define INV_CONTROL_4 0x0008 - - /*******************************************************************************/ - /* Control Functions. */ - /*******************************************************************************/ - -#define INV_GRID 0x0001 // Indicates that the user will be controlling a system that - // has discrete steps, such as icons, menu entries, pixels, etc. -#define INV_SMOOTH 0x0002 // Indicates that noise from unintentional motion should be filtered out. -#define INV_DEAD_ZONE 0x0004 // Indicates that a dead zone should be used, below which sensor data is set to zero. -#define INV_HYSTERESIS 0x0008 // Indicates that, when INV_GRID is selected, hysteresis should be used to prevent - // the control signal from switching rapidly across elements of the grid.</dd> - - /*******************************************************************************/ - /* Integral reset options. */ - /*******************************************************************************/ - -#define INV_NO_RESET 0x0000 -#define INV_RESET 0x0001 - - /*******************************************************************************/ - /* Data select options. */ - /*******************************************************************************/ - -#define INV_CTRL_SIGNAL 0x0000 -#define INV_CTRL_GRID_NUM 0x0001 - - /*******************************************************************************/ - /* Control Axis. */ - /*******************************************************************************/ -#define INV_CTRL_PITCH 0x0000 // (INV_PITCH >> 1) -#define INV_CTRL_ROLL 0x0001 // (INV_ROLL >> 1) -#define INV_CTRL_YAW 0x0002 // (INV_YAW >> 1) - - /*******************************************************************************/ - /* control_params structure default values. */ - /*******************************************************************************/ - -#define MLCTRL_SENSITIVITY_0_DEFAULT 128 -#define MLCTRL_SENSITIVITY_1_DEFAULT 128 -#define MLCTRL_SENSITIVITY_2_DEFAULT 128 -#define MLCTRL_SENSITIVITY_3_DEFAULT 128 -#define MLCTRL_FUNCTIONS_DEFAULT 0 -#define MLCTRL_CONTROL_SIGNALS_DEFAULT 0 -#define MLCTRL_PARAMETER_ARRAY_0_DEFAULT 0 -#define MLCTRL_PARAMETER_ARRAY_1_DEFAULT 0 -#define MLCTRL_PARAMETER_ARRAY_2_DEFAULT 0 -#define MLCTRL_PARAMETER_ARRAY_3_DEFAULT 0 -#define MLCTRL_PARAMETER_AXIS_0_DEFAULT 0 -#define MLCTRL_PARAMETER_AXIS_1_DEFAULT 0 -#define MLCTRL_PARAMETER_AXIS_2_DEFAULT 0 -#define MLCTRL_PARAMETER_AXIS_3_DEFAULT 0 -#define MLCTRL_GRID_THRESHOLD_0_DEFAULT 1 -#define MLCTRL_GRID_THRESHOLD_1_DEFAULT 1 -#define MLCTRL_GRID_THRESHOLD_2_DEFAULT 1 -#define MLCTRL_GRID_THRESHOLD_3_DEFAULT 1 -#define MLCTRL_GRID_MAXIMUM_0_DEFAULT 0 -#define MLCTRL_GRID_MAXIMUM_1_DEFAULT 0 -#define MLCTRL_GRID_MAXIMUM_2_DEFAULT 0 -#define MLCTRL_GRID_MAXIMUM_3_DEFAULT 0 -#define MLCTRL_GRID_CALLBACK_DEFAULT 0 - - /* --------------- */ - /* - Structures. - */ - /* --------------- */ - - /**************************************************************************/ - /* Control Parameters Structure. */ - /**************************************************************************/ - - struct control_params { - // Sensitivity of control signal 1, 2, 3, and 4. - unsigned short sensitivity[4]; - // Indicates what functions will be used. Can be a bitwise OR of INV_GRID, - // ML_SMOOT, INV_DEAD_ZONE, and INV_HYSTERISIS. - unsigned short functions; - // Indicates which parameter array is being assigned to a control signal. - // Must be one of INV_GYROS, INV_ANGULAR_VELOCITY, or - // INV_ANGULAR_VELOCITY_WORLD. - unsigned short parameterArray[4]; - // Indicates which axis of the parameter array will be used. Must be - // INV_ROLL, INV_PITCH, or INV_YAW. - unsigned short parameterAxis[4]; - // Threshold of the control signal at which the grid number will be - // incremented or decremented. - long gridThreshold[4]; - // Maximum grid number for the control signal. - long gridMaximum[4]; - // User defined callback that will trigger when the grid location changes. - void (*gridCallback) ( - // Indicates which control signal crossed a grid threshold. Must be - // one of INV_CONTROL_1, INV_CONTROL_2, INV_CONTROL_3 or INV_CONTROL_4. - unsigned short controlSignal, - // An array of four numbers representing the grid number for each - // control signal. - long *gridNum, - // An array of four numbers representing the change in grid number - // for each control signal. - long *gridChange); - }; - - struct control_obj { - - long gridNum[4]; // Current grid number for each control signal. - long controlInt[4]; // Current data for each control signal. - long lastGridNum[4]; // Previous grid number - unsigned char controlDir[4]; // Direction of control signal - long gridChange[4]; // Change in grid number - - long mlGridNumDMP[4]; - long gridNumOffset[4]; - long prevDMPGridNum[4]; - - }; - - /* --------------------- */ - /* - Function p-types. - */ - /* --------------------- */ - - /**************************************************************************/ - /* ML Control Functions. */ - /**************************************************************************/ - - unsigned short inv_get_control_params(struct control_params *params); - unsigned short inv_set_control_params(struct control_params *params); - - /*API for handling control signals */ - inv_error_t inv_set_control_sensitivity(unsigned short controlSignal, - long sensitivity); - inv_error_t inv_set_control_func(unsigned short function); - inv_error_t inv_get_control_signal(unsigned short controlSignal, - unsigned short reset, long *data); - inv_error_t inv_get_grid_num(unsigned short controlSignal, - unsigned short reset, long *data); - inv_error_t inv_set_grid_thresh(unsigned short controlSignal, - long threshold); - inv_error_t inv_set_grid_max(unsigned short controlSignal, long maximum); - inv_error_t - inv_set_grid_callback(void (*func) - (unsigned short controlSignal, long *gridNum, - long *gridChange)); - inv_error_t inv_set_control_data(unsigned short controlSignal, - unsigned short parameterArray, - unsigned short parameterNum); - inv_error_t inv_get_control_data(long *controlSignal, long *gridNum, - long *gridChange); - inv_error_t inv_update_control(struct inv_obj_t *inv_obj); - inv_error_t inv_enable_control(void); - inv_error_t inv_disable_control(void); - -#ifdef __cplusplus -} -#endif -#endif /* MLCONTROL_H */ diff --git a/invensense/mlsdk/mllite/mldl.c b/invensense/mlsdk/mllite/mldl.c deleted file mode 100644 index ee7258f..0000000 --- a/invensense/mlsdk/mllite/mldl.c +++ /dev/null @@ -1,1051 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -/****************************************************************************** - * - * $Id: mldl.c 5653 2011-06-16 21:06:55Z nroyer $ - * - *****************************************************************************/ - -/** - * @defgroup MLDL - * @brief Motion Library - Driver Layer. - * The Motion Library Driver Layer provides the intrface to the - * system drivers that are used by the Motion Library. - * - * @{ - * @file mldl.c - * @brief The Motion Library Driver Layer. - */ - -/* ------------------ */ -/* - Include Files. - */ -/* ------------------ */ - -#include <string.h> - -#include "mpu.h" -#include "mpu3050.h" -#include "mldl.h" -#include "mldl_cfg.h" -#include "compass.h" -#include "mlsl.h" -#include "mlos.h" -#include "mlinclude.h" -#include "ml.h" -#include "dmpKey.h" -#include "mlFIFOHW.h" -#include "compass.h" -#include "pressure.h" - -#include "log.h" -#undef MPL_LOG_TAG -#define MPL_LOG_TAG "MPL-mldl" - -#define _mldlDebug(x) //{x} - -/* --------------------- */ -/* - Variables. - */ -/* --------------------- */ - -#define MAX_LOAD_WRITE_SIZE (MPU_MEM_BANK_SIZE/2) /* 128 */ - -/*---- structure containing control variables used by MLDL ----*/ -static struct mldl_cfg mldlCfg; -struct ext_slave_descr gAccel; -struct ext_slave_descr gCompass; -struct ext_slave_descr gPressure; -struct mpu_platform_data gPdata; -static void *sMLSLHandle; -int_fast8_t intTrigger[NUM_OF_INTSOURCES]; - -/******************************************************************************* - * Functions for accessing the DMP memory via keys - ******************************************************************************/ - -unsigned short (*sGetAddress) (unsigned short key) = NULL; -static const unsigned char *localDmpMemory = NULL; -static unsigned short localDmpMemorySize = 0; - -/** - * @internal - * @brief Sets the function to use to convert keys to addresses. This - * will changed for each DMP code loaded. - * @param func - * Function used to convert keys to addresses. - * @endif - */ -void inv_set_get_address(unsigned short (*func) (unsigned short key)) -{ - INVENSENSE_FUNC_START; - _mldlDebug(MPL_LOGV("setGetAddress %d", (int)func); - ) - sGetAddress = func; -} - -/** - * @internal - * @brief Check if the feature is supported in the currently loaded - * DMP code basing on the fact that the key is assigned a - * value or not. - * @param key the DMP key - * @return whether the feature associated with the key is supported - * or not. - */ -uint_fast8_t inv_dmpkey_supported(unsigned short key) -{ - unsigned short memAddr; - - if (sGetAddress == NULL) { - MPL_LOGE("%s : sGetAddress is NULL\n", __func__); - return FALSE; - } - - memAddr = sGetAddress(key); - if (memAddr >= 0xffff) { - MPL_LOGV("inv_set_mpu_memory unsupported key\n"); - return FALSE; - } - - return TRUE; -} - -/** - * @internal - * @brief used to get the specified number of bytes from the original - * MPU memory location specified by the key. - * Reads the specified number of bytes from the MPU location - * that was used to program the MPU specified by the key. Each - * set of code specifies a function that changes keys into - * addresses. This function is set with setGetAddress(). - * - * @param key The key to use when looking up the address. - * @param length Number of bytes to read. - * @param buffer Result for data. - * - * @return INV_SUCCESS if the command is successful, INV_ERROR otherwise. The key - * not corresponding to a memory address will result in INV_ERROR. - * @endif - */ -inv_error_t inv_get_mpu_memory_original(unsigned short key, - unsigned short length, - unsigned char *buffer) -{ - unsigned short offset; - - if (sGetAddress == NULL) { - return INV_ERROR_NOT_OPENED; - } - - offset = sGetAddress(key); - if (offset >= localDmpMemorySize || (offset + length) > localDmpMemorySize) { - return INV_ERROR_INVALID_PARAMETER; - } - - memcpy(buffer, &localDmpMemory[offset], length); - - return INV_SUCCESS; -} - -unsigned short inv_dl_get_address(unsigned short key) -{ - unsigned short offset; - if (sGetAddress == NULL) { - return INV_ERROR_NOT_OPENED; - } - - offset = sGetAddress(key); - return offset; -} - -/* ---------------------- */ -/* - Static Functions. - */ -/* ---------------------- */ - -/** - * @brief Open the driver layer and resets the internal - * gyroscope, accelerometer, and compass data - * structures. - * @param mlslHandle - * the serial handle. - * @return INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_dl_open(void *mlslHandle) -{ - inv_error_t result; - memset(&mldlCfg, 0, sizeof(mldlCfg)); - memset(intTrigger, INT_CLEAR, sizeof(intTrigger)); - - sMLSLHandle = mlslHandle; - - mldlCfg.addr = 0x68; /* default incase the driver doesn't set it */ - mldlCfg.accel = &gAccel; - mldlCfg.compass = &gCompass; - mldlCfg.pressure = &gPressure; - mldlCfg.pdata = &gPdata; - - result = (inv_error_t) inv_mpu_open(&mldlCfg, sMLSLHandle, - sMLSLHandle, sMLSLHandle, sMLSLHandle); - return result; -} - -/** - * @brief Closes/Cleans up the ML Driver Layer. - * Put the device in sleep mode. - * @return INV_SUCCESS or non-zero error code. - */ -inv_error_t inv_dl_close(void) -{ - INVENSENSE_FUNC_START; - inv_error_t result = INV_SUCCESS; - - result = (inv_error_t) inv_mpu_suspend(&mldlCfg, - sMLSLHandle, - sMLSLHandle, - sMLSLHandle, - sMLSLHandle, - INV_ALL_SENSORS); - - result = (inv_error_t) inv_mpu_close(&mldlCfg, sMLSLHandle, - sMLSLHandle, sMLSLHandle, sMLSLHandle); - /* Clear all previous settings */ - memset(&mldlCfg, 0, sizeof(mldlCfg)); - sMLSLHandle = NULL; - sGetAddress = NULL; - return result; -} - -/** - * @brief Sets the requested_sensors - * - * Accessor to set the requested_sensors field of the mldl_cfg structure. - * Typically set at initialization. - * - * @param sensors - * Bitfield of the sensors that are going to be used. Combination of the - * following: - * - INV_X_GYRO - * - INV_Y_GYRO - * - INV_Z_GYRO - * - INV_DMP_PROCESSOR - * - INV_X_ACCEL - * - INV_Y_ACCEL - * - INV_Z_ACCEL - * - INV_X_COMPASS - * - INV_Y_COMPASS - * - INV_Z_COMPASS - * - INV_X_PRESSURE - * - INV_Y_PRESSURE - * - INV_Z_PRESSURE - * - INV_THREE_AXIS_GYRO - * - INV_THREE_AXIS_ACCEL - * - INV_THREE_AXIS_COMPASS - * - INV_THREE_AXIS_PRESSURE - * - * @return INV_SUCCESS or non-zero error code - */ -inv_error_t inv_init_requested_sensors(unsigned long sensors) -{ - mldlCfg.requested_sensors = sensors; - - return INV_SUCCESS; -} - -/** - * @brief Starts the DMP running - * - * Resumes the sensor if any of the sensor axis or components are requested - * - * @param sensors - * Bitfield of the sensors to turn on. Combination of the following: - * - INV_X_GYRO - * - INV_Y_GYRO - * - INV_Z_GYRO - * - INV_DMP_PROCESSOR - * - INV_X_ACCEL - * - INV_Y_ACCEL - * - INV_Z_ACCEL - * - INV_X_COMPASS - * - INV_Y_COMPASS - * - INV_Z_COMPASS - * - INV_X_PRESSURE - * - INV_Y_PRESSURE - * - INV_Z_PRESSURE - * - INV_THREE_AXIS_GYRO - * - INV_THREE_AXIS_ACCEL - * - INV_THREE_AXIS_COMPASS - * - INV_THREE_AXIS_PRESSURE - * - * @return INV_SUCCESS or non-zero error code - */ -inv_error_t inv_dl_start(unsigned long sensors) -{ - INVENSENSE_FUNC_START; - inv_error_t result = INV_SUCCESS; - - mldlCfg.requested_sensors = sensors; - result = inv_mpu_resume(&mldlCfg, - sMLSLHandle, - sMLSLHandle, - sMLSLHandle, - sMLSLHandle, - sensors); - return result; -} - -/** - * @brief Stops the DMP running and puts it in low power as requested - * - * Suspends each sensor according to the bitfield, if all axis and components - * of the sensor is off. - * - * @param sensors Bitfiled of the sensors to leave on. Combination of the - * following: - * - INV_X_GYRO - * - INV_Y_GYRO - * - INV_Z_GYRO - * - INV_X_ACCEL - * - INV_Y_ACCEL - * - INV_Z_ACCEL - * - INV_X_COMPASS - * - INV_Y_COMPASS - * - INV_Z_COMPASS - * - INV_X_PRESSURE - * - INV_Y_PRESSURE - * - INV_Z_PRESSURE - * - INV_THREE_AXIS_GYRO - * - INV_THREE_AXIS_ACCEL - * - INV_THREE_AXIS_COMPASS - * - INV_THREE_AXIS_PRESSURE - * - * - * @return INV_SUCCESS or non-zero error code - */ -inv_error_t inv_dl_stop(unsigned long sensors) -{ - INVENSENSE_FUNC_START; - inv_error_t result = INV_SUCCESS; - - result = inv_mpu_suspend(&mldlCfg, - sMLSLHandle, - sMLSLHandle, - sMLSLHandle, - sMLSLHandle, - sensors); - return result; -} - -/** - * @brief Get a pointer to the internal data structure - * storing the configuration for the MPU, the accelerometer - * and the compass in use. - * @return a pointer to the data structure of type 'struct mldl_cfg'. - */ -struct mldl_cfg *inv_get_dl_config(void) -{ - return &mldlCfg; -} - -/** - * @brief Query the MPU slave address. - * @return The 7-bit mpu slave address. - */ -unsigned char inv_get_mpu_slave_addr(void) -{ - INVENSENSE_FUNC_START; - return mldlCfg.addr; -} - -/** - * @internal - * @brief MLDLCfgDMP configures the Digital Motion Processor internal to - * the MPU. The DMP can be enabled or disabled and the start address - * can be set. - * - * @param enableRun Enables the DMP processing if set to TRUE. - * @param enableFIFO Enables DMP output to the FIFO if set to TRUE. - * @param startAddress start address - * - * @return Zero if the command is successful, an error code otherwise. -*/ -inv_error_t inv_get_dl_ctrl_dmp(unsigned char enableRun, - unsigned char enableFIFO) -{ - INVENSENSE_FUNC_START; - - mldlCfg.dmp_enable = enableRun; - mldlCfg.fifo_enable = enableFIFO; - mldlCfg.gyro_needs_reset = TRUE; - - return INV_SUCCESS; -} - -/** - * @brief inv_get_dl_cfg_int configures the interrupt function on the specified pin. - * The basic interrupt signal characteristics can be set - * (i.e. active high/low, open drain/push pull, etc.) and the - * triggers can be set. - * Currently only INTPIN_MPU is supported. - * - * @param triggers - * bitmask of triggers to enable for interrupt. - * The available triggers are: - * - BIT_MPU_RDY_EN - * - BIT_DMP_INT_EN - * - BIT_RAW_RDY_EN - * - * @return Zero if the command is successful, an error code otherwise. -*/ -inv_error_t inv_get_dl_cfg_int(unsigned char triggers) -{ - inv_error_t result = INV_SUCCESS; - - /* Mantis has 8 bits of interrupt config bits */ - if (triggers & !(BIT_MPU_RDY_EN | BIT_DMP_INT_EN | BIT_RAW_RDY_EN)) { - return INV_ERROR_INVALID_PARAMETER; - } - - mldlCfg.int_config = triggers; - if (!mldlCfg.gyro_is_suspended) { - result = inv_serial_single_write(sMLSLHandle, mldlCfg.addr, - MPUREG_INT_CFG, - (mldlCfg.int_config | mldlCfg.pdata-> - int_config)); - } else { - mldlCfg.gyro_needs_reset = TRUE; - } - - return result; -} - -/** - * @brief configures the output sampling rate on the MPU. - * Three parameters control the sampling: - * - * 1) Low pass filter bandwidth, and - * 2) output sampling divider. - * - * The output sampling rate is determined by the divider and the low - * pass filter setting. If the low pass filter is set to - * 'MPUFILTER_256HZ_NOLPF2', then the sample rate going into the - * divider is 8kHz; for all other settings it is 1kHz. - * The 8-bit divider will divide this frequency to get the resulting - * sample frequency. - * For example, if the filter setting is not 256Hz and the divider is - * set to 7, then the sample rate is as follows: - * sample rate = internal sample rate / div = 1kHz / 8 = 125Hz (or 8ms). - * - * The low pass filter selection codes control both the cutoff frequency of - * the internal low pass filter and internal analog sampling rate. The - * latter, in turn, affects the final output sampling rate according to the - * sample rate divider settig. - * 0 -> 256 Hz cutoff BW, 8 kHz analog sample rate, - * 1 -> 188 Hz cutoff BW, 1 kHz analog sample rate, - * 2 -> 98 Hz cutoff BW, 1 kHz analog sample rate, - * 3 -> 42 Hz cutoff BW, 1 kHz analog sample rate, - * 4 -> 20 Hz cutoff BW, 1 kHz analog sample rate, - * 5 -> 10 Hz cutoff BW, 1 kHz analog sample rate, - * 6 -> 5 Hz cutoff BW, 1 kHz analog sample rate, - * 7 -> 2.1 kHz cutoff BW, 8 kHz analog sample rate. - * - * @param lpf low pass filter, 0 to 7. - * @param divider Output sampling rate divider, 0 to 255. - * - * @return ML_SUCESS if successful; a non-zero error code otherwise. -**/ -inv_error_t inv_dl_cfg_sampling(unsigned char lpf, unsigned char divider) -{ - /*---- do range checking ----*/ - if (lpf >= NUM_MPU_FILTER) { - return INV_ERROR_INVALID_PARAMETER; - } - - mldlCfg.lpf = lpf; - mldlCfg.divider = divider; - mldlCfg.gyro_needs_reset = TRUE; - - return INV_SUCCESS; -} - -/** - * @brief set the full scale range for the gyros. - * The full scale selection codes correspond to: - * 0 -> 250 dps, - * 1 -> 500 dps, - * 2 -> 1000 dps, - * 3 -> 2000 dps. - * Full scale range affect the MPU's measurement - * sensitivity. - * - * @param fullScale - * the gyro full scale range in dps. - * - * @return INV_SUCCESS or non-zero error code. -**/ -inv_error_t inv_set_full_scale(float fullScale) -{ - if (fullScale == 250.f) - mldlCfg.full_scale = MPU_FS_250DPS; - else if (fullScale == 500.f) - mldlCfg.full_scale = MPU_FS_500DPS; - else if (fullScale == 1000.f) - mldlCfg.full_scale = MPU_FS_1000DPS; - else if (fullScale == 2000.f) - mldlCfg.full_scale = MPU_FS_2000DPS; - else { // not a valid setting - MPL_LOGE("Invalid full scale range specification for gyros : %f\n", - fullScale); - MPL_LOGE - ("\tAvailable values : +/- 250 dps, +/- 500 dps, +/- 1000 dps, +/- 2000 dps\n"); - return INV_ERROR_INVALID_PARAMETER; - } - mldlCfg.gyro_needs_reset = TRUE; - - return INV_SUCCESS; -} - -/** - * @brief This function sets the external sync for the MPU sampling. - * It can be synchronized on the LSB of any of the gyros, any of the - * external accels, or on the temp readings. - * - * @param extSync External sync selection, 0 to 7. - * @return Zero if the command is successful; an error code otherwise. -**/ -inv_error_t inv_set_external_sync(unsigned char extSync) -{ - INVENSENSE_FUNC_START; - - /*---- do range checking ----*/ - if (extSync >= NUM_MPU_EXT_SYNC) { - return INV_ERROR_INVALID_PARAMETER; - } - mldlCfg.ext_sync = extSync; - mldlCfg.gyro_needs_reset = TRUE; - - return INV_SUCCESS; -} - -inv_error_t inv_set_ignore_system_suspend(unsigned char ignore) -{ - INVENSENSE_FUNC_START; - - mldlCfg.ignore_system_suspend = ignore; - - return INV_SUCCESS; -} - -/** - * @brief inv_clock_source function sets the clock source for the MPU gyro - * processing. - * The source can be any of the following: - * - Internal 8MHz oscillator, - * - PLL with X gyro as reference, - * - PLL with Y gyro as reference, - * - PLL with Z gyro as reference, - * - PLL with external 32.768Mhz reference, or - * - PLL with external 19.2MHz reference - * - * For best accuracy and timing, it is highly recommended to use one - * of the gyros as the clock source; however this gyro must be - * enabled to use its clock (see 'MLDLPowerMgmtMPU()'). - * - * @param clkSource Clock source selection. - * Can be one of: - * - CLK_INTERNAL, - * - CLK_PLLGYROX, - * - CLK_PLLGYROY, - * - CLK_PLLGYROZ, - * - CLK_PLLEXT32K, or - * - CLK_PLLEXT19M. - * - * @return Zero if the command is successful; an error code otherwise. -**/ -inv_error_t inv_clock_source(unsigned char clkSource) -{ - INVENSENSE_FUNC_START; - - /*---- do range checking ----*/ - if (clkSource >= NUM_CLK_SEL) { - return INV_ERROR_INVALID_PARAMETER; - } - - mldlCfg.clk_src = clkSource; - mldlCfg.gyro_needs_reset = TRUE; - - return INV_SUCCESS; -} - -/** - * @brief Set the Temperature Compensation offset. - * @param tc - * a pointer to the temperature compensations offset - * for the 3 gyro axes. - * @return INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_set_offsetTC(const unsigned char *tc) -{ - unsigned int ii; - inv_error_t result; - - for (ii = 0; ii < ARRAY_SIZE(mldlCfg.offset_tc); ii++) { - mldlCfg.offset_tc[ii] = tc[ii]; - } - - if (!mldlCfg.gyro_is_suspended) { - result = inv_serial_single_write(sMLSLHandle, mldlCfg.addr, - MPUREG_XG_OFFS_TC, tc[0]); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_serial_single_write(sMLSLHandle, mldlCfg.addr, - MPUREG_YG_OFFS_TC, tc[1]); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_serial_single_write(sMLSLHandle, mldlCfg.addr, - MPUREG_ZG_OFFS_TC, tc[2]); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } else { - mldlCfg.gyro_needs_reset = TRUE; - } - return INV_SUCCESS; -} - -/** - * @brief Set the gyro offset. - * @param offset - * a pointer to the gyro offset for the 3 gyro axes. This is scaled - * as it would be written to the hardware registers. - * @return INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_set_offset(const short *offset) -{ - inv_error_t result; - unsigned char regs[7]; - unsigned int ii; - long sf; - - sf = (2000L * 131) / mldlCfg.gyro_sens_trim; - for (ii = 0; ii < ARRAY_SIZE(mldlCfg.offset); ii++) { - // Record the bias in the units the register uses - mldlCfg.offset[ii] = offset[ii]; - // Convert the bias to 1 dps = 1<<16 - inv_obj.gyro_bias[ii] = -offset[ii] * sf; - regs[1 + ii * 2] = (unsigned char)(offset[ii] >> 8) & 0xff; - regs[1 + ii * 2 + 1] = (unsigned char)(offset[ii] & 0xff); - } - - if (!mldlCfg.gyro_is_suspended) { - regs[0] = MPUREG_X_OFFS_USRH; - result = inv_serial_write(sMLSLHandle, mldlCfg.addr, 7, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } else { - mldlCfg.gyro_needs_reset = TRUE; - } - return INV_SUCCESS; -} - -/** - * @internal - * @brief used to get the specified number of bytes in the specified MPU - * memory bank. - * The memory bank is one of the following: - * - MPUMEM_RAM_BANK_0, - * - MPUMEM_RAM_BANK_1, - * - MPUMEM_RAM_BANK_2, or - * - MPUMEM_RAM_BANK_3. - * - * @param bank Memory bank to write. - * @param memAddr Starting address for write. - * @param length Number of bytes to write. - * @param buffer Result for data. - * - * @return zero if the command is successful, an error code otherwise. - * @endif - */ -inv_error_t -inv_get_mpu_memory_one_bank(unsigned char bank, - unsigned char memAddr, - unsigned short length, unsigned char *buffer) -{ - inv_error_t result; - - if ((bank >= MPU_MEM_NUM_RAM_BANKS) || - //(memAddr >= MPU_MEM_BANK_SIZE) || always 0, memAddr is an u_char, therefore limited to 255 - ((memAddr + length) > MPU_MEM_BANK_SIZE) || (NULL == buffer)) { - return INV_ERROR_INVALID_PARAMETER; - } - - if (mldlCfg.gyro_is_suspended) { - memcpy(buffer, &mldlCfg.ram[bank][memAddr], length); - result = INV_SUCCESS; - } else { - result = inv_serial_read_mem(sMLSLHandle, mldlCfg.addr, - ((bank << 8) | memAddr), length, buffer); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } - - return result; -} - -/** - * @internal - * @brief used to set the specified number of bytes in the specified MPU - * memory bank. - * The memory bank is one of the following: - * - MPUMEM_RAM_BANK_0, - * - MPUMEM_RAM_BANK_1, - * - MPUMEM_RAM_BANK_2, or - * - MPUMEM_RAM_BANK_3. - * - * @param bank Memory bank to write. - * @param memAddr Starting address for write. - * @param length Number of bytes to write. - * @param buffer Result for data. - * - * @return zero if the command is successful, an error code otherwise. - * @endif - */ -inv_error_t inv_set_mpu_memory_one_bank(unsigned char bank, - unsigned short memAddr, - unsigned short length, - const unsigned char *buffer) -{ - inv_error_t result = INV_SUCCESS; - int different; - - if ((bank >= MPU_MEM_NUM_RAM_BANKS) || (memAddr >= MPU_MEM_BANK_SIZE) || - ((memAddr + length) > MPU_MEM_BANK_SIZE) || (NULL == buffer)) { - return INV_ERROR_INVALID_PARAMETER; - } - - different = memcmp(&mldlCfg.ram[bank][memAddr], buffer, length); - memcpy(&mldlCfg.ram[bank][memAddr], buffer, length); - if (!mldlCfg.gyro_is_suspended) { - result = inv_serial_write_mem(sMLSLHandle, mldlCfg.addr, - ((bank << 8) | memAddr), length, buffer); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } else if (different) { - mldlCfg.gyro_needs_reset = TRUE; - } - - return result; -} - -/** - * @internal - * @brief used to get the specified number of bytes from the MPU location - * specified by the key. - * Reads the specified number of bytes from the MPU location - * specified by the key. Each set of code specifies a function - * that changes keys into addresses. This function is set with - * setGetAddress(). - * - * @param key The key to use when looking up the address. - * @param length Number of bytes to read. - * @param buffer Result for data. - * - * @return INV_SUCCESS if the command is successful, INV_ERROR otherwise. The key - * not corresponding to a memory address will result in INV_ERROR. - * @endif - */ -inv_error_t inv_get_mpu_memory(unsigned short key, - unsigned short length, unsigned char *buffer) -{ - unsigned char bank; - inv_error_t result; - unsigned short memAddr; - - if (sGetAddress == NULL) { - return INV_ERROR_NOT_OPENED; - } - - memAddr = sGetAddress(key); - if (memAddr >= 0xffff) - return INV_ERROR_FEATURE_NOT_IMPLEMENTED; - bank = memAddr >> 8; // Get Bank - memAddr &= 0xff; - - while (memAddr + length > MPU_MEM_BANK_SIZE) { - // We cross a bank in the middle - unsigned short sub_length = MPU_MEM_BANK_SIZE - memAddr; - result = inv_get_mpu_memory_one_bank(bank, (unsigned char)memAddr, - sub_length, buffer); - if (INV_SUCCESS != result) - return result; - bank++; - length -= sub_length; - buffer += sub_length; - memAddr = 0; - } - result = inv_get_mpu_memory_one_bank(bank, (unsigned char)memAddr, - length, buffer); - - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - return result; -} - -/** - * @internal - * @brief used to set the specified number of bytes from the MPU location - * specified by the key. - * Set the specified number of bytes from the MPU location - * specified by the key. Each set of DMP code specifies a function - * that changes keys into addresses. This function is set with - * setGetAddress(). - * - * @param key The key to use when looking up the address. - * @param length Number of bytes to write. - * @param buffer Result for data. - * - * @return INV_SUCCESS if the command is successful, INV_ERROR otherwise. The key - * not corresponding to a memory address will result in INV_ERROR. - * @endif - */ -inv_error_t inv_set_mpu_memory(unsigned short key, - unsigned short length, - const unsigned char *buffer) -{ - inv_error_t result = INV_SUCCESS; - unsigned short memAddr; - unsigned char bank; - - if (sGetAddress == NULL) { - MPL_LOGE("MLDSetMemoryMPU sGetAddress is NULL\n"); - return INV_ERROR_INVALID_MODULE; - } - memAddr = sGetAddress(key); - - if (memAddr >= 0xffff) { - MPL_LOGE("inv_set_mpu_memory unsupported key\n"); - return INV_ERROR_INVALID_MODULE; // This key not supported - } - - bank = (unsigned char)(memAddr >> 8); - memAddr &= 0xff; - - while (memAddr + length > MPU_MEM_BANK_SIZE) { - // We cross a bank in the middle - unsigned short sub_length = MPU_MEM_BANK_SIZE - memAddr; - - result = inv_set_mpu_memory_one_bank(bank, memAddr, sub_length, buffer); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - bank++; - length -= sub_length; - buffer += sub_length; - memAddr = 0; - } - result = inv_set_mpu_memory_one_bank(bank, memAddr, length, buffer); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - return result; -} - -/** - * @brief Load the DMP with the given code and configuration. - * @param buffer - * the DMP data. - * @param length - * the length in bytes of the DMP data. - * @param config - * the DMP configuration. - * @return INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_load_dmp(const unsigned char *buffer, - unsigned short length, unsigned short config) -{ - INVENSENSE_FUNC_START; - - inv_error_t result = INV_SUCCESS; - unsigned short toWrite; - unsigned short memAddr = 0; - localDmpMemory = buffer; - localDmpMemorySize = length; - - mldlCfg.dmp_cfg1 = (config >> 8); - mldlCfg.dmp_cfg2 = (config & 0xff); - - while (length > 0) { - toWrite = length; - if (toWrite > MAX_LOAD_WRITE_SIZE) - toWrite = MAX_LOAD_WRITE_SIZE; - - result = - inv_set_mpu_memory_one_bank(memAddr >> 8, memAddr & 0xff, toWrite, - buffer); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - buffer += toWrite; - memAddr += toWrite; - length -= toWrite; - } - - return result; -} - -/** - * @brief Get the silicon revision ID. - * @return The silicon revision ID - * (0 will be read if inv_mpu_open returned an error) - */ -unsigned char inv_get_silicon_rev(void) -{ - return mldlCfg.silicon_revision; -} - -/** - * @brief Get the product revision ID. - * @return The product revision ID - * (0 will be read if inv_mpu_open returned an error) - */ -unsigned char inv_get_product_rev(void) -{ - return mldlCfg.product_revision; -} - -/******************************************************************************* - ******************************************************************************* - ******************************************************************************* - * @todo these belong with an interface to the kernel driver layer - ******************************************************************************* - ******************************************************************************* - ******************************************************************************/ - -/** - * @brief inv_get_interrupt_status returns the interrupt status from the specified - * interrupt pin. - * @param intPin - * Currently only the value INTPIN_MPU is supported. - * @param status - * The available statuses are: - * - BIT_MPU_RDY_EN - * - BIT_DMP_INT_EN - * - BIT_RAW_RDY_EN - * - * @return INV_SUCCESS or a non-zero error code. - */ -inv_error_t inv_get_interrupt_status(unsigned char intPin, - unsigned char *status) -{ - INVENSENSE_FUNC_START; - - inv_error_t result; - - switch (intPin) { - - case INTPIN_MPU: - /*---- return the MPU interrupt status ----*/ - result = inv_serial_read(sMLSLHandle, mldlCfg.addr, - MPUREG_INT_STATUS, 1, status); - break; - - default: - result = INV_ERROR_INVALID_PARAMETER; - break; - } - - return result; -} - -/** - * @brief query the current status of an interrupt source. - * @param srcIndex - * index of the interrupt source. - * Currently the only source supported is INTPIN_MPU. - * - * @return 1 if the interrupt has been triggered. - */ -unsigned char inv_get_interrupt_trigger(unsigned char srcIndex) -{ - INVENSENSE_FUNC_START; - return intTrigger[srcIndex]; -} - -/** - * @brief clear the 'triggered' status for an interrupt source. - * @param srcIndex - * index of the interrupt source. - * Currently only INTPIN_MPU is supported. - */ -void inv_clear_interrupt_trigger(unsigned char srcIndex) -{ - INVENSENSE_FUNC_START; - intTrigger[srcIndex] = 0; -} - -/** - * @brief inv_interrupt_handler function should be called when an interrupt is - * received. The source parameter identifies which interrupt source - * caused the interrupt. Note that this routine should not be called - * directly from the interrupt service routine. - * - * @param intSource MPU, AUX1, AUX2, or timer. Can be one of: INTSRC_MPU, INTSRC_AUX1, - * INTSRC_AUX2, or INT_SRC_TIMER. - * - * @return Zero if the command is successful; an error code otherwise. - */ -inv_error_t inv_interrupt_handler(unsigned char intSource) -{ - INVENSENSE_FUNC_START; - /*---- range check ----*/ - if (intSource >= NUM_OF_INTSOURCES) { - return INV_ERROR; - } - - /*---- save source of interrupt ----*/ - intTrigger[intSource] = INT_TRIGGERED; - -#ifdef ML_USE_DMP_SIM - if (intSource == INTSRC_AUX1 || intSource == INTSRC_TIMER) { - MLSimHWDataInput(); - } -#endif - - return INV_SUCCESS; -} - -/***************************/ - /**@}*//* end of defgroup */ -/***************************/ diff --git a/invensense/mlsdk/mllite/mldl.h b/invensense/mlsdk/mllite/mldl.h deleted file mode 100644 index 961d860..0000000 --- a/invensense/mlsdk/mllite/mldl.h +++ /dev/null @@ -1,176 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -/******************************************************************************* - * - * $Id: mldl.h 5639 2011-06-14 01:23:05Z nroyer $ - * - *******************************************************************************/ - -#ifndef MLDL_H -#define MLDL_H - -#include "mltypes.h" -#include "mlsl.h" -#include <linux/mpu.h> -#include "mldl_cfg.h" -#ifdef INV_INCLUDE_LEGACY_HEADERS -#include "mldl_legacy.h" -#endif - - /* ------------ */ - /* - Defines. - */ - /* ------------ */ - -typedef enum _DEVICE_CONFIG { - DEVICE_MPU_ACCEL = 0, - DEVICE_MPU, - NUM_OF_DEVICES -} DEVICE_CONFIG; - -#define SERIAL_I2C 0 -#define SERIAL_SPI 1 - -#define DATAMODE_MANUAL 0 // Manual data mode -#define DATAMODE_AUTO 1 // Auto data mode - -#define DATASRC_IMMEDIATE 0 // Return data immediately -#define DATASRC_WHENREADY 1 // Only return data when new data is available -#define DATASRC_FIFO 2 // Use FIFO for data - -#define SENSOR_DATA_GYROX 0x0001 -#define SENSOR_DATA_GYROY 0x0002 -#define SENSOR_DATA_GYROZ 0x0004 -#define SENSOR_DATA_ACCELX 0x0008 -#define SENSOR_DATA_ACCELY 0x0010 -#define SENSOR_DATA_ACCELZ 0x0020 -#define SENSOR_DATA_AUX1 0x0040 -#define SENSOR_DATA_AUX2 0x0080 -#define SENSOR_DATA_AUX3 0x0100 -#define SENSOR_DATA_TEMP 0x0200 - -#define INTPIN_MPU 0 - -#define INTLOGIC_HIGH 0 -#define INTLOGIC_LOW 1 - -#define INTTYPE_PUSHPULL 0 -#define INTTYPE_OPENDRAIN 1 - -#define INTLATCH_DISABLE 0 -#define INTLATCH_ENABLE 1 - -#define MPUINT_MPU_READY 0x04 -#define MPUINT_DMP_DONE 0x02 -#define MPUINT_DATA_READY 0x01 - -#define INTLATCHCLEAR_READSTATUS 0 -#define INTLATCHCLEAR_ANYREAD 1 - -#define DMP_DONTRUN 0 -#define DMP_RUN 1 - - /*---- defines for external interrupt status (via external call into library) ----*/ -#define INT_CLEAR 0 -#define INT_TRIGGERED 1 - -typedef enum { - INTSRC_MPU = 0, - INTSRC_AUX1, - INTSRC_AUX2, - INTSRC_AUX3, - INTSRC_TIMER, - INTSRC_UNKNOWN, - INTSRC_MPU_FIFO, - INTSRC_MPU_MOTION, - NUM_OF_INTSOURCES, -} INT_SOURCE; - - /* --------------- */ - /* - Structures. - */ - /* --------------- */ - - /* --------------- */ - /* - Variables. - */ - /* --------------- */ - - /* --------------------- */ - /* - Function p-types. - */ - /* --------------------- */ -#ifdef __cplusplus -extern "C" { -#endif - - inv_error_t inv_dl_open(void *mlslHandle); - inv_error_t inv_dl_close(void); - - inv_error_t inv_dl_start(unsigned long sensors); - inv_error_t inv_dl_stop(unsigned long sensors); - - struct mldl_cfg *inv_get_dl_config(void); - - inv_error_t inv_init_requested_sensors(unsigned long sensors); - unsigned char inv_get_mpu_slave_addr(void); - inv_error_t inv_get_dl_ctrl_dmp(unsigned char enableRun, - unsigned char enableFIFO); - inv_error_t inv_get_dl_cfg_int(unsigned char triggers); - inv_error_t inv_dl_cfg_sampling(unsigned char lpf, unsigned char divider); - inv_error_t inv_set_full_scale(float fullScale); - inv_error_t inv_set_external_sync(unsigned char extSync); - inv_error_t inv_set_ignore_system_suspend(unsigned char ignore); - inv_error_t inv_clock_source(unsigned char clkSource); - inv_error_t inv_get_mpu_memory(unsigned short key, - unsigned short length, - unsigned char *buffer); - inv_error_t inv_set_mpu_memory(unsigned short key, - unsigned short length, - const unsigned char *buffer); - inv_error_t inv_load_dmp(const unsigned char *buffer, - unsigned short length, - unsigned short startAddress); - - unsigned char inv_get_slicon_rev(void); - inv_error_t inv_set_offsetTC(const unsigned char *tc); - inv_error_t inv_set_offset(const short *offset); - - /* Functions for setting and retrieving the DMP memory */ - inv_error_t inv_get_mpu_memory_original(unsigned short key, - unsigned short length, - unsigned char *buffer); - void inv_set_get_address(unsigned short (*func) (unsigned short key)); - unsigned short inv_dl_get_address(unsigned short key); - uint_fast8_t inv_dmpkey_supported(unsigned short key); - - inv_error_t inv_get_interrupt_status(unsigned char intPin, - unsigned char *value); - unsigned char inv_get_interrupt_trigger(unsigned char index); - void inv_clear_interrupt_trigger(unsigned char index); - inv_error_t inv_interrupt_handler(unsigned char intSource); - - /** Only exposed for testing purposes */ - inv_error_t inv_set_mpu_memory_one_bank(unsigned char bank, - unsigned short memAddr, - unsigned short length, - const unsigned char *buffer); - inv_error_t inv_get_mpu_memory_one_bank(unsigned char bank, - unsigned char memAddr, - unsigned short length, - unsigned char *buffer); -#ifdef __cplusplus -} -#endif -#endif // MLDL_H diff --git a/invensense/mlsdk/mllite/mldl_cfg.h b/invensense/mlsdk/mllite/mldl_cfg.h deleted file mode 100644 index fb2e402..0000000 --- a/invensense/mlsdk/mllite/mldl_cfg.h +++ /dev/null @@ -1,324 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -/** - * @addtogroup MLDL - * - * @{ - * @file mldl_cfg.h - * @brief The Motion Library Driver Layer Configuration header file. - */ - -#ifndef __MLDL_CFG_H__ -#define __MLDL_CFG_H__ - -#include "mltypes.h" -#include "mlsl.h" -#include <linux/mpu.h> -#include "mpu3050.h" - -#include "log.h" - -/************************************************************************* - * Sensors - *************************************************************************/ - -#define INV_X_GYRO (0x0001) -#define INV_Y_GYRO (0x0002) -#define INV_Z_GYRO (0x0004) -#define INV_DMP_PROCESSOR (0x0008) - -#define INV_X_ACCEL (0x0010) -#define INV_Y_ACCEL (0x0020) -#define INV_Z_ACCEL (0x0040) - -#define INV_X_COMPASS (0x0080) -#define INV_Y_COMPASS (0x0100) -#define INV_Z_COMPASS (0x0200) - -#define INV_X_PRESSURE (0x0300) -#define INV_Y_PRESSURE (0x0800) -#define INV_Z_PRESSURE (0x1000) - -#define INV_TEMPERATURE (0x2000) -#define INV_TIME (0x4000) - -#define INV_THREE_AXIS_GYRO (0x000F) -#define INV_THREE_AXIS_ACCEL (0x0070) -#define INV_THREE_AXIS_COMPASS (0x0380) -#define INV_THREE_AXIS_PRESSURE (0x1C00) - -#define INV_FIVE_AXIS (0x007B) -#define INV_SIX_AXIS_GYRO_ACCEL (0x007F) -#define INV_SIX_AXIS_ACCEL_COMPASS (0x03F0) -#define INV_NINE_AXIS (0x03FF) -#define INV_ALL_SENSORS (0x7FFF) - -#define MPL_PROD_KEY(ver, rev) (ver * 100 + rev) - -/* -------------------------------------------------------------------------- */ - -/* Platform data for the MPU */ -struct mldl_cfg { - /* MPU related configuration */ - unsigned long requested_sensors; - unsigned char ignore_system_suspend; - unsigned char addr; - unsigned char int_config; - unsigned char ext_sync; - unsigned char full_scale; - unsigned char lpf; - unsigned char clk_src; - unsigned char divider; - unsigned char dmp_enable; - unsigned char fifo_enable; - unsigned char dmp_cfg1; - unsigned char dmp_cfg2; - unsigned char offset_tc[GYRO_NUM_AXES]; - unsigned short offset[GYRO_NUM_AXES]; - unsigned char ram[MPU_MEM_NUM_RAM_BANKS][MPU_MEM_BANK_SIZE]; - - /* MPU Related stored status and info */ - unsigned char product_revision; - unsigned char silicon_revision; - unsigned char product_id; - unsigned short gyro_sens_trim; - - /* Driver/Kernel related state information */ - int gyro_is_bypassed; - int i2c_slaves_enabled; - int dmp_is_running; - int gyro_is_suspended; - int accel_is_suspended; - int compass_is_suspended; - int pressure_is_suspended; - int gyro_needs_reset; - - /* Slave related information */ - struct ext_slave_descr *accel; - struct ext_slave_descr *compass; - struct ext_slave_descr *pressure; - - /* Platform Data */ - struct mpu_platform_data *pdata; -}; - -/* -------------------------------------------------------------------------- */ - -int inv_mpu_open(struct mldl_cfg *mldl_cfg, - void *mlsl_handle, - void *accel_handle, - void *compass_handle, - void *pressure_handle); -int inv_mpu_close(struct mldl_cfg *mldl_cfg, - void *mlsl_handle, - void *accel_handle, - void *compass_handle, - void *pressure_handle); -int inv_mpu_resume(struct mldl_cfg *mldl_cfg, - void *gyro_handle, - void *accel_handle, - void *compass_handle, - void *pressure_handle, - unsigned long sensors); -int inv_mpu_suspend(struct mldl_cfg *mldl_cfg, - void *gyro_handle, - void *accel_handle, - void *compass_handle, - void *pressure_handle, - unsigned long sensors); - -/* Slave Read functions */ -int inv_mpu_slave_read(struct mldl_cfg *mldl_cfg, - void *gyro_handle, - void *slave_handle, - struct ext_slave_descr *slave, - struct ext_slave_platform_data *pdata, - unsigned char *data); -static inline int inv_mpu_read_accel(struct mldl_cfg *mldl_cfg, - void *gyro_handle, - void *accel_handle, unsigned char *data) -{ - if (!mldl_cfg || !(mldl_cfg->pdata)) { - LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); - return INV_ERROR_INVALID_PARAMETER; - } - - return inv_mpu_slave_read(mldl_cfg, gyro_handle, accel_handle, - mldl_cfg->accel, &mldl_cfg->pdata->accel, - data); -} - -static inline int inv_mpu_read_compass(struct mldl_cfg *mldl_cfg, - void *gyro_handle, - void *compass_handle, - unsigned char *data) -{ - if (!mldl_cfg || !(mldl_cfg->pdata)) { - LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); - return INV_ERROR_INVALID_PARAMETER; - } - - return inv_mpu_slave_read(mldl_cfg, gyro_handle, compass_handle, - mldl_cfg->compass, &mldl_cfg->pdata->compass, - data); -} - -static inline int inv_mpu_read_pressure(struct mldl_cfg *mldl_cfg, - void *gyro_handle, - void *pressure_handle, - unsigned char *data) -{ - if (!mldl_cfg || !(mldl_cfg->pdata)) { - LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); - return INV_ERROR_INVALID_PARAMETER; - } - - return inv_mpu_slave_read(mldl_cfg, gyro_handle, pressure_handle, - mldl_cfg->pressure, - &mldl_cfg->pdata->pressure, data); -} - -/* Slave Config functions */ -int inv_mpu_slave_config(struct mldl_cfg *mldl_cfg, - void *gyro_handle, - void *slave_handle, - struct ext_slave_config *data, - struct ext_slave_descr *slave, - struct ext_slave_platform_data *pdata); -static inline int inv_mpu_config_accel(struct mldl_cfg *mldl_cfg, - void *gyro_handle, - void *accel_handle, - struct ext_slave_config *data) -{ - if (!mldl_cfg || !(mldl_cfg->pdata)) { - LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); - return INV_ERROR_INVALID_PARAMETER; - } - - return inv_mpu_slave_config(mldl_cfg, gyro_handle, accel_handle, data, - mldl_cfg->accel, &mldl_cfg->pdata->accel); -} - -static inline int inv_mpu_config_compass(struct mldl_cfg *mldl_cfg, - void *gyro_handle, - void *compass_handle, - struct ext_slave_config *data) -{ - if (!mldl_cfg || !(mldl_cfg->pdata)) { - LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); - return INV_ERROR_INVALID_PARAMETER; - } - - return inv_mpu_slave_config(mldl_cfg, gyro_handle, compass_handle, data, - mldl_cfg->compass, - &mldl_cfg->pdata->compass); -} - -static inline int inv_mpu_config_pressure(struct mldl_cfg *mldl_cfg, - void *gyro_handle, - void *pressure_handle, - struct ext_slave_config *data) -{ - if (!mldl_cfg || !(mldl_cfg->pdata)) { - LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); - return INV_ERROR_INVALID_PARAMETER; - } - - return inv_mpu_slave_config(mldl_cfg, gyro_handle, pressure_handle, - data, mldl_cfg->pressure, - &mldl_cfg->pdata->pressure); -} - -/* Slave get config functions */ -int inv_mpu_get_slave_config(struct mldl_cfg *mldl_cfg, - void *gyro_handle, - void *slave_handle, - struct ext_slave_config *data, - struct ext_slave_descr *slave, - struct ext_slave_platform_data *pdata); - -static inline int inv_mpu_get_accel_config(struct mldl_cfg *mldl_cfg, - void *gyro_handle, - void *accel_handle, - struct ext_slave_config *data) -{ - if (!mldl_cfg || !(mldl_cfg->pdata)) { - LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); - return INV_ERROR_INVALID_PARAMETER; - } - - return inv_mpu_get_slave_config(mldl_cfg, gyro_handle, accel_handle, - data, mldl_cfg->accel, - &mldl_cfg->pdata->accel); -} - -static inline int inv_mpu_get_compass_config(struct mldl_cfg *mldl_cfg, - void *gyro_handle, - void *compass_handle, - struct ext_slave_config *data) -{ - if (!mldl_cfg || !(mldl_cfg->pdata)) { - LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); - return INV_ERROR_INVALID_PARAMETER; - } - - return inv_mpu_get_slave_config(mldl_cfg, gyro_handle, compass_handle, - data, mldl_cfg->compass, - &mldl_cfg->pdata->compass); -} - -static inline int inv_mpu_get_pressure_config(struct mldl_cfg *mldl_cfg, - void *gyro_handle, - void *pressure_handle, - struct ext_slave_config *data) -{ - if (!mldl_cfg || !(mldl_cfg->pdata)) { - LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); - return INV_ERROR_INVALID_PARAMETER; - } - - return inv_mpu_get_slave_config(mldl_cfg, gyro_handle, - pressure_handle, data, - mldl_cfg->pressure, - &mldl_cfg->pdata->pressure); -} - -/* -------------------------------------------------------------------------- */ - -static inline long inv_mpu_get_sampling_rate_hz(struct mldl_cfg *mldl_cfg) -{ - if (((mldl_cfg->lpf) == 0) || ((mldl_cfg->lpf) == 7)) - return 8000L / (mldl_cfg->divider + 1); - else - return 1000L / (mldl_cfg->divider + 1); -} - -static inline long inv_mpu_get_sampling_period_us(struct mldl_cfg *mldl_cfg) -{ - if (((mldl_cfg->lpf) == 0) || ((mldl_cfg->lpf) == 7)) - return (long) (1000000L * (mldl_cfg->divider + 1)) / 8000L; - else - return (long) (1000000L * (mldl_cfg->divider + 1)) / 1000L; -} - -#endif /* __MLDL_CFG_H__ */ - -/** - *@} - */ diff --git a/invensense/mlsdk/mllite/mldl_cfg_mpu.c b/invensense/mlsdk/mllite/mldl_cfg_mpu.c deleted file mode 100644 index ff97348..0000000 --- a/invensense/mlsdk/mllite/mldl_cfg_mpu.c +++ /dev/null @@ -1,474 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -/****************************************************************************** - * - * $Id: mldl_cfg_mpu.c 5653 2011-06-16 21:06:55Z nroyer $ - * - *****************************************************************************/ - -/** - * @addtogroup MLDL - * - * @{ - * @file mldl_cfg_mpu.c - * @brief The Motion Library Driver Layer. - */ - -/* ------------------ */ -/* - Include Files. - */ -/* ------------------ */ - -#include <stddef.h> -#include "mldl_cfg.h" -#include "mlsl.h" -#include "mpu.h" - -#ifdef LINUX -#include <sys/ioctl.h> -#endif - -#include "log.h" -#undef MPL_LOG_TAG -#define MPL_LOG_TAG "MPL-mldl_cfg_mpu:" - -/* --------------------- */ -/* - Variables. - */ -/* --------------------- */ - - -/* ---------------------- */ -/* - Static Functions. - */ -/* ---------------------- */ -void mpu_print_cfg(struct mldl_cfg * mldl_cfg) -{ - struct mpu_platform_data *pdata = mldl_cfg->pdata; - struct ext_slave_platform_data *accel = &mldl_cfg->pdata->accel; - struct ext_slave_platform_data *compass = &mldl_cfg->pdata->compass; - struct ext_slave_platform_data *pressure = &mldl_cfg->pdata->pressure; - - MPL_LOGD("mldl_cfg.addr = %02x\n", mldl_cfg->addr); - MPL_LOGD("mldl_cfg.int_config = %02x\n", mldl_cfg->int_config); - MPL_LOGD("mldl_cfg.ext_sync = %02x\n", mldl_cfg->ext_sync); - MPL_LOGD("mldl_cfg.full_scale = %02x\n", mldl_cfg->full_scale); - MPL_LOGD("mldl_cfg.lpf = %02x\n", mldl_cfg->lpf); - MPL_LOGD("mldl_cfg.clk_src = %02x\n", mldl_cfg->clk_src); - MPL_LOGD("mldl_cfg.divider = %02x\n", mldl_cfg->divider); - MPL_LOGD("mldl_cfg.dmp_enable = %02x\n", mldl_cfg->dmp_enable); - MPL_LOGD("mldl_cfg.fifo_enable = %02x\n", mldl_cfg->fifo_enable); - MPL_LOGD("mldl_cfg.dmp_cfg1 = %02x\n", mldl_cfg->dmp_cfg1); - MPL_LOGD("mldl_cfg.dmp_cfg2 = %02x\n", mldl_cfg->dmp_cfg2); - MPL_LOGD("mldl_cfg.offset_tc[0] = %02x\n", mldl_cfg->offset_tc[0]); - MPL_LOGD("mldl_cfg.offset_tc[1] = %02x\n", mldl_cfg->offset_tc[1]); - MPL_LOGD("mldl_cfg.offset_tc[2] = %02x\n", mldl_cfg->offset_tc[2]); - MPL_LOGD("mldl_cfg.silicon_revision = %02x\n", mldl_cfg->silicon_revision); - MPL_LOGD("mldl_cfg.product_id = %02x\n", mldl_cfg->product_id); - MPL_LOGD("mldl_cfg.gyro_sens_trim = %02x\n", mldl_cfg->gyro_sens_trim); - - if (mldl_cfg->accel) { - MPL_LOGD("slave_accel->suspend = %p\n", mldl_cfg->accel->suspend); - MPL_LOGD("slave_accel->resume = %p\n", mldl_cfg->accel->resume); - MPL_LOGD("slave_accel->read = %p\n", mldl_cfg->accel->read); - MPL_LOGD("slave_accel->type = %02x\n", mldl_cfg->accel->type); - MPL_LOGD("slave_accel->read_reg = %02x\n", - mldl_cfg->accel->read_reg); - MPL_LOGD("slave_accel->read_len = %02x\n", - mldl_cfg->accel->read_len); - MPL_LOGD("slave_accel->endian = %02x\n", mldl_cfg->accel->endian); - MPL_LOGD("slave_accel->range.mantissa= %02x\n", (int)mldl_cfg->accel->range.mantissa); - MPL_LOGD("slave_accel->range.fraction= %02x\n", (int)mldl_cfg->accel->range.fraction); - } else { - MPL_LOGD("slave_accel = NULL\n"); - } - - if (mldl_cfg->compass) { - MPL_LOGD("slave_compass->suspend = %p\n", mldl_cfg->compass->suspend); - MPL_LOGD("slave_compass->resume = %p\n", mldl_cfg->compass->resume); - MPL_LOGD("slave_compass->read = %p\n", mldl_cfg->compass->read); - MPL_LOGD("slave_compass->type = %02x\n", mldl_cfg->compass->type); - MPL_LOGD("slave_compass->read_reg = %02x\n", - mldl_cfg->compass->read_reg); - MPL_LOGD("slave_compass->read_len = %02x\n", - mldl_cfg->compass->read_len); - MPL_LOGD("slave_compass->endian = %02x\n", mldl_cfg->compass->endian); - MPL_LOGD("slave_compass->range.mantissa= %02x\n", (int)mldl_cfg->compass->range.mantissa); - MPL_LOGD("slave_compass->range.fraction= %02x\n", (int)mldl_cfg->compass->range.fraction); - } else { - MPL_LOGD("slave_compass = NULL\n"); - } - - if (mldl_cfg->pressure) { - MPL_LOGD("slave_pressure->suspend = %p\n", mldl_cfg->pressure->suspend); - MPL_LOGD("slave_pressure->resume = %p\n", mldl_cfg->pressure->resume); - MPL_LOGD("slave_pressure->read = %p\n", mldl_cfg->pressure->read); - MPL_LOGD("slave_pressure->type = %02x\n", mldl_cfg->pressure->type); - MPL_LOGD("slave_pressure->read_reg = %02x\n", - mldl_cfg->pressure->read_reg); - MPL_LOGD("slave_pressure->read_len = %02x\n", - mldl_cfg->pressure->read_len); - MPL_LOGD("slave_pressure->endian = %02x\n", mldl_cfg->pressure->endian); - MPL_LOGD("slave_pressure->range.mantissa= %02x\n", (int)mldl_cfg->pressure->range.mantissa); - MPL_LOGD("slave_pressure->range.fraction= %02x\n", (int)mldl_cfg->pressure->range.fraction); - } else { - MPL_LOGD("slave_pressure = NULL\n"); - } - - MPL_LOGD("accel->get_slave_descr = %p\n",accel->get_slave_descr); - MPL_LOGD("accel->adapt_num = %02x\n", accel->adapt_num); - MPL_LOGD("accel->bus = %02x\n", accel->bus); - MPL_LOGD("accel->address = %02x\n", accel->address); - MPL_LOGD("accel->orientation = \n" - " %2d %2d %2d\n" - " %2d %2d %2d\n" - " %2d %2d %2d\n", - accel->orientation[0],accel->orientation[1],accel->orientation[2], - accel->orientation[3],accel->orientation[4],accel->orientation[5], - accel->orientation[6],accel->orientation[7],accel->orientation[8]); - MPL_LOGD("compass->get_slave_descr = %p\n",compass->get_slave_descr); - MPL_LOGD("compass->adapt_num = %02x\n", compass->adapt_num); - MPL_LOGD("compass->bus = %02x\n", compass->bus); - MPL_LOGD("compass->address = %02x\n", compass->address); - MPL_LOGD("compass->orientation = \n" - " %2d %2d %2d\n" - " %2d %2d %2d\n" - " %2d %2d %2d\n", - compass->orientation[0],compass->orientation[1],compass->orientation[2], - compass->orientation[3],compass->orientation[4],compass->orientation[5], - compass->orientation[6],compass->orientation[7],compass->orientation[8]); - MPL_LOGD("pressure->get_slave_descr = %p\n",pressure->get_slave_descr); - MPL_LOGD("pressure->adapt_num = %02x\n", pressure->adapt_num); - MPL_LOGD("pressure->bus = %02x\n", pressure->bus); - MPL_LOGD("pressure->address = %02x\n", pressure->address); - MPL_LOGD("pressure->orientation = \n" - " %2d %2d %2d\n" - " %2d %2d %2d\n" - " %2d %2d %2d\n", - pressure->orientation[0],pressure->orientation[1],pressure->orientation[2], - pressure->orientation[3],pressure->orientation[4],pressure->orientation[5], - pressure->orientation[6],pressure->orientation[7],pressure->orientation[8]); - - MPL_LOGD("pdata->int_config = %02x\n", pdata->int_config); - MPL_LOGD("pdata->level_shifter = %02x\n", pdata->level_shifter); - MPL_LOGD("pdata->orientation = \n" - " %2d %2d %2d\n" - " %2d %2d %2d\n" - " %2d %2d %2d\n", - pdata->orientation[0],pdata->orientation[1],pdata->orientation[2], - pdata->orientation[3],pdata->orientation[4],pdata->orientation[5], - pdata->orientation[6],pdata->orientation[7],pdata->orientation[8]); - - MPL_LOGD("Struct sizes: mldl_cfg: %zu, " - "ext_slave_descr:%zu, mpu_platform_data:%zu: RamOffset: %zu\n", - sizeof(struct mldl_cfg), sizeof(struct ext_slave_descr), - sizeof(struct mpu_platform_data), - offsetof(struct mldl_cfg, ram)); -} - -/****************************************************************************** - ****************************************************************************** - * Exported functions - ****************************************************************************** - *****************************************************************************/ - -/** - * Initializes the pdata structure to defaults. - * - * Opens the device to read silicon revision, product id and whoami. Leaves - * the device in suspended state for low power. - * - * @param mldl_cfg handle to the config structure - * @param mlsl_handle handle to the mpu serial layer - * @param accel_handle handle to the accel serial layer - * @param compass_handle handle to the compass serial layer - * @param pressure_handle handle to the pressure serial layer - * - * @return INV_SUCCESS if silicon revision, product id and woami are supported - * by this software. - */ -int inv_mpu_open(struct mldl_cfg *mldl_cfg, - void *mlsl_handle, - void *accel_handle __unused, - void *compass_handle __unused, - void *pressure_handle __unused) -{ - int result; - result = ioctl((int)(uintptr_t)mlsl_handle, MPU_GET_MPU_CONFIG, mldl_cfg); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - result = inv_mpu_suspend(mldl_cfg, mlsl_handle, NULL, NULL, NULL, - INV_ALL_SENSORS); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - return result; -} - -/** - * Stub for driver close. Just verify that the devices are suspended - * - * @param mldl_cfg handle to the config structure - * @param mlsl_handle handle to the mpu serial layer - * @param accel_handle handle to the accel serial layer - * @param compass_handle handle to the compass serial layer - * @param pressure_handle handle to the compass serial layer - * - * @return INV_SUCCESS or non-zero error code - */ -int inv_mpu_close(struct mldl_cfg *mldl_cfg, - void *mlsl_handle, - void *accel_handle __unused, - void *compass_handle __unused, - void *pressure_handle __unused) -{ - int result = INV_SUCCESS; - - result = inv_mpu_suspend(mldl_cfg, mlsl_handle, NULL, NULL, NULL, - INV_ALL_SENSORS); - return result; -} - -int inv_mpu_resume(struct mldl_cfg* mldl_cfg, - void *mlsl_handle, - void *accel_handle __unused, - void *compass_handle __unused, - void *pressure_handle __unused, - unsigned long sensors) -{ - int result; - - mldl_cfg->requested_sensors = sensors; - result = ioctl((int)(uintptr_t)mlsl_handle, MPU_SET_MPU_CONFIG, mldl_cfg); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = ioctl((int)(uintptr_t)mlsl_handle, MPU_RESUME, NULL); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = ioctl((int)(uintptr_t)mlsl_handle, MPU_GET_MPU_CONFIG, mldl_cfg); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - //MPL_LOGI("%s: Resuming to %04lx\n", __func__, mldl_cfg->requested_sensors); - - return result; -} - - -int inv_mpu_suspend(struct mldl_cfg *mldl_cfg, - void *mlsl_handle, - void *accel_handle __unused, - void *compass_handle __unused, - void *pressure_handle __unused, - unsigned long sensors) -{ - int result; - unsigned long requested = mldl_cfg->requested_sensors; - - mldl_cfg->requested_sensors = (~sensors) & INV_ALL_SENSORS; - //MPL_LOGI("%s: suspending sensors to %04lx\n", __func__, - // mldl_cfg->requested_sensors); - - result = ioctl((int)(uintptr_t)mlsl_handle, MPU_SET_MPU_CONFIG, mldl_cfg); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = ioctl((int)(uintptr_t)mlsl_handle, MPU_SUSPEND, NULL); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = ioctl((int)(uintptr_t)mlsl_handle, MPU_GET_MPU_CONFIG, mldl_cfg); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - mldl_cfg->requested_sensors = requested; - //MPL_LOGI("%s: Will resume next to %04lx\n", __func__, requested); - - return result; -} - -/** - * Send slave configuration information - * - * @param mldl_cfg pointer to the mldl configuration structure - * @param gyro_handle handle to the gyro sensor - * @param slave_handle handle to the slave sensor - * @param slave slave description - * @param pdata slave platform data - * @param data where to store the read data - * - * @return 0 or non-zero error code - */ -int inv_mpu_slave_read(struct mldl_cfg *mldl_cfg, - void *gyro_handle, - void *slave_handle __unused, - struct ext_slave_descr *slave, - struct ext_slave_platform_data *pdata __unused, - unsigned char *data) -{ - int result; - if (!mldl_cfg || !gyro_handle || !data || !slave) { - LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); - return INV_ERROR_INVALID_PARAMETER; - } - - switch (slave->type) { - case EXT_SLAVE_TYPE_ACCELEROMETER: - result = ioctl((int)(uintptr_t)gyro_handle, MPU_READ_ACCEL, data); - break; - case EXT_SLAVE_TYPE_COMPASS: - result = ioctl((int)(uintptr_t)gyro_handle, MPU_READ_COMPASS, data); - break; - case EXT_SLAVE_TYPE_PRESSURE: - result = ioctl((int)(uintptr_t)gyro_handle, MPU_READ_PRESSURE, data); - break; - default: - LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); - return INV_ERROR_INVALID_PARAMETER; - break; - } - - return result; -} - -/** - * Send slave configuration information - * - * @param mldl_cfg pointer to the mldl configuration structure - * @param gyro_handle handle to the gyro sensor - * @param slave_handle handle to the slave sensor - * @param data the data being sent - * @param slave slave description - * @param pdata slave platform data - * - * @return 0 or non-zero error code - */ -int inv_mpu_slave_config(struct mldl_cfg *mldl_cfg, - void *gyro_handle, - void *slave_handle __unused, - struct ext_slave_config *data, - struct ext_slave_descr *slave, - struct ext_slave_platform_data *pdata) -{ - int result; - if (!mldl_cfg || !data || !slave || !pdata || !slave) { - LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); - return INV_ERROR_INVALID_PARAMETER; - } - - switch (slave->type) { - case EXT_SLAVE_TYPE_ACCELEROMETER: - result = ioctl((int)(uintptr_t)gyro_handle, MPU_CONFIG_ACCEL, data); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - break; - case EXT_SLAVE_TYPE_COMPASS: - result = ioctl((int)(uintptr_t)gyro_handle, MPU_CONFIG_COMPASS, data); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - break; - case EXT_SLAVE_TYPE_PRESSURE: - result = ioctl((int)(uintptr_t)gyro_handle, MPU_CONFIG_PRESSURE, data); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - break; - default: - LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); - return INV_ERROR_INVALID_PARAMETER; - break; - } - - return result; -} - -/** - * Request slave configuration information - * - * Use this specifically after requesting a slave configuration to see what the - * slave accually accepted. - * - * @param mldl_cfg pointer to the mldl configuration structure - * @param gyro_handle handle to the gyro sensor - * @param slave_handle handle to the slave sensor - * @param data the data being requested. - * @param slave slave description - * @param pdata slave platform data - * - * @return 0 or non-zero error code - */ -int inv_mpu_get_slave_config(struct mldl_cfg *mldl_cfg, - void *gyro_handle, - void *slave_handle __unused, - struct ext_slave_config *data, - struct ext_slave_descr *slave, - struct ext_slave_platform_data *pdata __unused) -{ - int result; - if (!mldl_cfg || !data || !slave) { - LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); - return INV_ERROR_INVALID_PARAMETER; - } - switch (slave->type) { - case EXT_SLAVE_TYPE_ACCELEROMETER: - result = ioctl((int)(uintptr_t)gyro_handle, MPU_GET_CONFIG_ACCEL, data); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - break; - case EXT_SLAVE_TYPE_COMPASS: - result = ioctl((int)(uintptr_t)gyro_handle, MPU_GET_CONFIG_COMPASS, data); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - break; - case EXT_SLAVE_TYPE_PRESSURE: - result = ioctl((int)(uintptr_t)gyro_handle, MPU_GET_CONFIG_PRESSURE, data); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - break; - default: - LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER); - return INV_ERROR_INVALID_PARAMETER; - break; - } - return result; -} -/** - *@} - */ diff --git a/invensense/mlsdk/mllite/mldmp.c b/invensense/mlsdk/mllite/mldmp.c deleted file mode 100644 index d16bdaf..0000000 --- a/invensense/mlsdk/mllite/mldmp.c +++ /dev/null @@ -1,284 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -/****************************************************************************** - * - * $Id: mldmp.c 5629 2011-06-11 03:13:08Z mcaramello $ - * - *****************************************************************************/ - -/** - * @addtogroup MLDMP - * - * @{ - * @file mldmp.c - * @brief Shared functions between all the different DMP versions -**/ - -#include <stdio.h> - -#include "mltypes.h" -#include "mlinclude.h" -#include "mltypes.h" -#include "ml.h" -#include "mldl_cfg.h" -#include "mldl.h" -#include "compass.h" -#include "mlSetGyroBias.h" -#include "mlsl.h" -#include "mlFIFO.h" -#include "mldmp.h" -#include "mlstates.h" -#include "dmpDefault.h" -#include "mlFIFOHW.h" -#include "mlsupervisor.h" - -#include "log.h" -#undef MPL_LOG_TAG -#define MPL_LOG_TAG "MPL-dmp" - -/** - * @brief Open the default motion sensor engine. - * This function is used to open the default MPL engine, - * featuring, for example, sensor fusion (6 axes and 9 axes), - * sensor calibration, accelerometer data byte swapping, among - * others. - * Compare with the other provided engines. - * - * @pre inv_serial_start() must have been called to instantiate the serial - * communication. - * - * Example: - * @code - * result = inv_dmp_open( ); - * if (INV_SUCCESS != result) { - * // Handle the error case - * } - * @endcode - * - * @return Zero on success; Error Code on any failure. - * - */ -inv_error_t inv_dmp_open(void) -{ - INVENSENSE_FUNC_START; - inv_error_t result; - unsigned char state = inv_get_state(); - struct mldl_cfg *mldl_cfg; - unsigned long requested_sensors; - - /************************************************************* - * Common operations before calling DMPOpen - ************************************************************/ - if (state == INV_STATE_DMP_OPENED) - return INV_SUCCESS; - - if (state == INV_STATE_DMP_STARTED) { - return inv_dmp_stop(); - } - - result = inv_state_transition(INV_STATE_DMP_OPENED); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - result = inv_dl_open(inv_get_serial_handle()); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } -#ifdef ML_USE_DMP_SIM - do { - void setup_univ(); - setup_univ(); /* hijack the read and write paths - and re-direct them to the simulator */ - } while (0); -#endif - - result = inv_setup_dmp(); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - // Init vars. - inv_init_ml(); - - result = inv_init_fifo_param(); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_enable_set_bias(); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - inv_init_fifo_hardare(); - mldl_cfg = inv_get_dl_config(); - requested_sensors = INV_THREE_AXIS_GYRO; - if (mldl_cfg->accel && mldl_cfg->accel->resume) - requested_sensors |= INV_THREE_AXIS_ACCEL; - - if (mldl_cfg->compass && mldl_cfg->compass->resume) - requested_sensors |= INV_THREE_AXIS_COMPASS; - - if (mldl_cfg->pressure && mldl_cfg->pressure->resume) - requested_sensors |= INV_THREE_AXIS_PRESSURE; - - result = inv_init_requested_sensors(requested_sensors); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_apply_calibration(); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - if (NULL != mldl_cfg->accel){ - result = inv_apply_endian_accel(); - } - - return result; -} - -/** - * @brief Start the DMP. - * - * @pre inv_dmp_open() must have been called. - * - * @code - * result = inv_dmp_start(); - * if (INV_SUCCESS != result) { - * // Handle the error case - * } - * @endcode - * - * @return INV_SUCCESS if successful, or Non-zero error code otherwise. - */ -inv_error_t inv_dmp_start(void) -{ - INVENSENSE_FUNC_START; - inv_error_t result; - - if (inv_get_state() == INV_STATE_DMP_STARTED) - return INV_SUCCESS; - - result = inv_state_transition(INV_STATE_DMP_STARTED); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - inv_init_sensor_fusion_supervisor(); - result = inv_dl_start(inv_get_dl_config()->requested_sensors); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - /* This is done after the start since it will modify DMP memory, which - * will cause a full reset is most cases */ - result = inv_reset_motion(); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - return result; -} - -/** - * @brief Stops the DMP and puts it in low power. - * - * @pre inv_dmp_start() must have been called. - * - * @return INV_SUCCESS, Non-zero error code otherwise. - */ -inv_error_t inv_dmp_stop(void) -{ - INVENSENSE_FUNC_START; - inv_error_t result; - - if (inv_get_state() == INV_STATE_DMP_OPENED) - return INV_SUCCESS; - - result = inv_state_transition(INV_STATE_DMP_OPENED); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - result = inv_dl_stop(INV_ALL_SENSORS); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - return result; -} - -/** - * @brief Closes the motion sensor engine. - * Does not close the serial communication. To do that, - * call inv_serial_stop(). - * After calling inv_dmp_close() another DMP module can be - * loaded in the MPL with the corresponding necessary - * intialization and configurations, via any of the - * MLDmpXXXOpen functions. - * - * @pre inv_dmp_open() must have been called. - * - * @code - * result = inv_dmp_close(); - * if (INV_SUCCESS != result) { - * // Handle the error case - * } - * @endcode - * - * @return INV_SUCCESS, Non-zero error code otherwise. - */ -inv_error_t inv_dmp_close(void) -{ - INVENSENSE_FUNC_START; - inv_error_t result; - inv_error_t firstError = INV_SUCCESS; - - if (inv_get_state() <= INV_STATE_DMP_CLOSED) - return INV_SUCCESS; - - result = inv_disable_set_bias(); - ERROR_CHECK_FIRST(firstError, result); - - result = inv_dl_stop(INV_ALL_SENSORS); - ERROR_CHECK_FIRST(firstError, result); - - result = inv_close_fifo(); - ERROR_CHECK_FIRST(firstError, result); - - result = inv_dl_close(); - ERROR_CHECK_FIRST(firstError, result); - - result = inv_state_transition(INV_STATE_SERIAL_OPENED); - ERROR_CHECK_FIRST(firstError, result); - - return result; -} - -/** - * @} - */ diff --git a/invensense/mlsdk/mllite/mldmp.h b/invensense/mlsdk/mllite/mldmp.h deleted file mode 100644 index ff3d24e..0000000 --- a/invensense/mlsdk/mllite/mldmp.h +++ /dev/null @@ -1,96 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -/***************************************************************************** * - * $Id: mldmp.h 5629 2011-06-11 03:13:08Z mcaramello $ - ******************************************************************************/ - -/** - * @defgroup MLDMP - * @brief - * - * These are the top level functions that define how to load the MPL. In order - * to use most of the features, the DMP must be loaded with some code. The - * loading procedure takes place when calling inv_dmp_open with a given DMP set - * function, after having open the serial communication with the device via - * inv_serial_start(). - * The DMP set function will load the DMP memory and enable a certain - * set of features. - * - * First select a DMP version from one of the released DMP sets. - * These could be: - * - DMP default to load and use the default DMP code featuring pedometer, - * gestures, and orientation. Use inv_dmp_open(). - * - DMP pedometer stand-alone to load and use the standalone pedometer - * implementation. Use inv_open_low_power_pedometer(). - * <!-- - DMP EIS ... Use inv_eis_open_dmp(). --> - * - * After inv_dmp_openXXX any number of appropriate initialization and configuration - * routines can be called. Each one of these routines will return an error code - * and will check to make sure that it is compatible with the the DMP version - * selected during the call to inv_dmp_open. - * - * Once the configuration is complete, make a call to inv_dmp_start(). This will - * finally turn on the DMP and run the code previously loaded. - * - * While the DMP is running, all data fetching, polling or other functions can - * be called and will return valid data. Some parameteres can be changed while - * the DMP is runing, while others cannot. Therefore it is important to always - * check the return code of each function. Check the error code list in mltypes - * to know what each returned error corresponds to. - * - * When no more motion processing is required, the library can be shut down and - * the DMP turned off. We can do that by calling inv_dmp_close(). Note that - * inv_dmp_close() will not close the serial communication automatically, which will - * remain open an active, in case another module needs to be loaded instead. - * If the intention is shutting down the MPL as well, an explicit call to - * inv_serial_stop() following inv_dmp_close() has to be made. - * - * The MPL additionally implements a basic state machine, whose purpose is to - * give feedback to the user on whether he is following all the required - * initialization steps. If an anomalous transition is detected, the user will - * be warned by a terminal message with the format: - * - * <tt>"Error : illegal state transition from STATE_1 to STATE_3"</tt> - * - * @{ - * @file mldmp.h - * @brief Top level entry functions to the MPL library with DMP support - */ - -#ifndef MLDMP_H -#define MLDMP_H -#ifdef INV_INCLUDE_LEGACY_HEADERS -#include "mldmp_legacy.h" -#endif - -#ifdef __cplusplus -extern "C" { -#endif - - inv_error_t inv_dmp_open(void); - inv_error_t inv_dmp_start(void); - inv_error_t inv_dmp_stop(void); - inv_error_t inv_dmp_close(void); - -#ifdef __cplusplus -} -#endif -#endif /* MLDMP_H */ -/** - * @} -**/ diff --git a/invensense/mlsdk/mllite/mlinclude.h b/invensense/mlsdk/mllite/mlinclude.h deleted file mode 100644 index fdbdef3..0000000 --- a/invensense/mlsdk/mllite/mlinclude.h +++ /dev/null @@ -1,50 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -#ifndef INV_INCLUDE_H__ -#define INV_INCLUDE_H__ - -#define INVENSENSE_FUNC_START - -#ifdef COVERAGE -#include "utestCommon.h" -#endif -#ifdef PROFILE -#include "profile.h" -#endif - -#ifdef WIN32 -#ifdef COVERAGE - -extern int functionEnterLog(const char *file, const char *func); -extern int functionExitLog(const char *file, const char *func); - -#undef INVENSENSE_FUNC_START -#define INVENSENSE_FUNC_START __pragma(message(__FILE__ "|"__FUNCTION__ )) \ - int dslkQjDsd = functionEnterLog(__FILE__, __FUNCTION__) -#endif // COVERAGE -#endif // WIN32 - -#ifdef PROFILE -#undef INVENSENSE_FUNC_START -#define INVENSENSE_FUNC_START int dslkQjDsd = profileEnter(__FILE__, __FUNCTION__) -#define return if ( profileExit(__FILE__, __FUNCTION__) ) return -#endif // PROFILE - -// #define return if ( functionExitLog(__FILE__, __FUNCTION__) ) return - -#endif //INV_INCLUDE_H__ diff --git a/invensense/mlsdk/mllite/mlstates.c b/invensense/mlsdk/mllite/mlstates.c deleted file mode 100644 index e44f100..0000000 --- a/invensense/mlsdk/mllite/mlstates.c +++ /dev/null @@ -1,269 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -/******************************************************************************* - * - * $Id: mlstates.c 5629 2011-06-11 03:13:08Z mcaramello $ - * - *******************************************************************************/ - -/** - * @defgroup MLSTATES - * @brief Basic state machine definition and support for the Motion Library. - * - * @{ - * @file mlstates.c - * @brief The Motion Library state machine definition. - */ - -#define ML_C - -/* ------------------ */ -/* - Include Files. - */ -/* ------------------ */ - -#include <stdio.h> -#include <string.h> - -#include "mlstates.h" -#include "mltypes.h" -#include "mlinclude.h" -#include "ml.h" -#include "mlos.h" - -#include <log.h> -#undef MPL_LOG_TAG -#define MPL_LOG_TAG "MPL-mlstates" - -#define _stateDebug(x) //{x} - -#define MAX_STATE_CHANGE_PROCESSES (8) - -struct state_callback_obj { - int_fast8_t numStateChangeCallbacks; - HANDLE mutex; - state_change_callback_t stateChangeCallbacks[MAX_STATE_CHANGE_PROCESSES]; -}; - -static struct state_callback_obj sStateChangeCallbacks = { 0, 0, { NULL } }; - -/* --------------- */ -/* - Functions. - */ -/* --------------- */ - -static inv_error_t inv_init_state_callbacks(void) -{ - memset(&sStateChangeCallbacks, 0, sizeof(sStateChangeCallbacks)); - return inv_create_mutex(&sStateChangeCallbacks.mutex); -} - -static inv_error_t MLStateCloseCallbacks(void) -{ - inv_error_t result; - result = inv_destroy_mutex(sStateChangeCallbacks.mutex); - memset(&sStateChangeCallbacks, 0, sizeof(sStateChangeCallbacks)); - return result; -} - -/** - * @internal - * @brief return a string containing the label assigned to the given state. - * @param state The state of which the label has to be returned. - * @return A string containing the state label. -**/ -char *inv_state_name(unsigned char state) -{ - switch (state) { - case INV_STATE_SERIAL_CLOSED: - return INV_STATE_NAME(INV_STATE_SERIAL_CLOSED); - break; - case INV_STATE_SERIAL_OPENED: - return INV_STATE_NAME(INV_STATE_SERIAL_OPENED); - break; - case INV_STATE_DMP_OPENED: - return INV_STATE_NAME(INV_STATE_DMP_OPENED); - break; - case INV_STATE_DMP_STARTED: - return INV_STATE_NAME(INV_STATE_DMP_STARTED); - break; - default: - return NULL; - } -} - -/** - * @internal - * @brief Perform a transition from the current state to newState. - * Check for the correctness of the transition. - * Print out an error message if the transition is illegal . - * This routine is also called if a certain normally constant parameters - * are changed such as the FIFO Rate. - * @param newState state we are transitioning to. - * @return -**/ -inv_error_t inv_state_transition(unsigned char newState) -{ - inv_error_t result = INV_SUCCESS; - - if (newState == INV_STATE_SERIAL_CLOSED) { - // Always allow transition to closed - } else if (newState == INV_STATE_SERIAL_OPENED) { - inv_init_state_callbacks(); // Always allow first transition to start over - } else if (((newState == INV_STATE_DMP_OPENED) && - ((inv_params_obj.state == INV_STATE_SERIAL_OPENED) || - (inv_params_obj.state == INV_STATE_DMP_STARTED))) - || - ((newState == INV_STATE_DMP_STARTED) && - (inv_params_obj.state == INV_STATE_DMP_OPENED))) { - // Valid transitions but no special action required - } else { - // All other combinations are illegal - MPL_LOGE("Error : illegal state transition from %s to %s\n", - inv_state_name(inv_params_obj.state), - inv_state_name(newState)); - result = INV_ERROR_SM_TRANSITION; - } - - if (result == INV_SUCCESS) { - _stateDebug(MPL_LOGV - ("ML State transition from %s to %s\n", - inv_state_name(inv_params_obj.state), - inv_state_name(newState))); - result = inv_run_state_callbacks(newState); - if (INV_SUCCESS == result && newState == INV_STATE_SERIAL_CLOSED) { - MLStateCloseCallbacks(); - } - inv_params_obj.state = newState; - } - return result; -} - -/** - * @internal - * @brief To be moved in mlstates.c -**/ -unsigned char inv_get_state(void) -{ - return (inv_params_obj.state); -} - -/** - * @internal - * @brief This registers a function to be called each time the state - * changes. It may also be called when the FIFO Rate is changed. - * It will be called at the start of a state change before the - * state change has taken place. See Also inv_unregister_state_callback() - * The FIFO does not have to be on for this callback. - * @param func Function to be called when a DMP interrupt occurs. - * @return INV_SUCCESS or non-zero error code. - */ - -inv_error_t inv_register_state_callback(state_change_callback_t callback) -{ - INVENSENSE_FUNC_START; - int kk; - inv_error_t result; - - result = inv_lock_mutex(sStateChangeCallbacks.mutex); - if (INV_SUCCESS != result) { - return result; - } - // Make sure we have not filled up our number of allowable callbacks - if (sStateChangeCallbacks.numStateChangeCallbacks < - MAX_STATE_CHANGE_PROCESSES) { - // Make sure we haven't registered this function already - for (kk = 0; kk < sStateChangeCallbacks.numStateChangeCallbacks; ++kk) { - if (sStateChangeCallbacks.stateChangeCallbacks[kk] == callback) { - result = INV_ERROR_INVALID_PARAMETER; - break; - } - } - - if (INV_SUCCESS == result) { - // Add new callback - sStateChangeCallbacks.stateChangeCallbacks[sStateChangeCallbacks. - numStateChangeCallbacks] - = callback; - sStateChangeCallbacks.numStateChangeCallbacks++; - } - } else { - result = INV_ERROR_MEMORY_EXAUSTED; - } - - inv_unlock_mutex(sStateChangeCallbacks.mutex); - return result; -} - -/** - * @internal - * @brief This unregisters a function to be called each time the state - * changes. See Also inv_register_state_callback() - * The FIFO does not have to be on for this callback. - * @return INV_SUCCESS or non-zero error code. - */ -inv_error_t inv_unregister_state_callback(state_change_callback_t callback) -{ - INVENSENSE_FUNC_START; - int kk, jj; - inv_error_t result; - - result = inv_lock_mutex(sStateChangeCallbacks.mutex); - if (INV_SUCCESS != result) { - return result; - } - // Make sure we haven't registered this function already - result = INV_ERROR_INVALID_PARAMETER; - for (kk = 0; kk < sStateChangeCallbacks.numStateChangeCallbacks; ++kk) { - if (sStateChangeCallbacks.stateChangeCallbacks[kk] == callback) { - for (jj = kk + 1; - jj < sStateChangeCallbacks.numStateChangeCallbacks; ++jj) { - sStateChangeCallbacks.stateChangeCallbacks[jj - 1] = - sStateChangeCallbacks.stateChangeCallbacks[jj]; - } - sStateChangeCallbacks.numStateChangeCallbacks--; - result = INV_SUCCESS; - break; - } - } - - inv_unlock_mutex(sStateChangeCallbacks.mutex); - return result; -} - -inv_error_t inv_run_state_callbacks(unsigned char newState) -{ - int kk; - inv_error_t result; - - result = inv_lock_mutex(sStateChangeCallbacks.mutex); - if (INV_SUCCESS != result) { - MPL_LOGE("MLOsLockMutex returned %d\n", result); - return result; - } - - for (kk = 0; kk < sStateChangeCallbacks.numStateChangeCallbacks; ++kk) { - if (sStateChangeCallbacks.stateChangeCallbacks[kk]) { - result = sStateChangeCallbacks.stateChangeCallbacks[kk] (newState); - if (INV_SUCCESS != result) { - break; // Can't return, must release mutex - } - } - } - - inv_unlock_mutex(sStateChangeCallbacks.mutex); - return result; -} diff --git a/invensense/mlsdk/mllite/mlstates.h b/invensense/mlsdk/mllite/mlstates.h deleted file mode 100644 index cbaa610..0000000 --- a/invensense/mlsdk/mllite/mlstates.h +++ /dev/null @@ -1,58 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -/******************************************************************************* - * - * $Id: mlstates.h 5629 2011-06-11 03:13:08Z mcaramello $ - * - *******************************************************************************/ - -#ifndef INV_STATES_H__ -#define INV_STATES_H__ - -#include "mltypes.h" -#ifdef INV_INCLUDE_LEGACY_HEADERS -#include "mlstates_legacy.h" -#endif - -#ifdef __cplusplus -extern "C" { -#endif - -/* See inv_state_transition for the transition mask */ -#define INV_STATE_SERIAL_CLOSED (0) -#define INV_STATE_SERIAL_OPENED (1) -#define INV_STATE_DMP_OPENED (2) -#define INV_STATE_DMP_STARTED (3) -#define INV_STATE_DMP_STOPPED (INV_STATE_DMP_OPENED) -#define INV_STATE_DMP_CLOSED (INV_STATE_SERIAL_OPENED) - -#define INV_STATE_NAME(x) (#x) - - typedef inv_error_t(*state_change_callback_t) (unsigned char newState); - - char *inv_state_name(unsigned char x); - inv_error_t inv_state_transition(unsigned char newState); - unsigned char inv_get_state(void); - inv_error_t inv_register_state_callback(state_change_callback_t callback); - inv_error_t inv_unregister_state_callback(state_change_callback_t callback); - inv_error_t inv_run_state_callbacks(unsigned char newState); - -#ifdef __cplusplus -} -#endif -#endif // INV_STATES_H__ diff --git a/invensense/mlsdk/mllite/mlsupervisor.c b/invensense/mlsdk/mllite/mlsupervisor.c deleted file mode 100644 index 2546903..0000000 --- a/invensense/mlsdk/mllite/mlsupervisor.c +++ /dev/null @@ -1,587 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -/****************************************************************************** - * - * $Id: mlsupervisor.c 5637 2011-06-14 01:13:53Z mcaramello $ - * - *****************************************************************************/ - -/** - * @defgroup ML_SUPERVISOR - * @brief Basic sensor fusion supervisor functionalities. - * - * @{ - * @file mlsupervisor.c - * @brief Basic sensor fusion supervisor functionalities. - */ - -#include "ml.h" -#include "mldl.h" -#include "mldl_cfg.h" -#include "mltypes.h" -#include "mlinclude.h" -#include "compass.h" -#include "pressure.h" -#include "dmpKey.h" -#include "dmpDefault.h" -#include "mlstates.h" -#include "mlFIFO.h" -#include "mlFIFOHW.h" -#include "mlMathFunc.h" -#include "mlsupervisor.h" -#include "mlmath.h" - -#include "mlsl.h" -#include "mlos.h" - -#include <log.h> -#undef MPL_LOG_TAG -#define MPL_LOG_TAG "MPL-sup" - -static unsigned long lastCompassTime = 0; -static unsigned long polltime = 0; -static unsigned long coiltime = 0; -static int accCount = 0; -static int compassCalStableCount = 0; -static int compassCalCount = 0; -static int coiltimerstart = 0; -static unsigned long disturbtime = 0; -static int disturbtimerstart = 0; - -static yas_filter_if_s f; -static yas_filter_handle_t handle; - -#define SUPERVISOR_DEBUG 0 - -struct inv_supervisor_cb_obj ml_supervisor_cb = { NULL, NULL, NULL, NULL, NULL }; - -/** - * @brief This initializes all variables that should be reset on - */ -void inv_init_sensor_fusion_supervisor(void) -{ - lastCompassTime = 0; - polltime = 0; - inv_obj.acc_state = SF_STARTUP_SETTLE; - accCount = 0; - compassCalStableCount = 0; - compassCalCount = 0; - - yas_filter_init(&f); - f.init(&handle); - - if (ml_supervisor_cb.supervisor_reset_func != NULL) { - ml_supervisor_cb.supervisor_reset_func(); - } -} - -static int MLUpdateCompassCalibration3DOF(int command, long *data, - unsigned long deltaTime __unused) -{ - INVENSENSE_FUNC_START; - int retValue = INV_SUCCESS; - static float m[10][10] = { {0} }; - float mInv[10][10] = { {0} }; - float mTmp[10][10] = { {0} }; - static float xTransY[4] = { 0 }; - float magSqr = 0; - float inpData[3] = { 0 }; - int i, j; - int a, b; - float d; - - switch (command) { - case CAL_ADD_DATA: - inpData[0] = (float)data[0]; - inpData[1] = (float)data[1]; - inpData[2] = (float)data[2]; - m[0][0] += (-2 * inpData[0]) * (-2 * inpData[0]); - m[0][1] += (-2 * inpData[0]) * (-2 * inpData[1]); - m[0][2] += (-2 * inpData[0]) * (-2 * inpData[2]); - m[0][3] += (-2 * inpData[0]); - m[1][0] += (-2 * inpData[1]) * (-2 * inpData[0]); - m[1][1] += (-2 * inpData[1]) * (-2 * inpData[1]); - m[1][2] += (-2 * inpData[1]) * (-2 * inpData[2]); - m[1][3] += (-2 * inpData[1]); - m[2][0] += (-2 * inpData[2]) * (-2 * inpData[0]); - m[2][1] += (-2 * inpData[2]) * (-2 * inpData[1]); - m[2][2] += (-2 * inpData[2]) * (-2 * inpData[2]); - m[2][3] += (-2 * inpData[2]); - m[3][0] += (-2 * inpData[0]); - m[3][1] += (-2 * inpData[1]); - m[3][2] += (-2 * inpData[2]); - m[3][3] += 1.0f; - magSqr = - inpData[0] * inpData[0] + inpData[1] * inpData[1] + - inpData[2] * inpData[2]; - xTransY[0] += (-2 * inpData[0]) * magSqr; - xTransY[1] += (-2 * inpData[1]) * magSqr; - xTransY[2] += (-2 * inpData[2]) * magSqr; - xTransY[3] += magSqr; - break; - case CAL_RUN: - a = 4; - b = a; - for (i = 0; i < b; i++) { - for (j = 0; j < b; j++) { - a = b; - inv_matrix_det_inc(&m[0][0], &mTmp[0][0], &a, i, j); - mInv[j][i] = SIGNM(i + j) * inv_matrix_det(&mTmp[0][0], &a); - } - } - a = b; - d = inv_matrix_det(&m[0][0], &a); - if (d == 0) { - return INV_ERROR; - } - for (i = 0; i < 3; i++) { - float tmp = 0; - for (j = 0; j < 4; j++) { - tmp += mInv[j][i] / d * xTransY[j]; - } - inv_obj.compass_test_bias[i] = - -(long)(tmp * inv_obj.compass_sens / 16384.0f); - } - break; - case CAL_RESET: - for (i = 0; i < 4; i++) { - for (j = 0; j < 4; j++) { - m[i][j] = 0; - } - xTransY[i] = 0; - } - default: - break; - } - return retValue; -} - -/** - * Entry point for Sensor Fusion operations - * @internal - * @param magFB magnetormeter FB - * @param accSF accelerometer SF - */ -static inv_error_t MLSensorFusionSupervisor(double *magFB, long *accSF, - unsigned long deltaTime) -{ - static long prevCompassBias[3] = { 0 }; - static long magMax[3] = { - -1073741824L, - -1073741824L, - -1073741824L - }; - static long magMin[3] = { - 1073741824L, - 1073741824L, - 1073741824L - }; - int gyroMag; - long accMag; - inv_error_t result; - int i; - - if (ml_supervisor_cb.progressive_no_motion_supervisor_func != NULL) { - ml_supervisor_cb.progressive_no_motion_supervisor_func(deltaTime); - } - - gyroMag = inv_get_gyro_sum_of_sqr() >> GYRO_MAG_SQR_SHIFT; - accMag = inv_accel_sum_of_sqr(); - - // Scaling below assumes certain scaling. -#if ACC_MAG_SQR_SHIFT != 16 -#error -#endif - - if (ml_supervisor_cb.sensor_fusion_advanced_func != NULL) { - result = ml_supervisor_cb.sensor_fusion_advanced_func(magFB, deltaTime); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } else if (inv_params_obj.bias_mode & INV_MAG_BIAS_FROM_MOTION) { - //Most basic compass calibration, used only with lite MPL - if (inv_obj.resetting_compass == 1) { - for (i = 0; i < 3; i++) { - magMax[i] = -1073741824L; - magMin[i] = 1073741824L; - prevCompassBias[i] = 0; - } - compassCalStableCount = 0; - compassCalCount = 0; - inv_obj.resetting_compass = 0; - } - if ((gyroMag > 400) || (inv_get_gyro_present() == 0)) { - if (compassCalStableCount < 1000) { - for (i = 0; i < 3; i++) { - if (inv_obj.compass_sensor_data[i] > magMax[i]) { - magMax[i] = inv_obj.compass_sensor_data[i]; - } - if (inv_obj.compass_sensor_data[i] < magMin[i]) { - magMin[i] = inv_obj.compass_sensor_data[i]; - } - } - MLUpdateCompassCalibration3DOF(CAL_ADD_DATA, - inv_obj.compass_sensor_data, - deltaTime); - compassCalStableCount += deltaTime; - for (i = 0; i < 3; i++) { - if (magMax[i] - magMin[i] < - (long long)40 * 1073741824 / inv_obj.compass_sens) { - compassCalStableCount = 0; - } - } - } else { - if (compassCalStableCount >= 1000) { - if (MLUpdateCompassCalibration3DOF - (CAL_RUN, inv_obj.compass_sensor_data, - deltaTime) == INV_SUCCESS) { - inv_obj.got_compass_bias = 1; - inv_obj.compass_accuracy = 3; - for(i=0; i<3; i++) { - inv_obj.compass_bias_error[i] = 35; - } - if (inv_obj.compass_state == SF_UNCALIBRATED) - inv_obj.compass_state = SF_STARTUP_SETTLE; - inv_set_compass_bias(inv_obj.compass_test_bias); - } - compassCalCount = 0; - compassCalStableCount = 0; - for (i = 0; i < 3; i++) { - magMax[i] = -1073741824L; - magMin[i] = 1073741824L; - prevCompassBias[i] = 0; - } - MLUpdateCompassCalibration3DOF(CAL_RESET, - inv_obj.compass_sensor_data, - deltaTime); - } - } - } - compassCalCount += deltaTime; - if (compassCalCount > 20000) { - compassCalCount = 0; - compassCalStableCount = 0; - for (i = 0; i < 3; i++) { - magMax[i] = -1073741824L; - magMin[i] = 1073741824L; - prevCompassBias[i] = 0; - } - MLUpdateCompassCalibration3DOF(CAL_RESET, - inv_obj.compass_sensor_data, - deltaTime); - } - } - - if (inv_obj.acc_state != SF_STARTUP_SETTLE) { - if (((accMag > 260000L) || (accMag < 6000)) || (gyroMag > 2250000L)) { - inv_obj.acc_state = SF_DISTURBANCE; //No accels, fast swing - accCount = 0; - } else { - if ((gyroMag < 400) && (accMag < 200000L) && (accMag > 26214) - && ((inv_obj.acc_state == SF_DISTURBANCE) - || (inv_obj.acc_state == SF_SLOW_SETTLE))) { - accCount += deltaTime; - if (accCount > 0) { - inv_obj.acc_state = SF_FAST_SETTLE; - accCount = 0; - } - } else { - if (inv_obj.acc_state == SF_DISTURBANCE) { - accCount += deltaTime; - if (accCount > 500) { - inv_obj.acc_state = SF_SLOW_SETTLE; - accCount = 0; - } - } else if (inv_obj.acc_state == SF_SLOW_SETTLE) { - accCount += deltaTime; - if (accCount > 1000) { - inv_obj.acc_state = SF_NORMAL; - accCount = 0; - } - } else if (inv_obj.acc_state == SF_FAST_SETTLE) { - accCount += deltaTime; - if (accCount > 250) { - inv_obj.acc_state = SF_NORMAL; - accCount = 0; - } - } - } - } - } - if (inv_obj.acc_state == SF_STARTUP_SETTLE) { - accCount += deltaTime; - if (accCount > 50) { - *accSF = 1073741824; //Startup settling - inv_obj.acc_state = SF_NORMAL; - accCount = 0; - } - } else if ((inv_obj.acc_state == SF_NORMAL) - || (inv_obj.acc_state == SF_SLOW_SETTLE)) { - *accSF = inv_obj.accel_sens * 64; //Normal - } else if (inv_obj.acc_state == SF_DISTURBANCE) { - *accSF = inv_obj.accel_sens * 64; //Don't use accel (should be 0) - } else if (inv_obj.acc_state == SF_FAST_SETTLE) { - *accSF = inv_obj.accel_sens * 512; //Amplify accel - } - if (!inv_get_gyro_present()) { - *accSF = inv_obj.accel_sens * 128; - } - return INV_SUCCESS; -} - -/** - * @brief Entry point for software sensor fusion operations. - * Manages hardware interaction, calls sensor fusion supervisor for - * bias calculation. - * @return error code. INV_SUCCESS if no error occurred. - */ -inv_error_t inv_accel_compass_supervisor(void) -{ - inv_error_t result; - int adjustSensorFusion = 0; - long accSF = 1073741824; - static double magFB = 0; - long magSensorData[3]; - float fcin[3]; - float fcout[3]; - - - if (inv_compass_present()) { /* check for compass data */ - int i, j; - long long tmp[3] = { 0 }; - long long tmp64 = 0; - unsigned long ctime = inv_get_tick_count(); - if (((inv_get_compass_id() == COMPASS_ID_AK8975) && - ((ctime - polltime) > 20)) || - (polltime == 0 || ((ctime - polltime) > 20))) { // 50Hz max - if (SUPERVISOR_DEBUG) { - MPL_LOGV("Fetch compass data from inv_process_fifo_packet\n"); - MPL_LOGV("delta time = %ld\n", ctime - polltime); - } - polltime = ctime; - result = inv_get_compass_data(magSensorData); - /* external slave wants the data even if there is an error */ - if (result && !inv_obj.external_slave_callback) { - if (SUPERVISOR_DEBUG) { - MPL_LOGW("inv_get_compass_data returned %d\n", result); - } - } else { - unsigned long compassTime = inv_get_tick_count(); - unsigned long deltaTime = 1; - - if (result == INV_SUCCESS) { - if (lastCompassTime != 0) { - deltaTime = compassTime - lastCompassTime; - } - lastCompassTime = compassTime; - adjustSensorFusion = 1; - if (inv_obj.got_init_compass_bias == 0) { - inv_obj.got_init_compass_bias = 1; - for (i = 0; i < 3; i++) { - inv_obj.init_compass_bias[i] = magSensorData[i]; - } - } - for (i = 0; i < 3; i++) { - inv_obj.compass_sensor_data[i] = (long)magSensorData[i]; - inv_obj.compass_sensor_data[i] -= - inv_obj.init_compass_bias[i]; - tmp[i] = ((long long)inv_obj.compass_sensor_data[i]) - * inv_obj.compass_sens / 16384; - tmp[i] -= inv_obj.compass_bias[i]; - tmp[i] = (tmp[i] * inv_obj.compass_scale[i]) / 65536L; - } - for (i = 0; i < 3; i++) { - tmp64 = 0; - for (j = 0; j < 3; j++) { - tmp64 += (long long) tmp[j] * - inv_obj.compass_cal[i * 3 + j]; - } - inv_obj.compass_calibrated_data[i] = - (long) (tmp64 / inv_obj.compass_sens); - } - //Additions: - if ((inv_obj.compass_state == 1) && - (inv_obj.compass_overunder == 0)) { - if (disturbtimerstart == 0) { - disturbtimerstart = 1; - disturbtime = ctime; - } - } else { - disturbtimerstart = 0; - } - - if (inv_obj.compass_overunder) { - if (coiltimerstart == 0) { - coiltimerstart = 1; - coiltime = ctime; - } - } - if (coiltimerstart == 1) { - if (ctime - coiltime > 3000) { - inv_obj.flags[INV_COMPASS_OFFSET_VALID] = 0; - inv_set_compass_offset(); - inv_reset_compass_calibration(); - coiltimerstart = 0; - } - } - - if (disturbtimerstart == 1) { - if (ctime - disturbtime > 10000) { - inv_obj.flags[INV_COMPASS_OFFSET_VALID] = 0; - inv_set_compass_offset(); - inv_reset_compass_calibration(); - MPL_LOGI("Compass reset! inv_reset_compass_calibration \n"); - disturbtimerstart = 0; - } - } - } - if (inv_obj.external_slave_callback) { - result = inv_obj.external_slave_callback(&inv_obj); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } - -#ifdef APPLY_COMPASS_FILTER - if (inv_get_compass_id() == COMPASS_ID_YAS530) - { - fcin[0] = 1000*((float)inv_obj.compass_calibrated_data[0] /65536.f); - fcin[1] = 1000*((float)inv_obj.compass_calibrated_data[1] /65536.f); - fcin[2] = 1000*((float)inv_obj.compass_calibrated_data[2] /65536.f); - - f.update(&handle, fcin, fcout); - - inv_obj.compass_calibrated_data[0] = (long)(fcout[0]*65536.f/1000.f); - inv_obj.compass_calibrated_data[1] = (long)(fcout[1]*65536.f/1000.f); - inv_obj.compass_calibrated_data[2] = (long)(fcout[2]*65536.f/1000.f); - } -#endif - - if (SUPERVISOR_DEBUG) { - MPL_LOGI("RM : %+10.6f %+10.6f %+10.6f\n", - (float)inv_obj.compass_calibrated_data[0] / - 65536.f, - (float)inv_obj.compass_calibrated_data[1] / - 65536.f, - (float)inv_obj.compass_calibrated_data[2] / - 65536.f); - } - magFB = 1.0; - adjustSensorFusion = 1; - result = MLSensorFusionSupervisor(&magFB, &accSF, deltaTime); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } - } - } else { - //No compass, but still modify accel - unsigned long ctime = inv_get_tick_count(); - if (polltime == 0 || ((ctime - polltime) > 80)) { // at the beginning AND every 1/8 second - unsigned long deltaTime = 1; - adjustSensorFusion = 1; - magFB = 0; - if (polltime != 0) { - deltaTime = ctime - polltime; - } - MLSensorFusionSupervisor(&magFB, &accSF, deltaTime); - polltime = ctime; - } - } - if (adjustSensorFusion == 1) { - unsigned char regs[4]; - static int prevAccSF = 1; - - if (accSF != prevAccSF) { - regs[0] = (unsigned char)((accSF >> 24) & 0xff); - regs[1] = (unsigned char)((accSF >> 16) & 0xff); - regs[2] = (unsigned char)((accSF >> 8) & 0xff); - regs[3] = (unsigned char)(accSF & 0xff); - result = inv_set_mpu_memory(KEY_D_0_96, 4, regs); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - prevAccSF = accSF; - } - } - - if (ml_supervisor_cb.accel_compass_fusion_func != NULL) - ml_supervisor_cb.accel_compass_fusion_func(magFB); - - return INV_SUCCESS; -} - -/** - * @brief Entry point for software sensor fusion operations. - * Manages hardware interaction, calls sensor fusion supervisor for - * bias calculation. - * @return INV_SUCCESS or non-zero error code on error. - */ -inv_error_t inv_pressure_supervisor(void) -{ - long pressureSensorData[1]; - static unsigned long pressurePolltime = 0; - if (inv_pressure_present()) { /* check for pressure data */ - unsigned long ctime = inv_get_tick_count(); - if ((pressurePolltime == 0 || ((ctime - pressurePolltime) > 80))) { //every 1/8 second - if (SUPERVISOR_DEBUG) { - MPL_LOGV("Fetch pressure data\n"); - MPL_LOGV("delta time = %ld\n", ctime - pressurePolltime); - } - pressurePolltime = ctime; - if (inv_get_pressure_data(&pressureSensorData[0]) == INV_SUCCESS) { - inv_obj.pressure = pressureSensorData[0]; - } - } - } - return INV_SUCCESS; -} - -/** - * @brief Resets the magnetometer calibration algorithm. - * @return INV_SUCCESS if successful, or non-zero error code otherwise. - */ -inv_error_t inv_reset_compass_calibration(void) -{ - if (inv_params_obj.bias_mode & INV_MAG_BIAS_FROM_GYRO) { - if (ml_supervisor_cb.reset_advanced_compass_func != NULL) - ml_supervisor_cb.reset_advanced_compass_func(); - } - MLUpdateCompassCalibration3DOF(CAL_RESET, inv_obj.compass_sensor_data, 1); - - inv_obj.compass_bias_error[0] = P_INIT; - inv_obj.compass_bias_error[1] = P_INIT; - inv_obj.compass_bias_error[2] = P_INIT; - inv_obj.compass_accuracy = 0; - - inv_obj.got_compass_bias = 0; - inv_obj.got_init_compass_bias = 0; - inv_obj.compass_state = SF_UNCALIBRATED; - inv_obj.resetting_compass = 1; - - return INV_SUCCESS; -} - -/** - * @} - */ diff --git a/invensense/mlsdk/mllite/mlsupervisor.h b/invensense/mlsdk/mllite/mlsupervisor.h deleted file mode 100644 index 62b427e..0000000 --- a/invensense/mlsdk/mllite/mlsupervisor.h +++ /dev/null @@ -1,71 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -/****************************************************************************** - * - * $Id: mlsupervisor.h 5629 2011-06-11 03:13:08Z mcaramello $ - * - *****************************************************************************/ - -#ifndef __INV_SUPERVISOR_H__ -#define __INV_SUPERVISOR_H__ - -#include "mltypes.h" -#ifdef INV_INCLUDE_LEGACY_HEADERS -#include "mlsupervisor_legacy.h" -#endif - -// The value of inv_get_gyro_sum_of_sqr is scaled such the (1 dps)^2 = 2^this_number -// this number must be >=0 and even. -#define GYRO_MAG_SQR_SHIFT 6 -// The value of inv_accel_sum_of_sqr is scaled such that (1g)^2 = 2^this_number -#define ACC_MAG_SQR_SHIFT 16 - -#define CAL_RUN 0 -#define CAL_RESET 1 -#define CAL_CHANGED_DATA 2 -#define CAL_RESET_TIME 3 -#define CAL_ADD_DATA 4 -#define CAL_COMBINE 5 - -#define P_INIT 100000 - -#define SF_NORMAL 0 -#define SF_DISTURBANCE 1 -#define SF_FAST_SETTLE 2 -#define SF_SLOW_SETTLE 3 -#define SF_STARTUP_SETTLE 4 -#define SF_UNCALIBRATED 5 - -struct inv_supervisor_cb_obj { - void (*accel_compass_fusion_func) (double magFB); - inv_error_t(*progressive_no_motion_supervisor_func) (unsigned long - deltaTime); - inv_error_t(*sensor_fusion_advanced_func) (double *magFB, - unsigned long deltaTime); - void (*reset_advanced_compass_func) (void); - void (*supervisor_reset_func) (void); -}; - -inv_error_t inv_reset_compass_calibration(void); -void inv_init_sensor_fusion_supervisor(void); -inv_error_t inv_accel_compass_supervisor(void); -inv_error_t inv_pressure_supervisor(void); - -#endif // __INV_SUPERVISOR_H__ - diff --git a/invensense/mlsdk/mllite/pressure.c b/invensense/mlsdk/mllite/pressure.c deleted file mode 100644 index f32229f..0000000 --- a/invensense/mlsdk/mllite/pressure.c +++ /dev/null @@ -1,166 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -/******************************************************************************* - * - * $Id: pressure.c 4120 2010-11-21 19:56:16Z mcaramello $ - * - *******************************************************************************/ - -/** - * @defgroup PRESSUREDL - * @brief Motion Library - Pressure Driver Layer. - * Provides the interface to setup and handle a pressure sensor - * connected to either the primary or the seconday I2C interface - * of the gyroscope. - * - * @{ - * @file pressure.c - * @brief Pressure setup and handling methods. -**/ - -/* ------------------ */ -/* - Include Files. - */ -/* ------------------ */ - -#include <string.h> - -#include "pressure.h" - -#include "ml.h" -#include "mlinclude.h" -#include "dmpKey.h" -#include "mlFIFO.h" -#include "mldl.h" -#include "mldl_cfg.h" -#include "mlMathFunc.h" -#include "mlsl.h" -#include "mlos.h" - -#include "log.h" -#undef MPL_LOG_TAG -#define MPL_LOG_TAG "MPL-pressure" - -#define _pressureDebug(x) //{x} - -/* --------------------- */ -/* - Global Variables. - */ -/* --------------------- */ - -/* --------------------- */ -/* - Static Variables. - */ -/* --------------------- */ - -/* --------------- */ -/* - Prototypes. - */ -/* --------------- */ - -/* -------------- */ -/* - Externs. - */ -/* -------------- */ - -/* -------------- */ -/* - Functions. - */ -/* -------------- */ - -/** - * @brief Is a pressure configured and used by MPL? - * @return INV_SUCCESS if the pressure is present. - */ -unsigned char inv_pressure_present(void) -{ - INVENSENSE_FUNC_START; - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - if (NULL != mldl_cfg->pressure && - NULL != mldl_cfg->pressure->resume && - mldl_cfg->requested_sensors & INV_THREE_AXIS_PRESSURE) - return TRUE; - else - return FALSE; -} - -/** - * @brief Query the pressure slave address. - * @return The 7-bit pressure slave address. - */ -unsigned char inv_get_pressure_slave_addr(void) -{ - INVENSENSE_FUNC_START; - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - if (NULL != mldl_cfg->pdata) - return mldl_cfg->pdata->pressure.address; - else - return 0; -} - -/** - * @brief Get the ID of the pressure in use. - * @return ID of the pressure in use. - */ -unsigned short inv_get_pressure_id(void) -{ - INVENSENSE_FUNC_START; - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - if (NULL != mldl_cfg->pressure) { - return mldl_cfg->pressure->id; - } - return ID_INVALID; -} - -/** - * @brief Get a sample of pressure data from the device. - * @param data - * the buffer to store the pressure raw data for - * X, Y, and Z axes. - * @return INV_SUCCESS or a non-zero error code. - */ -inv_error_t inv_get_pressure_data(long *data) -{ - inv_error_t result = INV_SUCCESS; - unsigned char tmp[3]; - struct mldl_cfg *mldl_cfg = inv_get_dl_config(); - - /*--- read the pressure sensor data. - The pressure read function may return an INV_ERROR_PRESSURE_* errors - when the data is not ready (read/refresh frequency mismatch) or - the internal data sampling timing of the device was not respected. - Returning the error code will make the sensor fusion supervisor - ignore this pressure data sample. ---*/ - result = (inv_error_t) inv_mpu_read_pressure(mldl_cfg, - inv_get_serial_handle(), - inv_get_serial_handle(), tmp); - if (result) { - _pressureDebug(MPL_LOGV - ("inv_mpu_read_pressure returned %d (%s)\n", result, - MLErrorCode(result))); - return result; - } - if (EXT_SLAVE_BIG_ENDIAN == mldl_cfg->pressure->endian) - data[0] = - (((long)((signed char)tmp[0])) << 16) + (((long)tmp[1]) << 8) + - ((long)tmp[2]); - else - data[0] = - (((long)((signed char)tmp[2])) << 16) + (((long)tmp[1]) << 8) + - ((long)tmp[0]); - - return INV_SUCCESS; -} - -/** - * @} - */ diff --git a/invensense/mlsdk/mllite/pressure.h b/invensense/mlsdk/mllite/pressure.h deleted file mode 100644 index 77c5d43..0000000 --- a/invensense/mlsdk/mllite/pressure.h +++ /dev/null @@ -1,71 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -/******************************************************************************* - * - * $Id: pressure.h 4092 2010-11-17 23:49:22Z kkeal $ - * - *******************************************************************************/ - -#ifndef PRESSURE_H -#define PRESSURE_H - -#ifdef __cplusplus -extern "C" { -#endif - -#include "mltypes.h" -#include "mpu.h" -#ifdef INV_INCLUDE_LEGACY_HEADERS -#include "pressure_legacy.h" -#endif - - /* ------------ */ - /* - Defines. - */ - /* ------------ */ - -#define USE_PRESSURE_BMA 0 - -#define PRESSURE_SLAVEADDR_INVALID 0x00 -#define PRESSURE_SLAVEADDR_BMA085 0x77 - -/* - Define default pressure to use if no selection is made -*/ -#if USE_PRESSURE_BMA -#define DEFAULT_PRESSURE_TYPE PRESSURE_ID_BMA -#endif - - /* --------------- */ - /* - Structures. - */ - /* --------------- */ - - /* --------------------- */ - /* - Function p-types. - */ - /* --------------------- */ - - unsigned char inv_pressure_present(void); - unsigned char inv_get_pressure_slave_addr(void); - inv_error_t inv_suspend_pressure(void); - inv_error_t inv_resume_presure(void); - inv_error_t inv_get_pressure_data(long *data); - unsigned short inv_get_pressure_id(void); - -#ifdef __cplusplus -} -#endif -#endif // PRESSURE_H diff --git a/invensense/mlsdk/mlutils/checksum.c b/invensense/mlsdk/mlutils/checksum.c deleted file mode 100644 index a97477d..0000000 --- a/invensense/mlsdk/mlutils/checksum.c +++ /dev/null @@ -1,16 +0,0 @@ -#include "mltypes.h" - -/** bernstein hash, from public domain source */ - -uint32_t inv_checksum(unsigned char *str, int len) -{ - uint32_t hash = 5381; - int i, c; - - for (i = 0; i < len; i++) { - c = *(str + i); - hash = ((hash << 5) + hash) + c; /* hash * 33 + c */ - } - - return hash; -} diff --git a/invensense/mlsdk/mlutils/checksum.h b/invensense/mlsdk/mlutils/checksum.h deleted file mode 100644 index 4d3f046..0000000 --- a/invensense/mlsdk/mlutils/checksum.h +++ /dev/null @@ -1,18 +0,0 @@ -#ifndef MPLCHECKSUM_H -#define MPLCHECKSUM_H - -#ifdef __cplusplus -extern "C" { -#endif - -#include "mltypes.h" -#ifdef INV_INCLUDE_LEGACY_HEADERS -#include "checksum_legacy.h" -#endif - - uint32_t inv_checksum(unsigned char *str, int len); - -#ifdef __cplusplus -} -#endif -#endif /* MPLCHECKSUM_H */ diff --git a/invensense/mlsdk/mlutils/mputest.c b/invensense/mlsdk/mlutils/mputest.c deleted file mode 100644 index 4a598ff..0000000 --- a/invensense/mlsdk/mlutils/mputest.c +++ /dev/null @@ -1,1101 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -/****************************************************************************** - * - * $Id: mputest.c 5637 2011-06-14 01:13:53Z mcaramello $ - * - *****************************************************************************/ - -/* - * MPU Self Test functions - * Version 2.4 - * May 13th, 2011 - */ - -/** - * @defgroup MPU_SELF_TEST - * @brief MPU Self Test functions - * - * These functions provide an in-site test of the MPU 3xxx chips. The main - * entry point is the inv_mpu_test function. - * This runs the tests (as described in the accompanying documentation) and - * writes a configuration file containing initial calibration data. - * inv_mpu_test returns INV_SUCCESS if the chip passes the tests. - * Otherwise, an error code is returned. - * The functions in this file rely on MLSL and MLOS: refer to the MPL - * documentation for more information regarding the system interface - * files. - * - * @{ - * @file mputest.c - * @brief MPU Self Test routines for assessing gyro sensor status - * after surface mount has happened on the target host platform. - */ - -#include <stdio.h> -#include <time.h> -#include <string.h> -#include <math.h> -#include <stdlib.h> -#ifdef LINUX -#include <unistd.h> -#endif - -#include "mpu.h" -#include "mldl.h" -#include "mldl_cfg.h" -#include "accel.h" -#include "mlFIFO.h" -#include "slave.h" -#include "ml.h" -#include "ml_stored_data.h" -#include "checksum.h" - -#include "mlsl.h" -#include "mlos.h" - -#include "log.h" -#undef MPL_LOG_TAG -#define MPL_LOG_TAG "MPL-mpust" - -#ifdef __cplusplus -extern "C" { -#endif - -/* - Defines -*/ - -#define VERBOSE_OUT 0 - -/*#define TRACK_IDS*/ - -/*--- Test parameters defaults. See set_test_parameters for more details ---*/ - -#define DEF_MPU_ADDR (0x68) /* I2C address of the mpu */ - -#if (USE_SENSE_PATH_TEST == 1) /* gyro full scale dps */ -#define DEF_GYRO_FULLSCALE (2000) -#else -#define DEF_GYRO_FULLSCALE (250) -#endif - -#define DEF_GYRO_SENS (32768.f / DEF_GYRO_FULLSCALE) - /* gyro sensitivity LSB/dps */ -#define DEF_PACKET_THRESH (75) /* 600 ms / 8ms / sample */ -#define DEF_TOTAL_TIMING_TOL (.03f) /* 3% = 2 pkts + 1% proc tol. */ -#define DEF_BIAS_THRESH (40 * DEF_GYRO_SENS) - /* 40 dps in LSBs */ -#define DEF_RMS_THRESH (0.4f * DEF_GYRO_SENS) - /* 0.4 dps-rms in LSB-rms */ -#define DEF_SP_SHIFT_THRESH_CUST (.05f) /* 5% */ -#define DEF_TEST_TIME_PER_AXIS (600) /* ms of time spent collecting - data for each axis, - multiple of 600ms */ -#define DEF_N_ACCEL_SAMPLES (20) /* num of accel samples to - average from, if applic. */ - -#define ML_INIT_CAL_LEN (36) /* length in bytes of - calibration data file */ - -/* - Macros -*/ - -#define CHECK_TEST_ERROR(x) \ - if (x) { \ - MPL_LOGI("error %d @ %s|%d\n", x, __func__, __LINE__); \ - return (-1); \ - } - -#define SHORT_TO_TEMP_C(shrt) (((shrt+13200.f)/280.f)+35.f) - -#define USHORT_TO_CHARS(chr,shrt) (chr)[0]=(unsigned char)(shrt>>8); \ - (chr)[1]=(unsigned char)(shrt); - -#define UINT_TO_CHARS(chr,ui) (chr)[0]=(unsigned char)(ui>>24); \ - (chr)[1]=(unsigned char)(ui>>16); \ - (chr)[2]=(unsigned char)(ui>>8); \ - (chr)[3]=(unsigned char)(ui); - -#define FLOAT_TO_SHORT(f) ( \ - (fabs(f-(short)f)>=0.5) ? ( \ - ((short)f)+(f<0?(-1):(+1))) : \ - ((short)f) \ - ) - -#define CHARS_TO_SHORT(d) ((((short)(d)[0])<<8)+(d)[1]) -#define CHARS_TO_SHORT_SWAPPED(d) ((((short)(d)[1])<<8)+(d)[0]) - -#define ACCEL_UNPACK(d) d[0], d[1], d[2], d[3], d[4], d[5] - -#define CHECK_NACKS(d) ( \ - d[0]==0xff && d[1]==0xff && \ - d[2]==0xff && d[3]==0xff && \ - d[4]==0xff && d[5]==0xff \ - ) - -/* - Prototypes -*/ - -static inv_error_t test_get_data( - void *mlsl_handle, - struct mldl_cfg *mputestCfgPtr, - short *vals); - -/* - Types -*/ -typedef struct { - float gyro_sens; - int gyro_fs; - int packet_thresh; - float total_timing_tol; - int bias_thresh; - float rms_threshSq; - float sp_shift_thresh; - unsigned int test_time_per_axis; - unsigned short accel_samples; -} tTestSetup; - -/* - Global variables -*/ -static unsigned char dataout[20]; -static unsigned char dataStore[ML_INIT_CAL_LEN]; - -static tTestSetup test_setup = { - DEF_GYRO_SENS, - DEF_GYRO_FULLSCALE, - DEF_PACKET_THRESH, - DEF_TOTAL_TIMING_TOL, - (int)DEF_BIAS_THRESH, - DEF_RMS_THRESH * DEF_RMS_THRESH, - DEF_SP_SHIFT_THRESH_CUST, - DEF_TEST_TIME_PER_AXIS, - DEF_N_ACCEL_SAMPLES -}; - -static float adjGyroSens; -static char a_name[3][2] = {"X", "Y", "Z"}; - -/* - NOTE : modify get_slave_descr parameter below to reflect - the DEFAULT accelerometer in use. The accelerometer in use - can be modified at run-time using the inv_test_setup_accel API. - NOTE : modify the expected z axis orientation (Z axis pointing - upward or downward) -*/ - -signed char g_z_sign = +1; -struct mldl_cfg *mputestCfgPtr = NULL; - -#ifndef LINUX -/** - * @internal - * @brief usec precision sleep function. - * @param number of micro seconds (us) to sleep for. - */ -static void usleep(unsigned long t) -{ - unsigned long start = inv_get_tick_count(); - while (inv_get_tick_count()-start < t / 1000); -} -#endif - -/** - * @brief Modify the self test limits from their default values. - * - * @param slave_addr - * the slave address the MPU device is setup to respond at. - * The default is DEF_MPU_ADDR = 0x68. - * @param sensitivity - * the read sensitivity of the device in LSB/dps as it is trimmed. - * NOTE : if using the self test as part of the MPL, the - * sensitivity the different sensitivity trims are already - * taken care of. - * @param p_thresh - * number of packets expected to be received in a 600 ms period. - * Depends on the sampling frequency of choice (set by default to - * 125 Hz) and low pass filter cut-off frequency selection (set - * to 42 Hz). - * The default is DEF_PACKET_THRESH = 75 packets. - * @param total_time_tol - * time skew tolerance, taking into account imprecision in turning - * the FIFO on and off and the processor time imprecision (for - * 1 GHz processor). - * The default is DEF_TOTAL_TIMING_TOL = 3 %, about 2 packets. - * @param bias_thresh - * bias level threshold, the maximun acceptable no motion bias - * for a production quality part. - * The default is DEF_BIAS_THRESH = 40 dps. - * @param rms_thresh - * the limit standard deviation (=~ RMS) set to assess whether - * the noise level on the part is acceptable. - * The default is DEF_RMS_THRESH = 0.2 dps-rms. - * @param sp_shift_thresh - * the limit shift applicable to the Sense Path self test - * calculation. - */ -void inv_set_test_parameters(unsigned int slave_addr, float sensitivity, - int p_thresh, float total_time_tol, - int bias_thresh, float rms_thresh, - float sp_shift_thresh, - unsigned short accel_samples) -{ - mputestCfgPtr->addr = slave_addr; - test_setup.gyro_sens = sensitivity; - test_setup.gyro_fs = (int)(32768.f / sensitivity); - test_setup.packet_thresh = p_thresh; - test_setup.total_timing_tol = total_time_tol; - test_setup.bias_thresh = bias_thresh; - test_setup.rms_threshSq = rms_thresh * rms_thresh; - test_setup.sp_shift_thresh = sp_shift_thresh; - test_setup.accel_samples = accel_samples; -} - -#define X (0) -#define Y (1) -#define Z (2) - -/** - * @brief Test the gyroscope sensor. - * Implements the core logic of the MPU Self Test. - * Produces the PASS/FAIL result. Loads the calculated gyro biases - * and temperature datum into the corresponding pointers. - * @param mlsl_handle - * serial interface handle to allow serial communication with the - * device, both gyro and accelerometer. - * @param gyro_biases - * output pointer to store the initial bias calculation provided - * by the MPU Self Test. Requires 3 elements for gyro X, Y, - * and Z. - * @param temp_avg - * output pointer to store the initial average temperature as - * provided by the MPU Self Test. - * @param perform_full_test - * If 1: - * calculates offset, drive frequency, and noise and compare it - * against set thresholds. - * Report also the final result using a bit-mask like error code - * as explained in return value description. - * When 0: - * skip the noise and drive frequency calculation and pass/fail - * assessment; simply calculates the gyro biases. - * - * @return 0 on success. - * On error, the return value is a bitmask representing: - * 0, 1, 2 Failures with PLLs on X, Y, Z gyros respectively - * (decimal values will be 1, 2, 4 respectively). - * 3, 4, 5 Excessive offset with X, Y, Z gyros respectively - * (decimal values will be 8, 16, 32 respectively). - * 6, 7, 8 Excessive noise with X, Y, Z gyros respectively - * (decimal values will be 64, 128, 256 respectively). - * 9 If any of the RMS noise values is zero, it could be - * due to a non-functional gyro or FIFO/register failure. - * (decimal value will be 512). - * (decimal values will be 1024, 2048, 4096 respectively). - */ -int inv_test_gyro_3050(void *mlsl_handle, - short gyro_biases[3], short *temp_avg, - uint_fast8_t perform_full_test) -{ - int retVal = 0; - inv_error_t result; - - int total_count = 0; - int total_count_axis[3] = {0, 0, 0}; - int packet_count; - short x[DEF_TEST_TIME_PER_AXIS / 8 * 4] = {0}; - short y[DEF_TEST_TIME_PER_AXIS / 8 * 4] = {0}; - short z[DEF_TEST_TIME_PER_AXIS / 8 * 4] = {0}; - unsigned char regs[7]; - - int temperature; - float Avg[3]; - float RMS[3]; - int i, j, tmp; - char tmpStr[200]; - - temperature = 0; - - /* sample rate = 8ms */ - result = inv_serial_single_write( - mlsl_handle, mputestCfgPtr->addr, - MPUREG_SMPLRT_DIV, 0x07); - CHECK_TEST_ERROR(result); - - regs[0] = 0x03; /* filter = 42Hz, analog_sample rate = 1 KHz */ - switch (DEF_GYRO_FULLSCALE) { - case 2000: - regs[0] |= 0x18; - break; - case 1000: - regs[0] |= 0x10; - break; - case 500: - regs[0] |= 0x08; - break; - case 250: - default: - regs[0] |= 0x00; - break; - } - result = inv_serial_single_write( - mlsl_handle, mputestCfgPtr->addr, - MPUREG_DLPF_FS_SYNC, regs[0]); - CHECK_TEST_ERROR(result); - result = inv_serial_single_write( - mlsl_handle, mputestCfgPtr->addr, - MPUREG_INT_CFG, 0x00); - CHECK_TEST_ERROR(result); - - /* 1st, timing test */ - for (j = 0; j < 3; j++) { - - MPL_LOGI("Collecting gyro data from %s gyro PLL\n", a_name[j]); - - /* turn on all gyros, use gyro X for clocking - Set to Y and Z for 2nd and 3rd iteration */ - result = inv_serial_single_write( - mlsl_handle, mputestCfgPtr->addr, - MPUREG_PWR_MGM, j + 1); - CHECK_TEST_ERROR(result); - - /* wait for 2 ms after switching clock source */ - usleep(2000); - - /* we will enable XYZ gyro in FIFO and nothing else */ - result = inv_serial_single_write( - mlsl_handle, mputestCfgPtr->addr, - MPUREG_FIFO_EN2, 0x00); - CHECK_TEST_ERROR(result); - /* enable/reset FIFO */ - result = inv_serial_single_write( - mlsl_handle, mputestCfgPtr->addr, - MPUREG_USER_CTRL, BIT_FIFO_EN | BIT_FIFO_RST); - CHECK_TEST_ERROR(result); - - tmp = (int)(test_setup.test_time_per_axis / 600); - while (tmp-- > 0) { - /* enable XYZ gyro in FIFO and nothing else */ - result = inv_serial_single_write(mlsl_handle, - mputestCfgPtr->addr, MPUREG_FIFO_EN1, - BIT_GYRO_XOUT | BIT_GYRO_YOUT | BIT_GYRO_ZOUT); - CHECK_TEST_ERROR(result); - - /* wait for 600 ms for data */ - usleep(600000); - - /* stop storing gyro in the FIFO */ - result = inv_serial_single_write( - mlsl_handle, mputestCfgPtr->addr, - MPUREG_FIFO_EN1, 0x00); - CHECK_TEST_ERROR(result); - - /* Getting number of bytes in FIFO */ - result = inv_serial_read( - mlsl_handle, mputestCfgPtr->addr, - MPUREG_FIFO_COUNTH, 2, dataout); - CHECK_TEST_ERROR(result); - /* number of 6 B packets in the FIFO */ - packet_count = CHARS_TO_SHORT(dataout) / 6; - sprintf(tmpStr, "Packet Count: %d - ", packet_count); - - if ( abs(packet_count - test_setup.packet_thresh) - <= /* Within +/- total_timing_tol % range */ - test_setup.total_timing_tol * test_setup.packet_thresh) { - for (i = 0; i < packet_count; i++) { - /* getting FIFO data */ - result = inv_serial_read_fifo(mlsl_handle, - mputestCfgPtr->addr, 6, dataout); - CHECK_TEST_ERROR(result); - x[total_count + i] = CHARS_TO_SHORT(&dataout[0]); - y[total_count + i] = CHARS_TO_SHORT(&dataout[2]); - z[total_count + i] = CHARS_TO_SHORT(&dataout[4]); - if (VERBOSE_OUT) { - MPL_LOGI("Gyros %-4d : %+13d %+13d %+13d\n", - total_count + i, x[total_count + i], - y[total_count + i], z[total_count + i]); - } - } - total_count += packet_count; - total_count_axis[j] += packet_count; - sprintf(tmpStr, "%sOK", tmpStr); - } else { - if (perform_full_test) - retVal |= 1 << j; - sprintf(tmpStr, "%sNOK - samples ignored", tmpStr); - } - MPL_LOGI("%s\n", tmpStr); - } - - /* remove gyros from FIFO */ - result = inv_serial_single_write( - mlsl_handle, mputestCfgPtr->addr, - MPUREG_FIFO_EN1, 0x00); - CHECK_TEST_ERROR(result); - - /* Read Temperature */ - result = inv_serial_read(mlsl_handle, mputestCfgPtr->addr, - MPUREG_TEMP_OUT_H, 2, dataout); - CHECK_TEST_ERROR(result); - temperature += (short)CHARS_TO_SHORT(dataout); - } - - MPL_LOGI("\n"); - MPL_LOGI("Total %d samples\n", total_count); - MPL_LOGI("\n"); - - /* 2nd, check bias from X and Y PLL clock source */ - tmp = total_count != 0 ? total_count : 1; - for (i = 0, - Avg[X] = .0f, Avg[Y] = .0f, Avg[Z] = .0f; - i < total_count; i++) { - Avg[X] += 1.f * x[i] / tmp; - Avg[Y] += 1.f * y[i] / tmp; - Avg[Z] += 1.f * z[i] / tmp; - } - MPL_LOGI("bias : %+13.3f %+13.3f %+13.3f (LSB)\n", - Avg[X], Avg[Y], Avg[Z]); - if (VERBOSE_OUT) { - MPL_LOGI(" : %+13.3f %+13.3f %+13.3f (dps)\n", - Avg[X] / adjGyroSens, - Avg[Y] / adjGyroSens, - Avg[Z] / adjGyroSens); - } - if(perform_full_test) { - for (j = 0; j < 3; j++) { - if (fabs(Avg[j]) > test_setup.bias_thresh) { - MPL_LOGI("%s-Gyro bias (%.0f) exceeded threshold " - "(threshold = %d)\n", - a_name[j], Avg[j], test_setup.bias_thresh); - retVal |= 1 << (3+j); - } - } - } - - /* 3rd, check RMS */ - if (perform_full_test) { - for (i = 0, - RMS[X] = 0.f, RMS[Y] = 0.f, RMS[Z] = 0.f; - i < total_count; i++) { - RMS[X] += (x[i] - Avg[X]) * (x[i] - Avg[X]); - RMS[Y] += (y[i] - Avg[Y]) * (y[i] - Avg[Y]); - RMS[Z] += (z[i] - Avg[Z]) * (z[i] - Avg[Z]); - } - for (j = 0; j < 3; j++) { - if (RMS[j] > test_setup.rms_threshSq * total_count) { - MPL_LOGI("%s-Gyro RMS (%.2f) exceeded threshold " - "(threshold = %.2f)\n", - a_name[j], sqrt(RMS[j] / total_count), - sqrt(test_setup.rms_threshSq)); - retVal |= 1 << (6+j); - } - } - - MPL_LOGI("RMS : %+13.3f %+13.3f %+13.3f (LSB-rms)\n", - sqrt(RMS[X] / total_count), - sqrt(RMS[Y] / total_count), - sqrt(RMS[Z] / total_count)); - if (VERBOSE_OUT) { - MPL_LOGI("RMS ^ 2 : %+13.3f %+13.3f %+13.3f\n", - RMS[X] / total_count, - RMS[Y] / total_count, - RMS[Z] / total_count); - } - - if (RMS[X] == 0 || RMS[Y] == 0 || RMS[Z] == 0) { - /* If any of the RMS noise value returns zero, - then we might have dead gyro or FIFO/register failure, - the part is sleeping, or the part is not responsive */ - retVal |= 1 << 9; - } - } - - /* 4th, temperature average */ - temperature /= 3; - if (VERBOSE_OUT) - MPL_LOGI("Temperature : %+13.3f %13s %13s (deg. C)\n", - SHORT_TO_TEMP_C(temperature), "", ""); - - /* load into final storage */ - *temp_avg = (short)temperature; - gyro_biases[X] = FLOAT_TO_SHORT(Avg[X]); - gyro_biases[Y] = FLOAT_TO_SHORT(Avg[Y]); - gyro_biases[Z] = FLOAT_TO_SHORT(Avg[Z]); - - return retVal; -} - -#ifdef TRACK_IDS -/** - * @internal - * @brief Retrieve the unique MPU device identifier from the internal OTP - * bank 0 memory. - * @param mlsl_handle - * serial interface handle to allow serial communication with the - * device, both gyro and accelerometer. - * @return 0 on success, a non-zero error code from the serial layer on error. - */ -static inv_error_t test_get_mpu_id(void *mlsl_handle) -{ - inv_error_t result; - unsigned char otp0[8]; - - - result = - inv_serial_read_mem(mlsl_handle, mputestCfgPtr->addr, - (BIT_PRFTCH_EN | BIT_CFG_USER_BANK | MPU_MEM_OTP_BANK_0) << 8 | - 0x00, 6, otp0); - if (result) - goto close; - - MPL_LOGI("\n"); - MPL_LOGI("DIE_ID : %06X\n", - ((int)otp0[1] << 8 | otp0[0]) & 0x1fff); - MPL_LOGI("WAFER_ID : %06X\n", - (((int)otp0[2] << 8 | otp0[1]) & 0x03ff ) >> 5); - MPL_LOGI("A_LOT_ID : %06X\n", - ( ((int)otp0[4] << 16 | (int)otp0[3] << 8 | - otp0[2]) & 0x3ffff) >> 2); - MPL_LOGI("W_LOT_ID : %06X\n", - ( ((int)otp0[5] << 8 | otp0[4]) & 0x3fff) >> 2); - MPL_LOGI("WP_ID : %06X\n", - ( ((int)otp0[6] << 8 | otp0[5]) & 0x03ff) >> 7); - MPL_LOGI("REV_ID : %06X\n", otp0[6] >> 2); - MPL_LOGI("\n"); - -close: - result = - inv_serial_single_write(mlsl_handle, mputestCfgPtr->addr, MPUREG_BANK_SEL, 0x00); - return result; -} -#endif /* TRACK_IDS */ - -/** - * @brief If requested via inv_test_setup_accel(), test the accelerometer biases - * and calculate the necessary bias correction. - * @param mlsl_handle - * serial interface handle to allow serial communication with the - * device, both gyro and accelerometer. - * @param bias - * output pointer to store the initial bias calculation provided - * by the MPU Self Test. Requires 3 elements to store accel X, Y, - * and Z axis bias. - * @param perform_full_test - * If 1: - * calculates offsets and noise and compare it against set - * thresholds. The final exist status will reflect if any of the - * value is outside of the expected range. - * When 0; - * skip the noise calculation and pass/fail assessment; simply - * calculates the accel biases. - * - * @return 0 on success. A non-zero error code on error. - */ -int inv_test_accel(void *mlsl_handle, - short *bias, long gravity, - uint_fast8_t perform_full_test) -{ - int i; - - short *p_vals; - float x = 0.f, y = 0.f, z = 0.f, zg = 0.f; - float RMS[3]; - float accelRmsThresh = 1000000.f; /* enourmous so that the test always - passes - future deployment */ - unsigned short res; - unsigned long orig_requested_sensors; - struct mpu_platform_data *mputestPData = mputestCfgPtr->pdata; - - p_vals = (short*)inv_malloc(sizeof(short) * 3 * test_setup.accel_samples); - - /* load the slave descr from the getter */ - if (mputestPData->accel.get_slave_descr == NULL) { - MPL_LOGI("\n"); - MPL_LOGI("No accelerometer configured\n"); - return 0; - } - if (mputestCfgPtr->accel == NULL) { - MPL_LOGI("\n"); - MPL_LOGI("No accelerometer configured\n"); - return 0; - } - - /* resume the accel */ - orig_requested_sensors = mputestCfgPtr->requested_sensors; - mputestCfgPtr->requested_sensors = INV_THREE_AXIS_ACCEL | INV_THREE_AXIS_GYRO; - res = inv_mpu_resume(mputestCfgPtr, - mlsl_handle, NULL, NULL, NULL, - mputestCfgPtr->requested_sensors); - if(res != INV_SUCCESS) - goto accel_error; - - /* wait at least a sample cycle for the - accel data to be retrieved by MPU */ - inv_sleep(inv_mpu_get_sampling_period_us(mputestCfgPtr) / 1000); - - /* collect the samples */ - for(i = 0; i < test_setup.accel_samples; i++) { - short *vals = &p_vals[3 * i]; - if (test_get_data(mlsl_handle, mputestCfgPtr, vals)) { - goto accel_error; - } - x += 1.f * vals[X] / test_setup.accel_samples; - y += 1.f * vals[Y] / test_setup.accel_samples; - z += 1.f * vals[Z] / test_setup.accel_samples; - } - - mputestCfgPtr->requested_sensors = orig_requested_sensors; - res = inv_mpu_suspend(mputestCfgPtr, - mlsl_handle, NULL, NULL, NULL, - INV_ALL_SENSORS); - if (res != INV_SUCCESS) - goto accel_error; - - MPL_LOGI("Accel biases : %+13.3f %+13.3f %+13.3f (LSB)\n", x, y, z); - if (VERBOSE_OUT) { - MPL_LOGI("Accel biases : %+13.3f %+13.3f %+13.3f (gee)\n", - x / gravity, y / gravity, z / gravity); - } - - bias[0] = FLOAT_TO_SHORT(x); - bias[1] = FLOAT_TO_SHORT(y); - zg = z - g_z_sign * gravity; - bias[2] = FLOAT_TO_SHORT(zg); - - MPL_LOGI("Accel correct.: %+13d %+13d %+13d (LSB)\n", - bias[0], bias[1], bias[2]); - if (VERBOSE_OUT) { - MPL_LOGI("Accel correct.: " - "%+13.3f %+13.3f %+13.3f (gee)\n", - 1.f * bias[0] / gravity, - 1.f * bias[1] / gravity, - 1.f * bias[2] / gravity); - } - - if (perform_full_test) { - /* accel RMS - for now the threshold is only indicative */ - for (i = 0, - RMS[X] = 0.f, RMS[Y] = 0.f, RMS[Z] = 0.f; - i < test_setup.accel_samples; i++) { - short *vals = &p_vals[3 * i]; - RMS[X] += (vals[X] - x) * (vals[X] - x); - RMS[Y] += (vals[Y] - y) * (vals[Y] - y); - RMS[Z] += (vals[Z] - z) * (vals[Z] - z); - } - for (i = 0; i < 3; i++) { - if (RMS[i] > accelRmsThresh * accelRmsThresh - * test_setup.accel_samples) { - MPL_LOGI("%s-Accel RMS (%.2f) exceeded threshold " - "(threshold = %.2f)\n", - a_name[i], sqrt(RMS[i] / test_setup.accel_samples), - accelRmsThresh); - goto accel_error; - } - } - MPL_LOGI("RMS : %+13.3f %+13.3f %+13.3f (LSB-rms)\n", - sqrt(RMS[X] / DEF_N_ACCEL_SAMPLES), - sqrt(RMS[Y] / DEF_N_ACCEL_SAMPLES), - sqrt(RMS[Z] / DEF_N_ACCEL_SAMPLES)); - } - - return 0; /* success */ - -accel_error: /* error */ - bias[0] = bias[1] = bias[2] = 0; - return 1; -} - -/** - * @brief an user-space substitute of the power management function(s) - * in mldl_cfg.c for self test usage. - * Wake up and sleep the device, whether that is MPU3050, MPU6050A2, - * or MPU6050B1. - * @param mlsl_handle - * a file handle for the serial communication port used to - * communicate with the MPU device. - * @param power_level - * the power state to change the device into. Currently only 0 or - * 1 are supported, for sleep and full-power respectively. - * @return 0 on success; a non-zero error code on error. - */ -static inv_error_t inv_device_power_mgmt(void *mlsl_handle, - uint_fast8_t power_level) -{ - inv_error_t result; - static unsigned char pwr_mgm; - unsigned char b; - - if (power_level != 0 && power_level != 1) { - return INV_ERROR_INVALID_PARAMETER; - } - - if (power_level) { - result = inv_serial_read( - mlsl_handle, mputestCfgPtr->addr, - MPUREG_PWR_MGM, 1, &pwr_mgm); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - /* reset */ - result = inv_serial_single_write( - mlsl_handle, mputestCfgPtr->addr, - MPUREG_PWR_MGM, pwr_mgm | BIT_H_RESET); - - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - inv_sleep(5); - - /* re-read power mgmt reg - - it may have reset after H_RESET is applied */ - result = inv_serial_read( - mlsl_handle, mputestCfgPtr->addr, - MPUREG_PWR_MGM, 1, &b); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - /* wake up */ - if (pwr_mgm & BIT_SLEEP) { - result = inv_serial_single_write( - mlsl_handle, mputestCfgPtr->addr, - MPUREG_PWR_MGM, 0x00); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } - - inv_sleep(60); - } else { - /* restore the power state the part was found in */ - if (pwr_mgm & BIT_SLEEP) { - result = inv_serial_single_write( - mlsl_handle, mputestCfgPtr->addr, - MPUREG_PWR_MGM, pwr_mgm); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } - } - - return INV_SUCCESS; -} - -/** - * @brief The main entry point of the MPU Self Test, triggering the run of - * the single tests, for gyros and accelerometers. - * Prepares the MPU for the test, taking the device out of low power - * state if necessary, switching the MPU secondary I2C interface into - * bypass mode and restoring the original power state at the end of - * the test. - * This function is also responsible for encoding the output of each - * test in the correct format as it is stored on the file/medium of - * choice (according to inv_serial_write_cal() function). - * The format needs to stay perfectly consistent with the one expected - * by the corresponding loader in ml_stored_data.c; currectly the - * loaded in use is inv_load_cal_V1 (record type 1 - initial - * calibration). - * - * @param mlsl_handle - * serial interface handle to allow serial communication with the - * device, both gyro and accelerometer. - * @param provide_result - * If 1: - * perform and analyze the offset, drive frequency, and noise - * calculation and compare it against set threshouds. Report - * also the final result using a bit-mask like error code as - * described in the inv_test_gyro() function. - * When 0: - * skip the noise and drive frequency calculation and pass/fail - * assessment. It simply calculates the gyro and accel biases. - * NOTE: for MPU6050 devices, this parameter is currently - * ignored. - * - * @return 0 on success. A non-zero error code on error. - * Propagates the errors from the tests up to the caller. - */ -int inv_mpu_test(void *mlsl_handle, uint_fast8_t provide_result) -{ - int result = 0; - - short temp_avg; - short gyro_biases[3] = {0, 0, 0}; - short accel_biases[3] = {0, 0, 0}; - - unsigned long testStart = inv_get_tick_count(); - long accelSens[3] = {0}; - int ptr; - int tmp; - long long lltmp; - uint32_t chk; - - MPL_LOGI("Collecting %d groups of 600 ms samples for each axis\n", - DEF_TEST_TIME_PER_AXIS / 600); - MPL_LOGI("\n"); - - result = inv_device_power_mgmt(mlsl_handle, TRUE); - -#ifdef TRACK_IDS - result = test_get_mpu_id(mlsl_handle); - if (result != INV_SUCCESS) { - MPL_LOGI("Could not read the device's unique ID\n"); - MPL_LOGI("\n"); - return result; - } -#endif - - /* adjust the gyro sensitivity according to the gyro_sens_trim value */ - adjGyroSens = test_setup.gyro_sens * mputestCfgPtr->gyro_sens_trim / 131.f; - test_setup.gyro_fs = (int)(32768.f / adjGyroSens); - - /* collect gyro and temperature data */ - result = inv_test_gyro_3050(mlsl_handle, - gyro_biases, &temp_avg, provide_result); - - MPL_LOGI("\n"); - MPL_LOGI("Test time : %ld ms\n", inv_get_tick_count() - testStart); - if (result) - return result; - - /* collect accel data. if this step is skipped, - ensure the array still contains zeros. */ - if (mputestCfgPtr->accel != NULL) { - float fs; - RANGE_FIXEDPOINT_TO_FLOAT(mputestCfgPtr->accel->range, fs); - accelSens[0] = (long)(32768L / fs); - accelSens[1] = (long)(32768L / fs); - accelSens[2] = (long)(32768L / fs); - } else { - /* would be 0, but 1 to avoid divide-by-0 below */ - accelSens[0] = accelSens[1] = accelSens[2] = 1; - } - result = inv_test_accel(mlsl_handle, accel_biases, accelSens[2], - provide_result); - if (result) - return result; - - result = inv_device_power_mgmt(mlsl_handle, FALSE); - if (result) - return result; - - ptr = 0; - dataStore[ptr++] = 0; /* total len of factory cal */ - dataStore[ptr++] = 0; - dataStore[ptr++] = 0; - dataStore[ptr++] = ML_INIT_CAL_LEN; - dataStore[ptr++] = 0; - dataStore[ptr++] = 5; /* record type 5 - initial calibration */ - - tmp = temp_avg; /* temperature */ - if (tmp < 0) tmp += 2 << 16; - USHORT_TO_CHARS(&dataStore[ptr], tmp); - ptr += 2; - - /* NOTE : 2 * test_setup.gyro_fs == 65536 / (32768 / test_setup.gyro_fs) */ - lltmp = (long)gyro_biases[0] * 2 * test_setup.gyro_fs; /* x gyro avg */ - if (lltmp < 0) lltmp += 1LL << 32; - UINT_TO_CHARS(&dataStore[ptr], (uint32_t)lltmp); - ptr += 4; - lltmp = (long)gyro_biases[1] * 2 * test_setup.gyro_fs; /* y gyro avg */ - if (lltmp < 0) lltmp += 1LL << 32; - UINT_TO_CHARS(&dataStore[ptr], (uint32_t)lltmp); - ptr += 4; - lltmp = (long)gyro_biases[2] * 2 * test_setup.gyro_fs; /* z gyro avg */ - if (lltmp < 0) lltmp += 1LL << 32; - UINT_TO_CHARS(&dataStore[ptr], (uint32_t)lltmp); - ptr += 4; - - lltmp = (long)accel_biases[0] * 65536L / accelSens[0]; /* x accel avg */ - if (lltmp < 0) lltmp += 1LL << 32; - UINT_TO_CHARS(&dataStore[ptr], (uint32_t)lltmp); - ptr += 4; - lltmp = (long)accel_biases[1] * 65536L / accelSens[1]; /* y accel avg */ - if (lltmp < 0) lltmp += 1LL << 32; - UINT_TO_CHARS(&dataStore[ptr], (uint32_t)lltmp); - ptr += 4; - lltmp = (long)accel_biases[2] * 65536L / accelSens[2]; /* z accel avg */ - if (lltmp < 0) lltmp += 1LL << 32; - UINT_TO_CHARS(&dataStore[ptr], (uint32_t)lltmp); - ptr += 4; - - /* add a checksum for data */ - chk = inv_checksum( - dataStore + INV_CAL_HDR_LEN, - ML_INIT_CAL_LEN - INV_CAL_HDR_LEN - INV_CAL_CHK_LEN); - UINT_TO_CHARS(&dataStore[ptr], chk); - ptr += 4; - - if (ptr != ML_INIT_CAL_LEN) { - MPL_LOGI("Invalid calibration data length: exp %d, got %d\n", - ML_INIT_CAL_LEN, ptr); - return -1; - } - - return result; -} - -/** - * @brief The main test API. Runs the MPU Self Test and, if successful, - * stores the encoded initial calibration data on the final storage - * medium of choice (cfr. inv_serial_write_cal() and the MLCAL_FILE - * define in your mlsl implementation). - * - * @param mlsl_handle - * serial interface handle to allow serial communication with the - * device, both gyro and accelerometer. - * @param provide_result - * If 1: - * perform and analyze the offset, drive frequency, and noise - * calculation and compare it against set threshouds. Report - * also the final result using a bit-mask like error code as - * described in the inv_test_gyro() function. - * When 0: - * skip the noise and drive frequency calculation and pass/fail - * assessment. It simply calculates the gyro and accel biases. - * - * @return 0 on success or a non-zero error code from the callees on error. - */ -inv_error_t inv_factory_calibrate(void *mlsl_handle, - uint_fast8_t provide_result) -{ - int result; - - result = inv_mpu_test(mlsl_handle, provide_result); - if (provide_result) { - MPL_LOGI("\n"); - if (result == 0) { - MPL_LOGI("Test : PASSED\n"); - } else { - MPL_LOGI("Test : FAILED %d/%04X - Biases NOT stored\n", result, result); - return result; /* abort writing the calibration if the - test is not successful */ - } - MPL_LOGI("\n"); - } else { - MPL_LOGI("\n"); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - } - - result = inv_serial_write_cal(dataStore, ML_INIT_CAL_LEN); - if (result) { - MPL_LOGI("Error : cannot write calibration on file - error %d\n", - result); - return result; - } - - return INV_SUCCESS; -} - - - -/* ----------------------------------------------------------------------- - accel interface functions - -----------------------------------------------------------------------*/ - -/** - * @internal - * @brief Reads data for X, Y, and Z axis from the accelerometer device. - * Used only if an accelerometer has been setup using the - * inv_test_setup_accel() API. - * Takes care of the accelerometer endianess according to how the - * device has been described in the corresponding accelerometer driver - * file. - * @param mlsl_handle - * serial interface handle to allow serial communication with the - * device, both gyro and accelerometer. - * @param slave - * a pointer to the descriptor of the slave accelerometer device - * in use. Contains the necessary information to operate, read, - * and communicate with the accelerometer device of choice. - * See the declaration of struct ext_slave_descr in mpu.h. - * @param pdata - * a pointer to the platform info of the slave accelerometer - * device in use. Describes how the device is oriented and - * mounted on host platform's PCB. - * @param vals - * output pointer to return the accelerometer's X, Y, and Z axis - * sensor data collected. - * @return 0 on success or a non-zero error code on error. - */ -static inv_error_t test_get_data( - void *mlsl_handle, - struct mldl_cfg *mputestCfgPtr, - short *vals) -{ - inv_error_t result; - unsigned char data[20]; - struct ext_slave_descr *slave = mputestCfgPtr->accel; - - result = inv_serial_read(mlsl_handle, mputestCfgPtr->addr, 0x23, - 6, data); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } - - if (VERBOSE_OUT) { - MPL_LOGI("Accel : 0x%02X%02X 0x%02X%02X 0x%02X%02X (raw)\n", - ACCEL_UNPACK(data)); - } - - if (CHECK_NACKS(data)) { - MPL_LOGI("Error fetching data from the accelerometer : " - "all bytes read 0xff\n"); - return INV_ERROR_SERIAL_READ; - } - - if (slave->endian == EXT_SLAVE_BIG_ENDIAN) { - vals[0] = CHARS_TO_SHORT(&data[0]); - vals[1] = CHARS_TO_SHORT(&data[2]); - vals[2] = CHARS_TO_SHORT(&data[4]); - } else { - vals[0] = CHARS_TO_SHORT_SWAPPED(&data[0]); - vals[1] = CHARS_TO_SHORT_SWAPPED(&data[2]); - vals[2] = CHARS_TO_SHORT_SWAPPED(&data[4]); - } - - if (VERBOSE_OUT) { - MPL_LOGI("Accel : %+13d %+13d %+13d (LSB)\n", - vals[0], vals[1], vals[2]); - } - return INV_SUCCESS; -} - -#ifdef __cplusplus -} -#endif - -/** - * @} - */ - diff --git a/invensense/mlsdk/mlutils/mputest.h b/invensense/mlsdk/mlutils/mputest.h deleted file mode 100644 index d3347c5..0000000 --- a/invensense/mlsdk/mlutils/mputest.h +++ /dev/null @@ -1,54 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -/****************************************************************************** - * - * $Id: mputest.h 4051 2010-11-19 04:51:58Z mcaramello $ - * - *****************************************************************************/ - -#ifndef MPUTEST_H -#define MPUTEST_H - -#ifdef __cplusplus -extern "C" { -#endif - -#include "mlsl.h" -#include "mldl_cfg.h" -#include "mputest_legacy.h" - -/* user facing APIs */ -inv_error_t inv_factory_calibrate(void *mlsl_handle, - uint_fast8_t provide_result); -void inv_set_test_parameters(unsigned int slave_addr, float sensitivity, - int p_thresh, float total_time_tol, - int bias_thresh, float rms_thresh, - float sp_shift_thresh, - unsigned short accel_samples); - -/* additional functions */ -int inv_mpu_test(void *mlsl_handle, uint_fast8_t provide_result); - - -#ifdef __cplusplus -} -#endif - -#endif /* MPUTEST_H */ - diff --git a/invensense/mlsdk/mlutils/slave.h b/invensense/mlsdk/mlutils/slave.h deleted file mode 100644 index 45449f6..0000000 --- a/invensense/mlsdk/mlutils/slave.h +++ /dev/null @@ -1,188 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -/******************************************************************************* - * - * $Id: slave.h 5629 2011-06-11 03:13:08Z mcaramello $ - * - *******************************************************************************/ - -#ifndef SLAVE_H -#define SLAVE_H - -/** - * @addtogroup SLAVEDL - * - * @{ - * @file slave.h - * @brief Top level descriptions for Accelerometer support - * - */ - -#include "mltypes.h" -#include "mpu.h" - - /* ------------ */ - /* - Defines. - */ - /* ------------ */ - -/*--- default accel support - selection ---*/ -#define ACCEL_ST_LIS331 0 -#define ACCEL_KIONIX_KXTF9 1 -#define ACCEL_BOSCH 0 -#define ACCEL_ADI 0 - -#define ACCEL_SLAVEADDR_INVALID 0x00 - -#define ACCEL_SLAVEADDR_LIS331 0x18 -#define ACCEL_SLAVEADDR_LSM303 0x18 -#define ACCEL_SLAVEADDR_LIS3DH 0x18 -#define ACCEL_SLAVEADDR_KXSD9 0x18 -#define ACCEL_SLAVEADDR_KXTF9 0x0F -#define ACCEL_SLAVEADDR_BMA150 0x38 -#define ACCEL_SLAVEADDR_BMA222 0x08 -#define ACCEL_SLAVEADDR_BMA250 0x18 -#define ACCEL_SLAVEADDR_ADXL34X 0x53 -#define ACCEL_SLAVEADDR_ADXL34X_ALT 0x1D /* alternative addr */ -#define ACCEL_SLAVEADDR_MMA8450 0x1C -#define ACCEL_SLAVEADDR_MMA845X 0x1C - -#define ACCEL_SLAVEADDR_INVENSENSE 0x68 -/* - Define default accelerometer to use if no selection is made -*/ -#if ACCEL_ST_LIS331 -#define DEFAULT_ACCEL_SLAVEADDR ACCEL_SLAVEADDR_LIS331 -#define DEFAULT_ACCEL_ID ACCEL_ID_LIS331 -#endif - -#if ACCEL_ST_LSM303 -#define DEFAULT_ACCEL_SLAVEADDR ACCEL_SLAVEADDR_LSM303 -#define DEFAULT_ACCEL_ID ACCEL_ID_LSM303A -#endif - -#if ACCEL_KIONIX_KXSD9 -#define DEFAULT_ACCEL_SLAVEADDR ACCEL_SLAVEADDR_KXSD9 -#define DEFAULT_ACCEL_ID ACCEL_ID_KXSD9 -#endif - -#if ACCEL_KIONIX_KXTF9 -#define DEFAULT_ACCEL_SLAVEADDR ACCEL_SLAVEADDR_KXTF9 -#define DEFAULT_ACCEL_ID ACCEL_ID_KXTF9 -#endif - -#if ACCEL_BOSCH -#define DEFAULT_ACCEL_SLAVEADDR ACCEL_SLAVEADDR_BMA150 -#define DEFAULT_ACCEL_ID ACCEL_ID_BMA150 -#endif - -#if ACCEL_BMA222 -#define DEFAULT_ACCEL_SLAVEADDR ACCEL_SLAVEADDR_BMA222 -#define DEFAULT_ACCEL_ID ACCEL_ID_BMA222 -#endif - -#if ACCEL_BOSCH -#define DEFAULT_ACCEL_SLAVEADDR ACCEL_SLAVEADDR_BMA250 -#define DEFAULT_ACCEL_ID ACCEL_ID_BMA250 -#endif - -#if ACCEL_ADI -#define DEFAULT_ACCEL_SLAVEADDR ACCEL_SLAVEADDR_ADXL34X -#define DEFAULT_ACCEL_ID ACCEL_ID_ADXL34X -#endif - -#if ACCEL_MMA8450 -#define DEFAULT_ACCEL_SLAVEADDR ACCEL_SLAVEADDR_MMA8450 -#define DEFAULT_ACCEL_ID ACCEL_ID_MMA8450 -#endif - -#if ACCEL_MMA845X -#define DEFAULT_ACCEL_SLAVEADDR ACCEL_SLAVEADDR_MMA845X -#define DEFAULT_ACCEL_ID ACCEL_ID_MMA845X -#endif - -/*--- if no default accelerometer was selected ---*/ -#ifndef DEFAULT_ACCEL_SLAVEADDR -#define DEFAULT_ACCEL_SLAVEADDR ACCEL_SLAVEADDR_INVALID -#endif - -#define USE_COMPASS_AICHI 0 -#define USE_COMPASS_AKM 0 -#define USE_COMPASS_YAS529 0 -#define USE_COMPASS_YAS530 0 -#define USE_COMPASS_HMC5883 0 -#define USE_COMPASS_MMC314X 0 -#define USE_COMPASS_HSCDTD002B 0 -#define USE_COMPASS_HSCDTD004A 0 - -#define COMPASS_SLAVEADDR_INVALID 0x00 -#define COMPASS_SLAVEADDR_AKM_BASE 0x0C -#define COMPASS_SLAVEADDR_AKM 0x0E -#define COMPASS_SLAVEADDR_AMI304 0x0E -#define COMPASS_SLAVEADDR_AMI305 0x0F /*Slave address for AMI 305/306*/ -#define COMPASS_SLAVEADDR_AMI306 0x0E /*Slave address for AMI 305/306*/ -#define COMPASS_SLAVEADDR_YAS529 0x2E -#define COMPASS_SLAVEADDR_YAS530 0x2E -#define COMPASS_SLAVEADDR_HMC5883 0x1E -#define COMPASS_SLAVEADDR_MMC314X 0x30 -#define COMPASS_SLAVEADDR_HSCDTD00XX 0x0C - -/* - Define default compass to use if no selection is made -*/ - #if USE_COMPASS_AKM - #define DEFAULT_COMPASS_TYPE COMPASS_ID_AK8975 - #endif - - #if USE_COMPASS_AICHI - #define DEFAULT_COMPASS_TYPE COMPASS_ID_AMI30X - #endif - - #if USE_COMPASS_YAS529 - #define DEFAULT_COMPASS_TYPE COMPASS_ID_YAS529 - #endif - - #if USE_COMPASS_YAS530 - #define DEFAULT_COMPASS_TYPE COMPASS_ID_YAS530 - #endif - - #if USE_COMPASS_HMC5883 - #define DEFAULT_COMPASS_TYPE COMPASS_ID_HMC5883 - #endif - -#if USE_COMPASS_MMC314X -#define DEFAULT_COMPASS_TYPE COMPASS_ID_MMC314X -#endif - -#if USE_COMPASS_HSCDTD002B -#define DEFAULT_COMPASS_TYPE COMPASS_ID_HSCDTD002B -#endif - -#if USE_COMPASS_HSCDTD004A -#define DEFAULT_COMPASS_TYPE COMPASS_ID_HSCDTD004A -#endif - -#ifndef DEFAULT_COMPASS_TYPE -#define DEFAULT_COMPASS_TYPE ID_INVALID -#endif - - -#endif // SLAVE_H - -/** - * @} - */ diff --git a/invensense/mlsdk/platform/include/i2c.h b/invensense/mlsdk/platform/include/i2c.h deleted file mode 100644 index c3002d5..0000000 --- a/invensense/mlsdk/platform/include/i2c.h +++ /dev/null @@ -1,133 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -/******************************************************************************* - * - * $Id: i2c.h 5629 2011-06-11 03:13:08Z mcaramello $ - * - *******************************************************************************/ - -#ifndef _I2C_H -#define _I2C_H - -#include "mltypes.h" - -#ifdef __cplusplus -extern "C" { -#endif - -/* ------------ */ -/* - Defines. - */ -/* ------------ */ - -/* - Error Codes. - */ - -#define I2C_SUCCESS 0 -#define I2C_ERROR 1 - -/* ---------- */ -/* - Enums. - */ -/* ---------- */ - -/* --------------- */ -/* - Structures. - */ -/* --------------- */ - -#define I2C_RBUFF_MAX 128 -#define I2C_RBUFF_SIZE 17 - -#ifdef BB_I2C -#define I2C_RBUFF_DYNAMIC 0 -#else -#define I2C_RBUFF_DYNAMIC 1 -#endif - -typedef struct { - - HANDLE i2cHndl; - HANDLE hDevice; // handle to the drive to be examined - - MLU8 readBuffer[1024]; - MLU8 writeBuffer[1024]; - - MLU16 rBuffRIndex; - MLU16 rBuffWIndex; -#if !I2C_RBUFF_DYNAMIC - MLU8 rBuff[I2C_RBUFF_MAX][I2C_RBUFF_SIZE]; -#else - MLU8 *rBuff; -#endif - MLU16 rBuffMax; - MLU16 rBuffNumBytes; - - MLU8 runThread; - MLU8 autoProcess; - -} I2C_Vars_t; - -/* --------------------- */ -/* - Function p-types. - */ -/* --------------------- */ - -#if (defined(BB_I2C)) -void set_i2c_open_bind_cb(int (*func)(unsigned int i2c_slave_addr)); -void set_i2c_open_cb(int (*func)(const char *dev, int rw)); -void set_i2c_close_cb(int (*func)(int fd)); -void set_i2c_lltransfer_cb(int (*func)(int fd, int client_addr, const char *write_buf, unsigned int write_len, - char *read_buf, unsigned int read_len )); -void set_i2c_write_register_cb(int (*func)(int fd, int client_addr, unsigned char reg, unsigned char value)); -void set_i2c_read_register_cb(unsigned char (*func)(int fd, int client_addr, unsigned char reg)); -void set_i2c_dump_register_cb(int (*func)(int fd, int client_addr, unsigned char start_reg, unsigned char *buff, int len)); - -int _i2c_write_register(int fd, int client_addr, unsigned char reg, unsigned char value); -unsigned char _i2c_read_register (int fd, int client_addr, unsigned char reg); -int i2c_lltransfer (int fd, int client_addr, const char *write_buf, unsigned int write_len, - char *read_buf, unsigned int read_len ); -int i2c_write_register(int fd, int client_addr, unsigned char reg, unsigned char value); -unsigned char i2c_read_register (int fd, int client_addr, unsigned char reg); -int i2c_dump_register (int fd, int client_addr, unsigned char start_reg, unsigned char *buff, int len); -int i2c_open (const char *dev, int rw); -int i2c_close (int fd); -int i2c_open_bind (unsigned int i2c_slave_addr); -#endif - -int I2COpen (unsigned char autoProcess, unsigned char createThread); -int I2CClose (void); -int I2CDeviceIoControl(void); -int I2CRead (void); -int I2CWrite (void); -int I2CSetBufferSize (unsigned short bufferSize); -int I2CBufferUpdate (void); -int I2CHandler (void); -int I2CReadBuffer (unsigned short cnt, unsigned char bufferMode, unsigned char *rBuff); -int I2CEmptyBuffer (void); -int I2CPktsInBuffer (unsigned short *pktsInBuffer); -int I2CCreateMutex (void); -int I2CLockMutex (void); -int I2CUnlockMutex (void); - -int I2CWriteBurst (unsigned char slaveAddr, unsigned char registerAddr, unsigned short length, unsigned char *data); -int I2CReadBurst (unsigned char slaveAddr, unsigned char registerAddr, unsigned short length, unsigned char *data); - -int I2COpenBB (void); -int I2CCloseBB (int i2cHandle); - -#ifdef __cplusplus -} -#endif - -#endif /* _TEMPLATE_H */ diff --git a/invensense/mlsdk/platform/include/linux/mpu.h b/invensense/mlsdk/platform/include/linux/mpu.h deleted file mode 100644 index 04fa7b6..0000000 --- a/invensense/mlsdk/platform/include/linux/mpu.h +++ /dev/null @@ -1,335 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -#ifndef __MPU_H_ -#define __MPU_H_ - -#ifdef __KERNEL__ -#include <linux/types.h> -#include <linux/ioctl.h> -#elif defined LINUX -#include <sys/ioctl.h> -#endif - -/* Number of axes on each sensor */ -#define GYRO_NUM_AXES (3) -#define ACCEL_NUM_AXES (3) -#define COMPASS_NUM_AXES (3) - -struct mpu_read_write { - /* Memory address or register address depending on ioctl */ - unsigned short address; - unsigned short length; - unsigned char *data; -}; - -enum mpuirq_data_type { - MPUIRQ_DATA_TYPE_MPU_IRQ, - MPUIRQ_DATA_TYPE_SLAVE_IRQ, - MPUIRQ_DATA_TYPE_PM_EVENT, - MPUIRQ_DATA_TYPE_NUM_TYPES, -}; - -/* User space PM event notification */ -#define MPU_PM_EVENT_SUSPEND_PREPARE (3) -#define MPU_PM_EVENT_POST_SUSPEND (4) - -struct mpuirq_data { - int interruptcount; - unsigned long long irqtime; - int data_type; - long data; -}; - -enum ext_slave_config_key { - MPU_SLAVE_CONFIG_ODR_SUSPEND, - MPU_SLAVE_CONFIG_ODR_RESUME, - MPU_SLAVE_CONFIG_FSR_SUSPEND, - MPU_SLAVE_CONFIG_FSR_RESUME, - MPU_SLAVE_CONFIG_MOT_THS, - MPU_SLAVE_CONFIG_NMOT_THS, - MPU_SLAVE_CONFIG_MOT_DUR, - MPU_SLAVE_CONFIG_NMOT_DUR, - MPU_SLAVE_CONFIG_IRQ_SUSPEND, - MPU_SLAVE_CONFIG_IRQ_RESUME, - MPU_SLAVE_WRITE_REGISTERS, - MPU_SLAVE_READ_REGISTERS, - /* AMI 306 specific config keys */ - MPU_SLAVE_PARAM, - MPU_SLAVE_WINDOW, - MPU_SLAVE_READWINPARAMS, - MPU_SLAVE_SEARCHOFFSET, - /* AKM specific config keys */ - MPU_SLAVE_READ_SCALE, - /* YAS specific config keys */ - MPU_SLAVE_OFFSET_VALS, - MPU_SLAVE_RANGE_CHECK, - - MPU_SLAVE_CONFIG_NUM_CONFIG_KEYS, -}; - -/* For the MPU_SLAVE_CONFIG_IRQ_SUSPEND and MPU_SLAVE_CONFIG_IRQ_RESUME */ -enum ext_slave_config_irq_type { - MPU_SLAVE_IRQ_TYPE_NONE, - MPU_SLAVE_IRQ_TYPE_MOTION, - MPU_SLAVE_IRQ_TYPE_DATA_READY, -}; - -/* Structure for the following IOCTS's - * MPU_CONFIG_ACCEL - * MPU_CONFIG_COMPASS - * MPU_CONFIG_PRESSURE - * MPU_GET_CONFIG_ACCEL - * MPU_GET_CONFIG_COMPASS - * MPU_GET_CONFIG_PRESSURE - * - * @key one of enum ext_slave_config_key - * @len length of data pointed to by data - * @apply zero if communication with the chip is not necessary, false otherwise - * This flag can be used to select cached data or to refresh cashed data - * cache data to be pushed later or push immediately. If true and the - * slave is on the secondary bus the MPU will first enger bypass mode - * before calling the slaves .config or .get_config funcion - * @data pointer to the data to confgure or get - */ -struct ext_slave_config { - int key; - int len; - int apply; - void *data; -}; - -enum ext_slave_type { - EXT_SLAVE_TYPE_GYROSCOPE, - EXT_SLAVE_TYPE_ACCELEROMETER, - EXT_SLAVE_TYPE_COMPASS, - EXT_SLAVE_TYPE_PRESSURE, - /*EXT_SLAVE_TYPE_TEMPERATURE */ - - EXT_SLAVE_NUM_TYPES -}; - -enum ext_slave_id { - ID_INVALID = 0, - - ACCEL_ID_LIS331, - ACCEL_ID_LSM303A, - ACCEL_ID_LIS3DH, - ACCEL_ID_KXSD9, - ACCEL_ID_KXTF9, - ACCEL_ID_BMA150, - ACCEL_ID_BMA222, - ACCEL_ID_BMA250, - ACCEL_ID_ADXL34X, - ACCEL_ID_MMA8450, - ACCEL_ID_MMA845X, - ACCEL_ID_MPU6050, - - COMPASS_ID_AK8975, - COMPASS_ID_AMI30X, - COMPASS_ID_AMI306, - COMPASS_ID_YAS529, - COMPASS_ID_YAS530, - COMPASS_ID_HMC5883, - COMPASS_ID_LSM303M, - COMPASS_ID_MMC314X, - COMPASS_ID_HSCDTD002B, - COMPASS_ID_HSCDTD004A, - - PRESSURE_ID_BMA085, -}; - -enum ext_slave_endian { - EXT_SLAVE_BIG_ENDIAN, - EXT_SLAVE_LITTLE_ENDIAN, - EXT_SLAVE_FS8_BIG_ENDIAN, - EXT_SLAVE_FS16_BIG_ENDIAN, -}; - -enum ext_slave_bus { - EXT_SLAVE_BUS_INVALID = -1, - EXT_SLAVE_BUS_PRIMARY = 0, - EXT_SLAVE_BUS_SECONDARY = 1 -}; - - -/** - * struct ext_slave_platform_data - Platform data for mpu3050 and mpu6050 - * slave devices - * - * @get_slave_descr: Function pointer to retrieve the struct ext_slave_descr - * for this slave - * @irq: the irq number attached to the slave if any. - * @adapt_num: the I2C adapter number. - * @bus: the bus the slave is attached to: enum ext_slave_bus - * @address: the I2C slave address of the slave device. - * @orientation: the mounting matrix of the device relative to MPU. - * @irq_data: private data for the slave irq handler - * @private_data: additional data, user customizable. Not touched by the MPU - * driver. - * - * The orientation matricies are 3x3 rotation matricies - * that are applied to the data to rotate from the mounting orientation to the - * platform orientation. The values must be one of 0, 1, or -1 and each row and - * column should have exactly 1 non-zero value. - */ -struct ext_slave_platform_data { - struct ext_slave_descr *(*get_slave_descr) (void); - int irq; - int adapt_num; - int bus; - unsigned char address; - signed char orientation[9]; - void *irq_data; - void *private_data; -}; - -struct fix_pnt_range { - long mantissa; - long fraction; -}; - -static inline long range_fixedpoint_to_long_mg(struct fix_pnt_range rng) -{ - return (long)(rng.mantissa * 1000 + rng.fraction / 10); -} - -struct ext_slave_read_trigger { - unsigned char reg; - unsigned char value; -}; - -/** - * struct ext_slave_descr - Description of the slave device for programming. - * - * @suspend: function pointer to put the device in suspended state - * @resume: function pointer to put the device in running state - * @read: function that reads the device data - * @init: function used to preallocate memory used by the driver - * @exit: function used to free memory allocated for the driver - * @config: function used to configure the device - * @get_config:function used to get the device's configuration - * - * @name: text name of the device - * @type: device type. enum ext_slave_type - * @id: enum ext_slave_id - * @reg: starting register address to retrieve data. - * @len: length in bytes of the sensor data. Should be 6. - * @endian: byte order of the data. enum ext_slave_endian - * @range: full scale range of the slave ouput: struct fix_pnt_range - * @trigger: If reading data first requires writing a register this is the - * data to write. - * - * Defines the functions and information about the slave the mpu3050 and - * mpu6050 needs to use the slave device. - */ -struct ext_slave_descr { - int (*init) (void *mlsl_handle, - struct ext_slave_descr *slave, - struct ext_slave_platform_data *pdata); - int (*exit) (void *mlsl_handle, - struct ext_slave_descr *slave, - struct ext_slave_platform_data *pdata); - int (*suspend) (void *mlsl_handle, - struct ext_slave_descr *slave, - struct ext_slave_platform_data *pdata); - int (*resume) (void *mlsl_handle, - struct ext_slave_descr *slave, - struct ext_slave_platform_data *pdata); - int (*read) (void *mlsl_handle, - struct ext_slave_descr *slave, - struct ext_slave_platform_data *pdata, - unsigned char *data); - int (*config) (void *mlsl_handle, - struct ext_slave_descr *slave, - struct ext_slave_platform_data *pdata, - struct ext_slave_config *config); - int (*get_config) (void *mlsl_handle, - struct ext_slave_descr *slave, - struct ext_slave_platform_data *pdata, - struct ext_slave_config *config); - - char *name; - unsigned char type; - unsigned char id; - unsigned char read_reg; - unsigned int read_len; - unsigned char endian; - struct fix_pnt_range range; - struct ext_slave_read_trigger *trigger; -}; - -/** - * struct mpu_platform_data - Platform data for the mpu driver - * @int_config: Bits [7:3] of the int config register. - * @orientation: Orientation matrix of the gyroscope - * @level_shifter: 0: VLogic, 1: VDD - * @accel: Accel platform data - * @compass: Compass platform data - * @pressure: Pressure platform data - * - * Contains platform specific information on how to configure the MPU3050 to - * work on this platform. The orientation matricies are 3x3 rotation matricies - * that are applied to the data to rotate from the mounting orientation to the - * platform orientation. The values must be one of 0, 1, or -1 and each row and - * column should have exactly 1 non-zero value. - */ -struct mpu_platform_data { - unsigned char int_config; - signed char orientation[GYRO_NUM_AXES * GYRO_NUM_AXES]; - unsigned char level_shifter; - struct ext_slave_platform_data accel; - struct ext_slave_platform_data compass; - struct ext_slave_platform_data pressure; -}; - -#if defined __KERNEL__ || defined LINUX -#define MPU_IOCTL (0x81) /* Magic number for MPU Iocts */ -/* IOCTL commands for /dev/mpu */ -#define MPU_SET_MPU_CONFIG _IOWR(MPU_IOCTL, 0x00, struct mldl_cfg) -#define MPU_GET_MPU_CONFIG _IOW(MPU_IOCTL, 0x00, struct mldl_cfg) - -#define MPU_SET_PLATFORM_DATA _IOWR(MPU_IOCTL, 0x01, struct mldl_cfg) - -#define MPU_READ _IOWR(MPU_IOCTL, 0x10, struct mpu_read_write) -#define MPU_WRITE _IOW(MPU_IOCTL, 0x10, struct mpu_read_write) -#define MPU_READ_MEM _IOWR(MPU_IOCTL, 0x11, struct mpu_read_write) -#define MPU_WRITE_MEM _IOW(MPU_IOCTL, 0x11, struct mpu_read_write) -#define MPU_READ_FIFO _IOWR(MPU_IOCTL, 0x12, struct mpu_read_write) -#define MPU_WRITE_FIFO _IOW(MPU_IOCTL, 0x12, struct mpu_read_write) - -#define MPU_READ_COMPASS _IOR(MPU_IOCTL, 0x12, unsigned char) -#define MPU_READ_ACCEL _IOR(MPU_IOCTL, 0x13, unsigned char) -#define MPU_READ_PRESSURE _IOR(MPU_IOCTL, 0x14, unsigned char) - -#define MPU_CONFIG_ACCEL _IOW(MPU_IOCTL, 0x20, struct ext_slave_config) -#define MPU_CONFIG_COMPASS _IOW(MPU_IOCTL, 0x21, struct ext_slave_config) -#define MPU_CONFIG_PRESSURE _IOW(MPU_IOCTL, 0x22, struct ext_slave_config) - -#define MPU_GET_CONFIG_ACCEL _IOWR(MPU_IOCTL, 0x20, struct ext_slave_config) -#define MPU_GET_CONFIG_COMPASS _IOWR(MPU_IOCTL, 0x21, struct ext_slave_config) -#define MPU_GET_CONFIG_PRESSURE _IOWR(MPU_IOCTL, 0x22, struct ext_slave_config) - -#define MPU_SUSPEND _IO(MPU_IOCTL, 0x30) -#define MPU_RESUME _IO(MPU_IOCTL, 0x31) -/* Userspace PM Event response */ -#define MPU_PM_EVENT_HANDLED _IO(MPU_IOCTL, 0x32) - -#endif - -#endif /* __MPU_H_ */ diff --git a/invensense/mlsdk/platform/include/log.h b/invensense/mlsdk/platform/include/log.h deleted file mode 100644 index 8485074..0000000 --- a/invensense/mlsdk/platform/include/log.h +++ /dev/null @@ -1,344 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -/* - * This file incorporates work covered by the following copyright and - * permission notice: - * - * Copyright (C) 2005 The Android Open Source Project - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -/* - * C/C++ logging functions. See the logging documentation for API details. - * - * We'd like these to be available from C code (in case we import some from - * somewhere), so this has a C interface. - * - * The output will be correct when the log file is shared between multiple - * threads and/or multiple processes so long as the operating system - * supports O_APPEND. These calls have mutex-protected data structures - * and so are NOT reentrant. Do not use MPL_LOG in a signal handler. - */ -#ifndef _LIBS_CUTILS_MPL_LOG_H -#define _LIBS_CUTILS_MPL_LOG_H - -#include "mltypes.h" -#include <stdarg.h> - -#ifdef ANDROID -#ifdef NDK_BUILD -#include "log_macros.h" -#else -#include <utils/Log.h> /* For the LOG macro */ -#endif -#endif - -#ifdef __KERNEL__ -#include <linux/kernel.h> -#endif - -#ifdef __cplusplus -extern "C" { -#endif - -/* --------------------------------------------------------------------- */ - -/* - * Normally we strip MPL_LOGV (VERBOSE messages) from release builds. - * You can modify this (for example with "#define MPL_LOG_NDEBUG 0" - * at the top of your source file) to change that behavior. - */ -#ifndef MPL_LOG_NDEBUG -#ifdef NDEBUG -#define MPL_LOG_NDEBUG 1 -#else -#define MPL_LOG_NDEBUG 0 -#endif -#endif - -#ifdef __KERNEL__ -#define MPL_LOG_UNKNOWN MPL_LOG_VERBOSE -#define MPL_LOG_DEFAULT KERN_DEFAULT -#define MPL_LOG_VERBOSE KERN_CONT -#define MPL_LOG_DEBUG KERN_NOTICE -#define MPL_LOG_INFO KERN_INFO -#define MPL_LOG_WARN KERN_WARNING -#define MPL_LOG_ERROR KERN_ERR -#define MPL_LOG_SILENT MPL_LOG_VERBOSE - -#else - /* Based off the log priorities in android - /system/core/include/android/log.h */ -#define MPL_LOG_UNKNOWN (0) -#define MPL_LOG_DEFAULT (1) -#define MPL_LOG_VERBOSE (2) -#define MPL_LOG_DEBUG (3) -#define MPL_LOG_INFO (4) -#define MPL_LOG_WARN (5) -#define MPL_LOG_ERROR (6) -#define MPL_LOG_SILENT (8) -#endif - - -/* - * This is the local tag used for the following simplified - * logging macros. You can change this preprocessor definition - * before using the other macros to change the tag. - */ -#ifndef MPL_LOG_TAG -#ifdef __KERNEL__ -#define MPL_LOG_TAG -#else -#define MPL_LOG_TAG NULL -#endif -#endif - -/* --------------------------------------------------------------------- */ - -/* - * Simplified macro to send a verbose log message using the current MPL_LOG_TAG. - */ -#ifndef MPL_LOGV -#if MPL_LOG_NDEBUG -#define MPL_LOGV(fmt, ...) \ - do { \ - if (0) \ - MPL_LOG(LOG_VERBOSE, MPL_LOG_TAG, fmt, ##__VA_ARGS__);\ - } while (0) -#else -#define MPL_LOGV(fmt, ...) MPL_LOG(LOG_VERBOSE, MPL_LOG_TAG, fmt, ##__VA_ARGS__) -#endif -#endif - -#ifndef CONDITION -#define CONDITION(cond) ((cond) != 0) -#endif - -#ifndef MPL_LOGV_IF -#if MPL_LOG_NDEBUG -#define MPL_LOGV_IF(cond, fmt, ...) \ - do { if (0) MPL_LOG(fmt, ##__VA_ARGS__); } while (0) -#else -#define MPL_LOGV_IF(cond, fmt, ...) \ - ((CONDITION(cond)) \ - ? MPL_LOG(LOG_VERBOSE, MPL_LOG_TAG, fmt, ##__VA_ARGS__) \ - : (void)0) -#endif -#endif - -/* - * Simplified macro to send a debug log message using the current MPL_LOG_TAG. - */ -#ifndef MPL_LOGD -#define MPL_LOGD(fmt, ...) MPL_LOG(LOG_DEBUG, MPL_LOG_TAG, fmt, ##__VA_ARGS__) -#endif - -#ifndef MPL_LOGD_IF -#define MPL_LOGD_IF(cond, fmt, ...) \ - ((CONDITION(cond)) \ - ? MPL_LOG(LOG_DEBUG, MPL_LOG_TAG, fmt, ##__VA_ARGS__) \ - : (void)0) -#endif - -/* - * Simplified macro to send an info log message using the current MPL_LOG_TAG. - */ -#ifndef MPL_LOGI -#define MPL_LOGI(fmt, ...) MPL_LOG(LOG_INFO, MPL_LOG_TAG, fmt, ##__VA_ARGS__) -#endif - -#ifndef MPL_LOGI_IF -#define MPL_LOGI_IF(cond, fmt, ...) \ - ((CONDITION(cond)) \ - ? MPL_LOG(LOG_INFO, MPL_LOG_TAG, fmt, ##__VA_ARGS__) \ - : (void)0) -#endif - -/* - * Simplified macro to send a warning log message using the current MPL_LOG_TAG. - */ -#ifndef MPL_LOGW -#ifdef __KERNEL__ -#define MPL_LOGW(fmt, ...) printk(KERN_WARNING MPL_LOG_TAG fmt, ##__VA_ARGS__) -#else -#define MPL_LOGW(fmt, ...) MPL_LOG(LOG_WARN, MPL_LOG_TAG, fmt, ##__VA_ARGS__) -#endif -#endif - -#ifndef MPL_LOGW_IF -#define MPL_LOGW_IF(cond, fmt, ...) \ - ((CONDITION(cond)) \ - ? MPL_LOG(LOG_WARN, MPL_LOG_TAG, fmt, ##__VA_ARGS__) \ - : (void)0) -#endif - -/* - * Simplified macro to send an error log message using the current MPL_LOG_TAG. - */ -#ifndef MPL_LOGE -#ifdef __KERNEL__ -#define MPL_LOGE(fmt, ...) printk(KERN_ERR MPL_LOG_TAG fmt, ##__VA_ARGS__) -#else -#define MPL_LOGE(fmt, ...) MPL_LOG(LOG_ERROR, MPL_LOG_TAG, fmt, ##__VA_ARGS__) -#endif -#endif - -#ifndef MPL_LOGE_IF -#define MPL_LOGE_IF(cond, fmt, ...) \ - ((CONDITION(cond)) \ - ? MPL_LOG(LOG_ERROR, MPL_LOG_TAG, fmt, ##__VA_ARGS__) \ - : (void)0) -#endif - -/* --------------------------------------------------------------------- */ - -/* - * Log a fatal error. If the given condition fails, this stops program - * execution like a normal assertion, but also generating the given message. - * It is NOT stripped from release builds. Note that the condition test - * is -inverted- from the normal assert() semantics. - */ -#define MPL_LOG_ALWAYS_FATAL_IF(cond, fmt, ...) \ - ((CONDITION(cond)) \ - ? ((void)android_printAssert(#cond, MPL_LOG_TAG, \ - fmt, ##__VA_ARGS__)) \ - : (void)0) - -#define MPL_LOG_ALWAYS_FATAL(fmt, ...) \ - (((void)android_printAssert(NULL, MPL_LOG_TAG, fmt, ##__VA_ARGS__))) - -/* - * Versions of MPL_LOG_ALWAYS_FATAL_IF and MPL_LOG_ALWAYS_FATAL that - * are stripped out of release builds. - */ -#if MPL_LOG_NDEBUG -#define MPL_LOG_FATAL_IF(cond, fmt, ...) \ - do { \ - if (0) \ - MPL_LOG_ALWAYS_FATAL_IF(cond, fmt, ##__VA_ARGS__); \ - } while (0) -#define MPL_LOG_FATAL(fmt, ...) \ - do { \ - if (0) \ - MPL_LOG_ALWAYS_FATAL(fmt, ##__VA_ARGS__) \ - } while (0) -#else -#define MPL_LOG_FATAL_IF(cond, fmt, ...) \ - MPL_LOG_ALWAYS_FATAL_IF(cond, fmt, ##__VA_ARGS__) -#define MPL_LOG_FATAL(fmt, ...) \ - MPL_LOG_ALWAYS_FATAL(fmt, ##__VA_ARGS__) -#endif - -/* - * Assertion that generates a log message when the assertion fails. - * Stripped out of release builds. Uses the current MPL_LOG_TAG. - */ -#define MPL_LOG_ASSERT(cond, fmt, ...) \ - MPL_LOG_FATAL_IF(!(cond), fmt, ##__VA_ARGS__) - -/* --------------------------------------------------------------------- */ - -/* - * Basic log message macro. - * - * Example: - * MPL_LOG(MPL_LOG_WARN, NULL, "Failed with error %d", errno); - * - * The second argument may be NULL or "" to indicate the "global" tag. - */ -#ifndef MPL_LOG -#define MPL_LOG(priority, tag, fmt, ...) \ - MPL_LOG_PRI(priority, tag, fmt, ##__VA_ARGS__) -#endif - -/* - * Log macro that allows you to specify a number for the priority. - */ -#ifndef MPL_LOG_PRI -#ifdef ANDROID -#define MPL_LOG_PRI(priority, tag, fmt, ...) \ - ALOG(priority, tag, fmt, ##__VA_ARGS__) -#elif defined __KERNEL__ -#define MPL_LOG_PRI(priority, tag, fmt, ...) \ - pr_debug(MPL_##priority tag fmt, ##__VA_ARGS__) -#else -#define MPL_LOG_PRI(priority, tag, fmt, ...) \ - _MLPrintLog(MPL_##priority, tag, fmt, ##__VA_ARGS__) -#endif -#endif - -/* - * Log macro that allows you to pass in a varargs ("args" is a va_list). - */ -#ifndef MPL_LOG_PRI_VA -#ifdef ANDROID -#define MPL_LOG_PRI_VA(priority, tag, fmt, args) \ - android_vprintLog(priority, NULL, tag, fmt, args) -#elif defined __KERNEL__ -/* not allowed in the Kernel because there is no dev_dbg that takes a va_list */ -#else -#define MPL_LOG_PRI_VA(priority, tag, fmt, args) \ - _MLPrintVaLog(priority, NULL, tag, fmt, args) -#endif -#endif - -/* --------------------------------------------------------------------- */ - -/* - * =========================================================================== - * - * The stuff in the rest of this file should not be used directly. - */ - -#ifndef ANDROID -int _MLPrintLog(int priority, const char *tag, const char *fmt, ...); -int _MLPrintVaLog(int priority, const char *tag, const char *fmt, va_list args); -/* Final implementation of actual writing to a character device */ -int _MLWriteLog(const char *buf, int buflen); -#endif - -static inline void __print_result_location(int result, - const char *file, - const char *func, int line) -{ - MPL_LOGE("%s|%s|%d returning %d\n", file, func, line, result); -} - -#define LOG_RESULT_LOCATION(condition) \ - do { \ - __print_result_location((int)(condition), __FILE__, \ - __func__, __LINE__); \ - } while (0) - - -#ifdef __cplusplus -} -#endif -#endif /* _LIBS_CUTILS_MPL_LOG_H */ diff --git a/invensense/mlsdk/platform/include/mlmath.h b/invensense/mlsdk/platform/include/mlmath.h deleted file mode 100644 index 424a43b..0000000 --- a/invensense/mlsdk/platform/include/mlmath.h +++ /dev/null @@ -1,107 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -/******************************************************************************* - * - * $Id: mlmath.h 5629 2011-06-11 03:13:08Z mcaramello $ - * - *******************************************************************************/ - -#ifndef _ML_MATH_H_ -#define _ML_MATH_H_ - -#ifndef MLMATH -// This define makes Microsoft pickup things like M_PI -#define _USE_MATH_DEFINES -#include <math.h> - -#ifdef WIN32 -// Microsoft doesn't follow standards -#define round(x)(((double)((long long)((x)>0?(x)+.5:(x)-.5)))) -#define roundf(x)(((float )((long long)((x)>0?(x)+.5f:(x)-.5f)))) -#endif - -#else // MLMATH - -#ifdef __cplusplus -extern "C" { -#endif -/* MPL needs below functions */ -double ml_asin(double); -double ml_atan(double); -double ml_atan2(double, double); -double ml_log(double); -double ml_sqrt(double); -double ml_ceil(double); -double ml_floor(double); -double ml_cos(double); -double ml_sin(double); -double ml_acos(double); -#ifdef __cplusplus -} // extern "C" -#endif - -/* - * We rename functions here to provide the hook for other - * customized math functions. - */ -#define sqrt(x) ml_sqrt(x) -#define log(x) ml_log(x) -#define asin(x) ml_asin(x) -#define atan(x) ml_atan(x) -#define atan2(x,y) ml_atan2(x,y) -#define ceil(x) ml_ceil(x) -#define floor(x) ml_floor(x) -#define fabs(x) (((x)<0)?-(x):(x)) -#define round(x) (((double)((long long)((x)>0?(x)+.5:(x)-.5)))) -#define roundf(x) (((float )((long long)((x)>0?(x)+.5f:(x)-.5f)))) -#define cos(x) ml_cos(x) -#define sin(x) ml_sin(x) -#define acos(x) ml_acos(x) - -#define pow(x,y) ml_pow(x,y) - -#ifdef LINUX -/* stubs for float version of math functions */ -#define cosf(x) ml_cos(x) -#define sinf(x) ml_sin(x) -#define atan2f(x,y) ml_atan2(x,y) -#define sqrtf(x) ml_sqrt(x) -#endif - - - -#endif // MLMATH - -#ifndef M_PI -#define M_PI 3.14159265358979 -#endif - -#ifndef ABS -#define ABS(x) (((x)>=0)?(x):-(x)) -#endif - -#ifndef MIN -#define MIN(x,y) (((x)<(y))?(x):(y)) -#endif - -#ifndef MAX -#define MAX(x,y) (((x)>(y))?(x):(y)) -#endif - -/*---------------------------*/ -#endif /* !_ML_MATH_H_ */ diff --git a/invensense/mlsdk/platform/include/mlos.h b/invensense/mlsdk/platform/include/mlos.h deleted file mode 100644 index 97c8c88..0000000 --- a/invensense/mlsdk/platform/include/mlos.h +++ /dev/null @@ -1,109 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -#ifndef _MLOS_H -#define _MLOS_H - -#ifndef __KERNEL__ -#include <stdio.h> -#endif - -#include "mltypes.h" - -#ifdef __cplusplus -extern "C" { -#endif - -#if defined(LINUX) || defined(__KERNEL__) -#include <stdint.h> -typedef uintptr_t HANDLE; // TODO: shouldn't this be pthread_mutex_t* ??? -#endif - - /* ------------ */ - /* - Defines. - */ - /* ------------ */ - - /* - MLOSCreateFile defines. - */ - -#define MLOS_GENERIC_READ ((unsigned int)0x80000000) -#define MLOS_GENERIC_WRITE ((unsigned int)0x40000000) -#define MLOS_FILE_SHARE_READ ((unsigned int)0x00000001) -#define MLOS_FILE_SHARE_WRITE ((unsigned int)0x00000002) -#define MLOS_OPEN_EXISTING ((unsigned int)0x00000003) - - /* ---------- */ - /* - Enums. - */ - /* ---------- */ - - /* --------------- */ - /* - Structures. - */ - /* --------------- */ - - /* --------------------- */ - /* - Function p-types. - */ - /* --------------------- */ - -#ifndef __KERNEL__ -#include <string.h> - void *inv_malloc(unsigned int numBytes); - inv_error_t inv_free(void *ptr); - inv_error_t inv_create_mutex(HANDLE *mutex); - inv_error_t inv_lock_mutex(HANDLE mutex); - inv_error_t inv_unlock_mutex(HANDLE mutex); - FILE *inv_fopen(char *filename); - void inv_fclose(FILE *fp); - - inv_error_t inv_destroy_mutex(HANDLE handle); - - void inv_sleep(int mSecs); - unsigned long inv_get_tick_count(void); - - /* Kernel implmentations */ -#define GFP_KERNEL (0x70) - static inline void *kmalloc(size_t size, - unsigned int gfp_flags __unused) - { - return inv_malloc((unsigned int)size); - } - static inline void *kzalloc(size_t size, unsigned int gfp_flags __unused) - { - void *tmp = inv_malloc((unsigned int)size); - if (tmp) - memset(tmp, 0, size); - return tmp; - } - static inline void kfree(void *ptr) - { - inv_free(ptr); - } - static inline void msleep(long msecs) - { - inv_sleep(msecs); - } - static inline void udelay(unsigned long usecs) - { - inv_sleep((usecs + 999) / 1000); - } -#else -#include <linux/delay.h> -#endif - -#ifdef __cplusplus -} -#endif -#endif /* _MLOS_H */ diff --git a/invensense/mlsdk/platform/include/mlsl.h b/invensense/mlsdk/platform/include/mlsl.h deleted file mode 100644 index 535d117..0000000 --- a/invensense/mlsdk/platform/include/mlsl.h +++ /dev/null @@ -1,290 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -#ifndef __MLSL_H__ -#define __MLSL_H__ - -/** - * @defgroup MLSL - * @brief Motion Library - Serial Layer. - * The Motion Library System Layer provides the Motion Library - * with the communication interface to the hardware. - * - * The communication interface is assumed to support serial - * transfers in burst of variable length up to - * SERIAL_MAX_TRANSFER_SIZE. - * The default value for SERIAL_MAX_TRANSFER_SIZE is 128 bytes. - * Transfers of length greater than SERIAL_MAX_TRANSFER_SIZE, will - * be subdivided in smaller transfers of length <= - * SERIAL_MAX_TRANSFER_SIZE. - * The SERIAL_MAX_TRANSFER_SIZE definition can be modified to - * overcome any host processor transfer size limitation down to - * 1 B, the minimum. - * An higher value for SERIAL_MAX_TRANSFER_SIZE will favor - * performance and efficiency while requiring higher resource usage - * (mostly buffering). A smaller value will increase overhead and - * decrease efficiency but allows to operate with more resource - * constrained processor and master serial controllers. - * The SERIAL_MAX_TRANSFER_SIZE definition can be found in the - * mlsl.h header file and master serial controllers. - * The SERIAL_MAX_TRANSFER_SIZE definition can be found in the - * mlsl.h header file. - * - * @{ - * @file mlsl.h - * @brief The Motion Library System Layer. - * - */ - -#include "mltypes.h" -#include <linux/mpu.h> - -#ifdef __cplusplus -extern "C" { -#endif - -/* - * NOTE : to properly support Yamaha compass reads, - * the max transfer size should be at least 9 B. - * Length in bytes, typically a power of 2 >= 2 - */ -#define SERIAL_MAX_TRANSFER_SIZE 128 - -#ifndef __KERNEL__ -/** - * inv_serial_open() - used to open the serial port. - * @port The COM port specification associated with the device in use. - * @sl_handle a pointer to the file handle to the serial device to be open - * for the communication. - * This port is used to send and receive data to the device. - * - * This function is called by inv_serial_start(). - * Unlike previous MPL Software releases, explicitly calling - * inv_serial_start() is mandatory to instantiate the communication - * with the device. - * - * returns INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_serial_open(char const *port, void **sl_handle); - -/** - * inv_serial_close() - used to close the serial port. - * @sl_handle a file handle to the serial device used for the communication. - * - * This port is used to send and receive data to the device. - * - * This function is called by inv_serial_stop(). - * Unlike previous MPL Software releases, explicitly calling - * inv_serial_stop() is mandatory to properly shut-down the - * communication with the device. - * - * returns INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_serial_close(void *sl_handle); - -/** - * inv_serial_reset() - used to reset any buffering the driver may be doing - * returns INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_serial_reset(void *sl_handle); -#endif - -/** - * inv_serial_single_write() - used to write a single byte of data. - * @sl_handle pointer to the serial device used for the communication. - * @slave_addr I2C slave address of device. - * @register_addr Register address to write. - * @data Single byte of data to write. - * - * It is called by the MPL to write a single byte of data to the MPU. - * - * returns INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_serial_single_write( - void *sl_handle, - unsigned char slave_addr, - unsigned char register_addr, - unsigned char data); - -/** - * inv_serial_write() - used to write multiple bytes of data to registers. - * @sl_handle a file handle to the serial device used for the communication. - * @slave_addr I2C slave address of device. - * @register_addr Register address to write. - * @length Length of burst of data. - * @data Pointer to block of data. - * - * returns INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_serial_write( - void *sl_handle, - unsigned char slave_addr, - unsigned short length, - unsigned char const *data); - -/** - * inv_serial_read() - used to read multiple bytes of data from registers. - * @sl_handle a file handle to the serial device used for the communication. - * @slave_addr I2C slave address of device. - * @register_addr Register address to read. - * @length Length of burst of data. - * @data Pointer to block of data. - * - * returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise. - */ -inv_error_t inv_serial_read( - void *sl_handle, - unsigned char slave_addr, - unsigned char register_addr, - unsigned short length, - unsigned char *data); - -/** - * inv_serial_read_mem() - used to read multiple bytes of data from the memory. - * This should be sent by I2C or SPI. - * - * @sl_handle a file handle to the serial device used for the communication. - * @slave_addr I2C slave address of device. - * @mem_addr The location in the memory to read from. - * @length Length of burst data. - * @data Pointer to block of data. - * - * returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise. - */ -inv_error_t inv_serial_read_mem( - void *sl_handle, - unsigned char slave_addr, - unsigned short mem_addr, - unsigned short length, - unsigned char *data); - -/** - * inv_serial_write_mem() - used to write multiple bytes of data to the memory. - * @sl_handle a file handle to the serial device used for the communication. - * @slave_addr I2C slave address of device. - * @mem_addr The location in the memory to write to. - * @length Length of burst data. - * @data Pointer to block of data. - * - * returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise. - */ -inv_error_t inv_serial_write_mem( - void *sl_handle, - unsigned char slave_addr, - unsigned short mem_addr, - unsigned short length, - unsigned char const *data); - -/** - * inv_serial_read_fifo() - used to read multiple bytes of data from the fifo. - * @sl_handle a file handle to the serial device used for the communication. - * @slave_addr I2C slave address of device. - * @length Length of burst of data. - * @data Pointer to block of data. - * - * returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise. - */ -inv_error_t inv_serial_read_fifo( - void *sl_handle, - unsigned char slave_addr, - unsigned short length, - unsigned char *data); - -/** - * inv_serial_write_fifo() - used to write multiple bytes of data to the fifo. - * @sl_handle a file handle to the serial device used for the communication. - * @slave_addr I2C slave address of device. - * @length Length of burst of data. - * @data Pointer to block of data. - * - * returns INV_SUCCESS == 0 if successful; a non-zero error code otherwise. - */ -inv_error_t inv_serial_write_fifo( - void *sl_handle, - unsigned char slave_addr, - unsigned short length, - unsigned char const *data); - -#ifndef __KERNEL__ -/** - * inv_serial_read_cfg() - used to get the configuration data. - * @cfg Pointer to the configuration data. - * @len Length of the configuration data. - * - * Is called by the MPL to get the configuration data - * used by the motion library. - * This data would typically be saved in non-volatile memory. - * - * returns INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_serial_read_cfg(unsigned char *cfg, unsigned int len); - -/** - * inv_serial_write_cfg() - used to save the configuration data. - * @cfg Pointer to the configuration data. - * @len Length of the configuration data. - * - * Is called by the MPL to save the configuration data used by the - * motion library. - * This data would typically be saved in non-volatile memory. - * - * returns INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_serial_write_cfg(unsigned char *cfg, unsigned int len); - -/** - * inv_serial_read_cal() - used to get the calibration data. - * @cfg Pointer to the calibration data. - * @len Length of the calibration data. - * - * It is called by the MPL to get the calibration data used by the - * motion library. - * This data is typically be saved in non-volatile memory. - * - * returns INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_serial_read_cal(unsigned char *cal, unsigned int len); - -/** - * inv_serial_write_cal() - used to save the calibration data. - * - * @cfg Pointer to the calibration data. - * @len Length of the calibration data. - * - * It is called by the MPL to save the calibration data used by the - * motion library. - * This data is typically be saved in non-volatile memory. - * returns INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_serial_write_cal(unsigned char *cal, unsigned int len); - -/** - * inv_serial_get_cal_length() - Get the calibration length from the storage. - * @len lenght to be returned - * - * returns INV_SUCCESS if successful, a non-zero error code otherwise. - */ -inv_error_t inv_serial_get_cal_length(unsigned int *len); -#endif -#ifdef __cplusplus -} -#endif -/** - * @} - */ -#endif /* __MLSL_H__ */ diff --git a/invensense/mlsdk/platform/include/mltypes.h b/invensense/mlsdk/platform/include/mltypes.h deleted file mode 100644 index 90a126b..0000000 --- a/invensense/mlsdk/platform/include/mltypes.h +++ /dev/null @@ -1,265 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -/** - * @defgroup MLERROR - * @brief Motion Library - Error definitions. - * Definition of the error codes used within the MPL and - * returned to the user. - * Every function tries to return a meaningful error code basing - * on the occuring error condition. The error code is numeric. - * - * The available error codes and their associated values are: - * - (0) INV_SUCCESS - * - (1) INV_ERROR - * - (2) INV_ERROR_INVALID_PARAMETER - * - (3) INV_ERROR_FEATURE_NOT_ENABLED - * - (4) INV_ERROR_FEATURE_NOT_IMPLEMENTED - * - (6) INV_ERROR_DMP_NOT_STARTED - * - (7) INV_ERROR_DMP_STARTED - * - (8) INV_ERROR_NOT_OPENED - * - (9) INV_ERROR_OPENED - * - (10) INV_ERROR_INVALID_MODULE - * - (11) INV_ERROR_MEMORY_EXAUSTED - * - (12) INV_ERROR_DIVIDE_BY_ZERO - * - (13) INV_ERROR_ASSERTION_FAILURE - * - (14) INV_ERROR_FILE_OPEN - * - (15) INV_ERROR_FILE_READ - * - (16) INV_ERROR_FILE_WRITE - * - (17) INV_ERROR_INVALID_CONFIGURATION - * - (20) INV_ERROR_SERIAL_CLOSED - * - (21) INV_ERROR_SERIAL_OPEN_ERROR - * - (22) INV_ERROR_SERIAL_READ - * - (23) INV_ERROR_SERIAL_WRITE - * - (24) INV_ERROR_SERIAL_DEVICE_NOT_RECOGNIZED - * - (25) INV_ERROR_SM_TRANSITION - * - (26) INV_ERROR_SM_IMPROPER_STATE - * - (30) INV_ERROR_FIFO_OVERFLOW - * - (31) INV_ERROR_FIFO_FOOTER - * - (32) INV_ERROR_FIFO_READ_COUNT - * - (33) INV_ERROR_FIFO_READ_DATA - * - (40) INV_ERROR_MEMORY_SET - * - (50) INV_ERROR_LOG_MEMORY_ERROR - * - (51) INV_ERROR_LOG_OUTPUT_ERROR - * - (60) INV_ERROR_OS_BAD_PTR - * - (61) INV_ERROR_OS_BAD_HANDLE - * - (62) INV_ERROR_OS_CREATE_FAILED - * - (63) INV_ERROR_OS_LOCK_FAILED - * - (70) INV_ERROR_COMPASS_DATA_OVERFLOW - * - (71) INV_ERROR_COMPASS_DATA_UNDERFLOW - * - (72) INV_ERROR_COMPASS_DATA_NOT_READY - * - (73) INV_ERROR_COMPASS_DATA_ERROR - * - (75) INV_ERROR_CALIBRATION_LOAD - * - (76) INV_ERROR_CALIBRATION_STORE - * - (77) INV_ERROR_CALIBRATION_LEN - * - (78) INV_ERROR_CALIBRATION_CHECKSUM - * - (79) INV_ERROR_ACCEL_DATA_OVERFLOW - * - (80) INV_ERROR_ACCEL_DATA_UNDERFLOW - * - (81) INV_ERROR_ACCEL_DATA_NOT_READY - * - (82) INV_ERROR_ACCEL_DATA_ERROR - * - * @{ - * @file mltypes.h - * @} - */ - -#ifndef MLTYPES_H -#define MLTYPES_H - -#ifdef __KERNEL__ -#include <linux/types.h> -#else -#include "stdint_invensense.h" -#endif - -/*--------------------------- - ML Types ----------------------------*/ - -/** - * @struct inv_error_t mltypes.h "mltypes" - * @brief The MPL Error Code return type. - * - * @code - * typedef unsigned char inv_error_t; - * @endcode - */ -typedef unsigned char inv_error_t; - -#ifndef __cplusplus -#ifndef __KERNEL__ -typedef int_fast8_t bool; -#endif -#endif - -/*--------------------------- - ML Defines ----------------------------*/ - -#ifndef NULL -#define NULL 0 -#endif - -#ifndef TRUE -#define TRUE 1 -#endif - -#ifndef FALSE -#define FALSE 0 -#endif - -#ifndef __KERNEL__ -#ifndef ARRAY_SIZE -/* Dimension of an array */ -#define ARRAY_SIZE(array) (sizeof(array)/sizeof((array)[0])) -#endif -#endif -/* - ML Errors. - */ -#define ERROR_NAME(x) (#x) -#define ERROR_CHECK_FIRST(first, x) \ - { if (INV_SUCCESS == first) first = x; } - -#define INV_SUCCESS (0) -/* Generic Error code. Proprietary Error Codes only */ -#define INV_ERROR (1) - -/* Compatibility and other generic error codes */ -#define INV_ERROR_INVALID_PARAMETER (2) -#define INV_ERROR_FEATURE_NOT_ENABLED (3) -#define INV_ERROR_FEATURE_NOT_IMPLEMENTED (4) -#define INV_ERROR_DMP_NOT_STARTED (6) -#define INV_ERROR_DMP_STARTED (7) -#define INV_ERROR_NOT_OPENED (8) -#define INV_ERROR_OPENED (9) -#define INV_ERROR_INVALID_MODULE (10) -#define INV_ERROR_MEMORY_EXAUSTED (11) -#define INV_ERROR_DIVIDE_BY_ZERO (12) -#define INV_ERROR_ASSERTION_FAILURE (13) -#define INV_ERROR_FILE_OPEN (14) -#define INV_ERROR_FILE_READ (15) -#define INV_ERROR_FILE_WRITE (16) -#define INV_ERROR_INVALID_CONFIGURATION (17) - -/* Serial Communication */ -#define INV_ERROR_SERIAL_CLOSED (20) -#define INV_ERROR_SERIAL_OPEN_ERROR (21) -#define INV_ERROR_SERIAL_READ (22) -#define INV_ERROR_SERIAL_WRITE (23) -#define INV_ERROR_SERIAL_DEVICE_NOT_RECOGNIZED (24) - -/* SM = State Machine */ -#define INV_ERROR_SM_TRANSITION (25) -#define INV_ERROR_SM_IMPROPER_STATE (26) - -/* Fifo */ -#define INV_ERROR_FIFO_OVERFLOW (30) -#define INV_ERROR_FIFO_FOOTER (31) -#define INV_ERROR_FIFO_READ_COUNT (32) -#define INV_ERROR_FIFO_READ_DATA (33) - -/* Memory & Registers, Set & Get */ -#define INV_ERROR_MEMORY_SET (40) - -#define INV_ERROR_LOG_MEMORY_ERROR (50) -#define INV_ERROR_LOG_OUTPUT_ERROR (51) - -/* OS interface errors */ -#define INV_ERROR_OS_BAD_PTR (60) -#define INV_ERROR_OS_BAD_HANDLE (61) -#define INV_ERROR_OS_CREATE_FAILED (62) -#define INV_ERROR_OS_LOCK_FAILED (63) - -/* Compass errors */ -#define INV_ERROR_COMPASS_DATA_OVERFLOW (70) -#define INV_ERROR_COMPASS_DATA_UNDERFLOW (71) -#define INV_ERROR_COMPASS_DATA_NOT_READY (72) -#define INV_ERROR_COMPASS_DATA_ERROR (73) - -/* Load/Store calibration */ -#define INV_ERROR_CALIBRATION_LOAD (75) -#define INV_ERROR_CALIBRATION_STORE (76) -#define INV_ERROR_CALIBRATION_LEN (77) -#define INV_ERROR_CALIBRATION_CHECKSUM (78) - -/* Accel errors */ -#define INV_ERROR_ACCEL_DATA_OVERFLOW (79) -#define INV_ERROR_ACCEL_DATA_UNDERFLOW (80) -#define INV_ERROR_ACCEL_DATA_NOT_READY (81) -#define INV_ERROR_ACCEL_DATA_ERROR (82) - -#ifdef INV_USE_LEGACY_NAMES -#define ML_SUCCESS INV_SUCCESS -#define ML_ERROR INV_ERROR -#define ML_ERROR_INVALID_PARAMETER INV_ERROR_INVALID_PARAMETER -#define ML_ERROR_FEATURE_NOT_ENABLED INV_ERROR_FEATURE_NOT_ENABLED -#define ML_ERROR_FEATURE_NOT_IMPLEMENTED INV_ERROR_FEATURE_NOT_IMPLEMENTED -#define ML_ERROR_DMP_NOT_STARTED INV_ERROR_DMP_NOT_STARTED -#define ML_ERROR_DMP_STARTED INV_ERROR_DMP_STARTED -#define ML_ERROR_NOT_OPENED INV_ERROR_NOT_OPENED -#define ML_ERROR_OPENED INV_ERROR_OPENED -#define ML_ERROR_INVALID_MODULE INV_ERROR_INVALID_MODULE -#define ML_ERROR_MEMORY_EXAUSTED INV_ERROR_MEMORY_EXAUSTED -#define ML_ERROR_DIVIDE_BY_ZERO INV_ERROR_DIVIDE_BY_ZERO -#define ML_ERROR_ASSERTION_FAILURE INV_ERROR_ASSERTION_FAILURE -#define ML_ERROR_FILE_OPEN INV_ERROR_FILE_OPEN -#define ML_ERROR_FILE_READ INV_ERROR_FILE_READ -#define ML_ERROR_FILE_WRITE INV_ERROR_FILE_WRITE -#define ML_ERROR_INVALID_CONFIGURATION INV_ERROR_INVALID_CONFIGURATION -#define ML_ERROR_SERIAL_CLOSED INV_ERROR_SERIAL_CLOSED -#define ML_ERROR_SERIAL_OPEN_ERROR INV_ERROR_SERIAL_OPEN_ERROR -#define ML_ERROR_SERIAL_READ INV_ERROR_SERIAL_READ -#define ML_ERROR_SERIAL_WRITE INV_ERROR_SERIAL_WRITE -#define ML_ERROR_SERIAL_DEVICE_NOT_RECOGNIZED \ - INV_ERROR_SERIAL_DEVICE_NOT_RECOGNIZED -#define ML_ERROR_SM_TRANSITION INV_ERROR_SM_TRANSITION -#define ML_ERROR_SM_IMPROPER_STATE INV_ERROR_SM_IMPROPER_STATE -#define ML_ERROR_FIFO_OVERFLOW INV_ERROR_FIFO_OVERFLOW -#define ML_ERROR_FIFO_FOOTER INV_ERROR_FIFO_FOOTER -#define ML_ERROR_FIFO_READ_COUNT INV_ERROR_FIFO_READ_COUNT -#define ML_ERROR_FIFO_READ_DATA INV_ERROR_FIFO_READ_DATA -#define ML_ERROR_MEMORY_SET INV_ERROR_MEMORY_SET -#define ML_ERROR_LOG_MEMORY_ERROR INV_ERROR_LOG_MEMORY_ERROR -#define ML_ERROR_LOG_OUTPUT_ERROR INV_ERROR_LOG_OUTPUT_ERROR -#define ML_ERROR_OS_BAD_PTR INV_ERROR_OS_BAD_PTR -#define ML_ERROR_OS_BAD_HANDLE INV_ERROR_OS_BAD_HANDLE -#define ML_ERROR_OS_CREATE_FAILED INV_ERROR_OS_CREATE_FAILED -#define ML_ERROR_OS_LOCK_FAILED INV_ERROR_OS_LOCK_FAILED -#define ML_ERROR_COMPASS_DATA_OVERFLOW INV_ERROR_COMPASS_DATA_OVERFLOW -#define ML_ERROR_COMPASS_DATA_UNDERFLOW INV_ERROR_COMPASS_DATA_UNDERFLOW -#define ML_ERROR_COMPASS_DATA_NOT_READY INV_ERROR_COMPASS_DATA_NOT_READY -#define ML_ERROR_COMPASS_DATA_ERROR INV_ERROR_COMPASS_DATA_ERROR -#define ML_ERROR_CALIBRATION_LOAD INV_ERROR_CALIBRATION_LOAD -#define ML_ERROR_CALIBRATION_STORE INV_ERROR_CALIBRATION_STORE -#define ML_ERROR_CALIBRATION_LEN INV_ERROR_CALIBRATION_LEN -#define ML_ERROR_CALIBRATION_CHECKSUM INV_ERROR_CALIBRATION_CHECKSUM -#define ML_ERROR_ACCEL_DATA_OVERFLOW INV_ERROR_ACCEL_DATA_OVERFLOW -#define ML_ERROR_ACCEL_DATA_UNDERFLOW INV_ERROR_ACCEL_DATA_UNDERFLOW -#define ML_ERROR_ACCEL_DATA_NOT_READY INV_ERROR_ACCEL_DATA_NOT_READY -#define ML_ERROR_ACCEL_DATA_ERROR INV_ERROR_ACCEL_DATA_ERROR -#endif - -/* For Linux coding compliance */ -#ifndef __KERNEL__ -#define EXPORT_SYMBOL(x) -#endif - -/*--------------------------- - p-Types ----------------------------*/ - -#endif /* MLTYPES_H */ diff --git a/invensense/mlsdk/platform/include/mpu3050.h b/invensense/mlsdk/platform/include/mpu3050.h deleted file mode 100644 index bd0ac32..0000000 --- a/invensense/mlsdk/platform/include/mpu3050.h +++ /dev/null @@ -1,251 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -#ifndef __MPU_H_ -#error Do not include this file directly. Include mpu.h instead. -#endif - -#ifndef __MPU3050_H_ -#define __MPU3050_H_ - -#ifdef __KERNEL__ -#include <linux/types.h> -#endif - -#define MPU_NAME "mpu3050" -#define DEFAULT_MPU_SLAVEADDR 0x68 - -/*==== MPU REGISTER SET ====*/ -enum mpu_register { - MPUREG_WHO_AM_I = 0, /* 00 0x00 */ - MPUREG_PRODUCT_ID, /* 01 0x01 */ - MPUREG_02_RSVD, /* 02 0x02 */ - MPUREG_03_RSVD, /* 03 0x03 */ - MPUREG_04_RSVD, /* 04 0x04 */ - MPUREG_XG_OFFS_TC, /* 05 0x05 */ - MPUREG_06_RSVD, /* 06 0x06 */ - MPUREG_07_RSVD, /* 07 0x07 */ - MPUREG_YG_OFFS_TC, /* 08 0x08 */ - MPUREG_09_RSVD, /* 09 0x09 */ - MPUREG_0A_RSVD, /* 10 0x0a */ - MPUREG_ZG_OFFS_TC, /* 11 0x0b */ - MPUREG_X_OFFS_USRH, /* 12 0x0c */ - MPUREG_X_OFFS_USRL, /* 13 0x0d */ - MPUREG_Y_OFFS_USRH, /* 14 0x0e */ - MPUREG_Y_OFFS_USRL, /* 15 0x0f */ - MPUREG_Z_OFFS_USRH, /* 16 0x10 */ - MPUREG_Z_OFFS_USRL, /* 17 0x11 */ - MPUREG_FIFO_EN1, /* 18 0x12 */ - MPUREG_FIFO_EN2, /* 19 0x13 */ - MPUREG_AUX_SLV_ADDR, /* 20 0x14 */ - MPUREG_SMPLRT_DIV, /* 21 0x15 */ - MPUREG_DLPF_FS_SYNC, /* 22 0x16 */ - MPUREG_INT_CFG, /* 23 0x17 */ - MPUREG_ACCEL_BURST_ADDR,/* 24 0x18 */ - MPUREG_19_RSVD, /* 25 0x19 */ - MPUREG_INT_STATUS, /* 26 0x1a */ - MPUREG_TEMP_OUT_H, /* 27 0x1b */ - MPUREG_TEMP_OUT_L, /* 28 0x1c */ - MPUREG_GYRO_XOUT_H, /* 29 0x1d */ - MPUREG_GYRO_XOUT_L, /* 30 0x1e */ - MPUREG_GYRO_YOUT_H, /* 31 0x1f */ - MPUREG_GYRO_YOUT_L, /* 32 0x20 */ - MPUREG_GYRO_ZOUT_H, /* 33 0x21 */ - MPUREG_GYRO_ZOUT_L, /* 34 0x22 */ - MPUREG_23_RSVD, /* 35 0x23 */ - MPUREG_24_RSVD, /* 36 0x24 */ - MPUREG_25_RSVD, /* 37 0x25 */ - MPUREG_26_RSVD, /* 38 0x26 */ - MPUREG_27_RSVD, /* 39 0x27 */ - MPUREG_28_RSVD, /* 40 0x28 */ - MPUREG_29_RSVD, /* 41 0x29 */ - MPUREG_2A_RSVD, /* 42 0x2a */ - MPUREG_2B_RSVD, /* 43 0x2b */ - MPUREG_2C_RSVD, /* 44 0x2c */ - MPUREG_2D_RSVD, /* 45 0x2d */ - MPUREG_2E_RSVD, /* 46 0x2e */ - MPUREG_2F_RSVD, /* 47 0x2f */ - MPUREG_30_RSVD, /* 48 0x30 */ - MPUREG_31_RSVD, /* 49 0x31 */ - MPUREG_32_RSVD, /* 50 0x32 */ - MPUREG_33_RSVD, /* 51 0x33 */ - MPUREG_34_RSVD, /* 52 0x34 */ - MPUREG_DMP_CFG_1, /* 53 0x35 */ - MPUREG_DMP_CFG_2, /* 54 0x36 */ - MPUREG_BANK_SEL, /* 55 0x37 */ - MPUREG_MEM_START_ADDR, /* 56 0x38 */ - MPUREG_MEM_R_W, /* 57 0x39 */ - MPUREG_FIFO_COUNTH, /* 58 0x3a */ - MPUREG_FIFO_COUNTL, /* 59 0x3b */ - MPUREG_FIFO_R_W, /* 60 0x3c */ - MPUREG_USER_CTRL, /* 61 0x3d */ - MPUREG_PWR_MGM, /* 62 0x3e */ - MPUREG_3F_RSVD, /* 63 0x3f */ - NUM_OF_MPU_REGISTERS /* 64 0x40 */ -}; - -/*==== BITS FOR MPU ====*/ - -/*---- MPU 'FIFO_EN1' register (12) ----*/ -#define BIT_TEMP_OUT 0x80 -#define BIT_GYRO_XOUT 0x40 -#define BIT_GYRO_YOUT 0x20 -#define BIT_GYRO_ZOUT 0x10 -#define BIT_ACCEL_XOUT 0x08 -#define BIT_ACCEL_YOUT 0x04 -#define BIT_ACCEL_ZOUT 0x02 -#define BIT_AUX_1OUT 0x01 -/*---- MPU 'FIFO_EN2' register (13) ----*/ -#define BIT_AUX_2OUT 0x02 -#define BIT_AUX_3OUT 0x01 -/*---- MPU 'DLPF_FS_SYNC' register (16) ----*/ -#define BITS_EXT_SYNC_NONE 0x00 -#define BITS_EXT_SYNC_TEMP 0x20 -#define BITS_EXT_SYNC_GYROX 0x40 -#define BITS_EXT_SYNC_GYROY 0x60 -#define BITS_EXT_SYNC_GYROZ 0x80 -#define BITS_EXT_SYNC_ACCELX 0xA0 -#define BITS_EXT_SYNC_ACCELY 0xC0 -#define BITS_EXT_SYNC_ACCELZ 0xE0 -#define BITS_EXT_SYNC_MASK 0xE0 -#define BITS_FS_250DPS 0x00 -#define BITS_FS_500DPS 0x08 -#define BITS_FS_1000DPS 0x10 -#define BITS_FS_2000DPS 0x18 -#define BITS_FS_MASK 0x18 -#define BITS_DLPF_CFG_256HZ_NOLPF2 0x00 -#define BITS_DLPF_CFG_188HZ 0x01 -#define BITS_DLPF_CFG_98HZ 0x02 -#define BITS_DLPF_CFG_42HZ 0x03 -#define BITS_DLPF_CFG_20HZ 0x04 -#define BITS_DLPF_CFG_10HZ 0x05 -#define BITS_DLPF_CFG_5HZ 0x06 -#define BITS_DLPF_CFG_2100HZ_NOLPF 0x07 -#define BITS_DLPF_CFG_MASK 0x07 -/*---- MPU 'INT_CFG' register (17) ----*/ -#define BIT_ACTL 0x80 -#define BIT_ACTL_LOW 0x80 -#define BIT_ACTL_HIGH 0x00 -#define BIT_OPEN 0x40 -#define BIT_OPEN_DRAIN 0x40 -#define BIT_PUSH_PULL 0x00 -#define BIT_LATCH_INT_EN 0x20 -#define BIT_INT_PULSE_WIDTH_50US 0x00 -#define BIT_INT_ANYRD_2CLEAR 0x10 -#define BIT_INT_STAT_READ_2CLEAR 0x00 -#define BIT_MPU_RDY_EN 0x04 -#define BIT_DMP_INT_EN 0x02 -#define BIT_RAW_RDY_EN 0x01 -/*---- MPU 'INT_STATUS' register (1A) ----*/ -#define BIT_INT_STATUS_FIFO_OVERLOW 0x80 -#define BIT_MPU_RDY 0x04 -#define BIT_DMP_INT 0x02 -#define BIT_RAW_RDY 0x01 -/*---- MPU 'BANK_SEL' register (37) ----*/ -#define BIT_PRFTCH_EN 0x20 -#define BIT_CFG_USER_BANK 0x10 -#define BITS_MEM_SEL 0x0f -/*---- MPU 'USER_CTRL' register (3D) ----*/ -#define BIT_DMP_EN 0x80 -#define BIT_FIFO_EN 0x40 -#define BIT_AUX_IF_EN 0x20 -#define BIT_AUX_RD_LENG 0x10 -#define BIT_AUX_IF_RST 0x08 -#define BIT_DMP_RST 0x04 -#define BIT_FIFO_RST 0x02 -#define BIT_GYRO_RST 0x01 -/*---- MPU 'PWR_MGM' register (3E) ----*/ -#define BIT_H_RESET 0x80 -#define BIT_SLEEP 0x40 -#define BIT_STBY_XG 0x20 -#define BIT_STBY_YG 0x10 -#define BIT_STBY_ZG 0x08 -#define BITS_CLKSEL 0x07 - -/*---- MPU Silicon Revision ----*/ -#define MPU_SILICON_REV_A4 1 /* MPU A4 Device */ -#define MPU_SILICON_REV_B1 2 /* MPU B1 Device */ -#define MPU_SILICON_REV_B4 3 /* MPU B4 Device */ -#define MPU_SILICON_REV_B6 4 /* MPU B6 Device */ - -/*---- MPU Memory ----*/ -#define MPU_MEM_BANK_SIZE (256) -#define FIFO_HW_SIZE (512) - -enum MPU_MEMORY_BANKS { - MPU_MEM_RAM_BANK_0 = 0, - MPU_MEM_RAM_BANK_1, - MPU_MEM_RAM_BANK_2, - MPU_MEM_RAM_BANK_3, - MPU_MEM_NUM_RAM_BANKS, - MPU_MEM_OTP_BANK_0 = MPU_MEM_NUM_RAM_BANKS, - /* This one is always last */ - MPU_MEM_NUM_BANKS -}; - -/*---- structure containing control variables used by MLDL ----*/ -/*---- MPU clock source settings ----*/ -/*---- MPU filter selections ----*/ -enum mpu_filter { - MPU_FILTER_256HZ_NOLPF2 = 0, - MPU_FILTER_188HZ, - MPU_FILTER_98HZ, - MPU_FILTER_42HZ, - MPU_FILTER_20HZ, - MPU_FILTER_10HZ, - MPU_FILTER_5HZ, - MPU_FILTER_2100HZ_NOLPF, - NUM_MPU_FILTER -}; - -enum mpu_fullscale { - MPU_FS_250DPS = 0, - MPU_FS_500DPS, - MPU_FS_1000DPS, - MPU_FS_2000DPS, - NUM_MPU_FS -}; - -enum mpu_clock_sel { - MPU_CLK_SEL_INTERNAL = 0, - MPU_CLK_SEL_PLLGYROX, - MPU_CLK_SEL_PLLGYROY, - MPU_CLK_SEL_PLLGYROZ, - MPU_CLK_SEL_PLLEXT32K, - MPU_CLK_SEL_PLLEXT19M, - MPU_CLK_SEL_RESERVED, - MPU_CLK_SEL_STOP, - NUM_CLK_SEL -}; - -enum mpu_ext_sync { - MPU_EXT_SYNC_NONE = 0, - MPU_EXT_SYNC_TEMP, - MPU_EXT_SYNC_GYROX, - MPU_EXT_SYNC_GYROY, - MPU_EXT_SYNC_GYROZ, - MPU_EXT_SYNC_ACCELX, - MPU_EXT_SYNC_ACCELY, - MPU_EXT_SYNC_ACCELZ, - NUM_MPU_EXT_SYNC -}; - -#define DLPF_FS_SYNC_VALUE(ext_sync, full_scale, lpf) \ - ((ext_sync << 5) | (full_scale << 3) | lpf) - -#endif /* __MPU3050_H_ */ diff --git a/invensense/mlsdk/platform/include/stdint_invensense.h b/invensense/mlsdk/platform/include/stdint_invensense.h deleted file mode 100644 index d238813..0000000 --- a/invensense/mlsdk/platform/include/stdint_invensense.h +++ /dev/null @@ -1,51 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -#ifndef STDINT_INVENSENSE_H -#define STDINT_INVENSENSE_H - -#ifndef WIN32 - -#ifdef __KERNEL__ -#include <linux/types.h> -#else -#include <stdint.h> -#endif - -#else - -#include <windows.h> - -typedef char int8_t; -typedef short int16_t; -typedef long int32_t; - -typedef unsigned char uint8_t; -typedef unsigned short uint16_t; -typedef unsigned long uint32_t; - -typedef int int_fast8_t; -typedef int int_fast16_t; -typedef long int_fast32_t; - -typedef unsigned int uint_fast8_t; -typedef unsigned int uint_fast16_t; -typedef unsigned long uint_fast32_t; - -#endif - -#endif // STDINT_INVENSENSE_H diff --git a/invensense/mlsdk/platform/linux/kernel/mpuirq.h b/invensense/mlsdk/platform/linux/kernel/mpuirq.h deleted file mode 100644 index 352170b..0000000 --- a/invensense/mlsdk/platform/linux/kernel/mpuirq.h +++ /dev/null @@ -1,41 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -#ifndef __MPUIRQ__ -#define __MPUIRQ__ - -#ifdef __KERNEL__ -#include <linux/time.h> -#include <linux/ioctl.h> -#include "mldl_cfg.h" -#else -#include <sys/ioctl.h> -#include <sys/time.h> -#endif - -#define MPUIRQ_SET_TIMEOUT _IOW(MPU_IOCTL, 0x40, unsigned long) -#define MPUIRQ_GET_INTERRUPT_CNT _IOR(MPU_IOCTL, 0x41, unsigned long) -#define MPUIRQ_GET_IRQ_TIME _IOR(MPU_IOCTL, 0x42, struct timeval) -#define MPUIRQ_SET_FREQUENCY_DIVIDER _IOW(MPU_IOCTL, 0x43, unsigned long) - -#ifdef __KERNEL__ -void mpuirq_exit(void); -int mpuirq_init(struct i2c_client *mpu_client, struct mldl_cfg *mldl_cfg); -#endif - -#endif diff --git a/invensense/mlsdk/platform/linux/kernel/slaveirq.h b/invensense/mlsdk/platform/linux/kernel/slaveirq.h deleted file mode 100644 index beb352b..0000000 --- a/invensense/mlsdk/platform/linux/kernel/slaveirq.h +++ /dev/null @@ -1,35 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -#ifndef __SLAVEIRQ__ -#define __SLAVEIRQ__ - -#include <linux/mpu.h> -#include "mpuirq.h" - -#define SLAVEIRQ_SET_TIMEOUT _IOW(MPU_IOCTL, 0x50, unsigned long) -#define SLAVEIRQ_GET_INTERRUPT_CNT _IOR(MPU_IOCTL, 0x51, unsigned long) -#define SLAVEIRQ_GET_IRQ_TIME _IOR(MPU_IOCTL, 0x52, unsigned long) - - -void slaveirq_exit(struct ext_slave_platform_data *pdata); -int slaveirq_init(struct i2c_adapter *slave_adapter, - struct ext_slave_platform_data *pdata, char *name); - - -#endif diff --git a/invensense/mlsdk/platform/linux/kernel/timerirq.h b/invensense/mlsdk/platform/linux/kernel/timerirq.h deleted file mode 100644 index dc3eea2..0000000 --- a/invensense/mlsdk/platform/linux/kernel/timerirq.h +++ /dev/null @@ -1,29 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -#ifndef __TIMERIRQ__ -#define __TIMERIRQ__ - -#include <linux/mpu.h> - -#define TIMERIRQ_SET_TIMEOUT _IOW(MPU_IOCTL, 0x60, unsigned long) -#define TIMERIRQ_GET_INTERRUPT_CNT _IOW(MPU_IOCTL, 0x61, unsigned long) -#define TIMERIRQ_START _IOW(MPU_IOCTL, 0x62, unsigned long) -#define TIMERIRQ_STOP _IO(MPU_IOCTL, 0x63) - -#endif diff --git a/invensense/mlsdk/platform/linux/log_linux.c b/invensense/mlsdk/platform/linux/log_linux.c deleted file mode 100644 index 7f7de0e..0000000 --- a/invensense/mlsdk/platform/linux/log_linux.c +++ /dev/null @@ -1,114 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -/****************************************************************************** - * $Id: log_linux.c 5629 2011-06-11 03:13:08Z mcaramello $ - ******************************************************************************/ - -/** - * @defgroup MPL_LOG - * @brief Logging facility for the MPL - * - * @{ - * @file log.c - * @brief Core logging facility functions. - * - * -**/ - -#include <stdio.h> -#include <string.h> -#include "log.h" -#include "mltypes.h" - -#define LOG_BUFFER_SIZE (256) - -#ifdef WIN32 -#define snprintf _snprintf -#define vsnprintf _vsnprintf -#endif - -int _MLPrintLog (int priority, const char* tag, const char* fmt, ...) -{ - va_list ap; - int result; - - va_start(ap, fmt); - result = _MLPrintVaLog(priority,tag,fmt,ap); - va_end(ap); - - return result; -} - -int _MLPrintVaLog(int priority, const char* tag, const char* fmt, va_list args) -{ - int result; - char buf[LOG_BUFFER_SIZE]; - char new_fmt[LOG_BUFFER_SIZE]; - char priority_char; - - if (NULL == fmt) { - fmt = ""; - } - - switch (priority) { - case MPL_LOG_UNKNOWN: - priority_char = 'U'; - break; - case MPL_LOG_VERBOSE: - priority_char = 'V'; - break; - case MPL_LOG_DEBUG: - priority_char = 'D'; - break; - case MPL_LOG_INFO: - priority_char = 'I'; - break; - case MPL_LOG_WARN: - priority_char = 'W'; - break; - case MPL_LOG_ERROR: - priority_char = 'E'; - break; - case MPL_LOG_SILENT: - priority_char = 'S'; - break; - case MPL_LOG_DEFAULT: - default: - priority_char = 'D'; - break; - }; - - result = snprintf(new_fmt, sizeof(new_fmt), "%c/%s:%s", - priority_char, tag, fmt); - if (result <= 0) { - return INV_ERROR_LOG_MEMORY_ERROR; - } - result = vsnprintf(buf,sizeof(buf),new_fmt, args); - if (result <= 0) { - return INV_ERROR_LOG_OUTPUT_ERROR; - } - - result = _MLWriteLog(buf, strlen(buf)); - return INV_SUCCESS; -} - -/** - * @} -**/ - - diff --git a/invensense/mlsdk/platform/linux/log_printf_linux.c b/invensense/mlsdk/platform/linux/log_printf_linux.c deleted file mode 100644 index e6499f3..0000000 --- a/invensense/mlsdk/platform/linux/log_printf_linux.c +++ /dev/null @@ -1,43 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -/******************************************************************************* - * - * $Id: log_printf_linux.c 5629 2011-06-11 03:13:08Z mcaramello $ - * - ******************************************************************************/ - -/** - * @addtogroup MPL_LOG - * - * @{ - * @file log_printf.c - * @brief printf replacement for _MLWriteLog. - */ - -#include <stdio.h> -#include "log.h" - -int _MLWriteLog (const char * buf, int buflen) -{ - return fputs(buf, stdout); -} - -/** - * @} - */ - diff --git a/invensense/mlsdk/platform/linux/mlos_linux.c b/invensense/mlsdk/platform/linux/mlos_linux.c deleted file mode 100644 index 8704f4b..0000000 --- a/invensense/mlsdk/platform/linux/mlos_linux.c +++ /dev/null @@ -1,206 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ -/******************************************************************************* - * - * $Id: mlos_linux.c 5629 2011-06-11 03:13:08Z mcaramello $ - * - *******************************************************************************/ - -/** - * @defgroup MLOS - * @brief OS Interface. - * - * @{ - * @file mlos.c - * @brief OS Interface. -**/ - -/* ------------- */ -/* - Includes. - */ -/* ------------- */ - -#include <sys/time.h> -#include <unistd.h> -#include <pthread.h> -#include <stdlib.h> - -#include "stdint_invensense.h" - -#include "mlos.h" -#include <errno.h> - - -/* -------------- */ -/* - Functions. - */ -/* -------------- */ - -/** - * @brief Allocate space - * @param numBytes number of bytes - * @return pointer to allocated space -**/ -void *inv_malloc(unsigned int numBytes) -{ - // Allocate space. - void *allocPtr = malloc(numBytes); - return allocPtr; -} - - -/** - * @brief Free allocated space - * @param ptr pointer to space to deallocate - * @return error code. -**/ -inv_error_t inv_free(void *ptr) -{ - // Deallocate space. - free(ptr); - - return INV_SUCCESS; -} - - -/** - * @brief Mutex create function - * @param mutex pointer to mutex handle - * @return error code. - */ -inv_error_t inv_create_mutex(HANDLE *mutex) -{ - int res; - pthread_mutex_t *pm = malloc(sizeof(pthread_mutex_t)); - if(pm == NULL) - return INV_ERROR; - - res = pthread_mutex_init(pm, NULL); - if(res == -1) { - free(pm); - return INV_ERROR_OS_CREATE_FAILED; - } - - *mutex = (HANDLE)pm; - - return INV_SUCCESS; -} - - -/** - * @brief Mutex lock function - * @param mutex Mutex handle - * @return error code. - */ -inv_error_t inv_lock_mutex(HANDLE mutex) -{ - int res; - pthread_mutex_t *pm = (pthread_mutex_t*)mutex; - - res = pthread_mutex_lock(pm); - if(res == -1) - return INV_ERROR_OS_LOCK_FAILED; - - return INV_SUCCESS; -} - - -/** - * @brief Mutex unlock function - * @param mutex mutex handle - * @return error code. -**/ -inv_error_t inv_unlock_mutex(HANDLE mutex) -{ - int res; - pthread_mutex_t *pm = (pthread_mutex_t*)mutex; - - res = pthread_mutex_unlock(pm); - if(res == -1) - return INV_ERROR_OS_LOCK_FAILED; - - return INV_SUCCESS; -} - - -/** - * @brief open file - * @param filename name of the file to open. - * @return error code. - */ -FILE *inv_fopen(char *filename) -{ - FILE *fp = fopen(filename,"r"); - return fp; -} - - -/** - * @brief close the file. - * @param fp handle to file to close. - * @return error code. - */ -void inv_fclose(FILE *fp) -{ - fclose(fp); -} - -/** - * @brief Close Handle - * @param handle handle to the resource. - * @return Zero if success, an error code otherwise. - */ -inv_error_t inv_destroy_mutex(HANDLE handle) -{ - int error; - pthread_mutex_t *pm = (pthread_mutex_t*)handle; - error = pthread_mutex_destroy(pm); - if (error) { - return errno; - } - free((void*) handle); - - return INV_SUCCESS;} - - -/** - * @brief Sleep function. - */ -void inv_sleep(int mSecs) -{ - usleep(mSecs*1000); -} - - -/** - * @brief get system's internal tick count. - * Used for time reference. - * @return current tick count. - */ -unsigned long inv_get_tick_count() -{ - struct timeval tv; - - if (gettimeofday(&tv, NULL) !=0) - return 0; - - return (long)((tv.tv_sec * 1000000LL + tv.tv_usec) / 1000LL); -} - - /**********************/ - /** @} */ /* defgroup */ -/**********************/ - diff --git a/invensense/mlsdk/platform/linux/mlsl_linux_mpu.c b/invensense/mlsdk/platform/linux/mlsl_linux_mpu.c deleted file mode 100644 index 00d5973..0000000 --- a/invensense/mlsdk/platform/linux/mlsl_linux_mpu.c +++ /dev/null @@ -1,489 +0,0 @@ -/* - $License: - Copyright 2011 InvenSense, Inc. - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. - $ - */ - -/****************************************************************************** - * $Id: mlsl_linux_mpu.c 5653 2011-06-16 21:06:55Z nroyer $ - *****************************************************************************/ - -/** - * @defgroup MLSL (Motion Library - Serial Layer) - * @brief The Motion Library System Layer provides the Motion Library the - * interface to the system functions. - * - * @{ - * @file mlsl_linux_mpu.c - * @brief The Motion Library System Layer. - * - */ - -/* ------------------ */ -/* - Include Files. - */ -/* ------------------ */ -#include <stdio.h> -#include <sys/ioctl.h> -#include <stdlib.h> -#include <fcntl.h> -#include <errno.h> -#include <unistd.h> -#include <linux/fs.h> -#include <linux/i2c.h> -#include <string.h> -#include <signal.h> -#include <time.h> - -#include "mpu.h" -#include "mpu3050.h" - -#include "mlsl.h" -#include "mlos.h" -#include "mlmath.h" -#include "mlinclude.h" - -#define MLCAL_ID (0x0A0B0C0DL) -#define MLCAL_FILE "/data/cal.bin" -#define MLCFG_ID (0x01020304L) -#define MLCFG_FILE "/data/cfg.bin" - -#include <log.h> -#undef MPL_LOG_TAG -#define MPL_LOG_TAG "MPL-mlsl" - -#ifndef I2CDEV -#define I2CDEV "/dev/mpu" -#endif - -#define SERIAL_FULL_DEBUG (0) - -/* --------------- */ -/* - Prototypes. - */ -/* --------------- */ - -/* ----------------------- */ -/* - Function Pointers. - */ -/* ----------------------- */ - -/* --------------------------- */ -/* - Global and Static vars. - */ -/* --------------------------- */ - -/* ---------------- */ -/* - Definitions. - */ -/* ---------------- */ - -inv_error_t inv_serial_read_cfg(unsigned char *cfg, unsigned int len) -{ - FILE *fp; - unsigned int bytesRead; - - fp = fopen(MLCFG_FILE, "rb"); - if (fp == NULL) { - MPL_LOGE("Unable to open \"%s\" for read\n", MLCFG_FILE); - return INV_ERROR_FILE_OPEN; - } - bytesRead = fread(cfg, 1, len, fp); - if (bytesRead != len) { - MPL_LOGE("bytes read (%d) don't match requested length (%d)\n", - bytesRead, len); - return INV_ERROR_FILE_READ; - } - fclose(fp); - - if (((unsigned int)cfg[0] << 24 | cfg[1] << 16 | cfg[2] << 8 | cfg[3]) - != MLCFG_ID) { - return INV_ERROR_ASSERTION_FAILURE; - } - - return INV_SUCCESS; -} - -inv_error_t inv_serial_write_cfg(unsigned char *cfg, unsigned int len) -{ - FILE *fp; - unsigned int bytesWritten; - unsigned char cfgId[4]; - - fp = fopen(MLCFG_FILE,"wb"); - if (fp == NULL) { - MPL_LOGE("Unable to open \"%s\" for write\n", MLCFG_FILE); - return INV_ERROR_FILE_OPEN; - } - - cfgId[0] = (unsigned char)(MLCFG_ID >> 24); - cfgId[1] = (unsigned char)(MLCFG_ID >> 16); - cfgId[2] = (unsigned char)(MLCFG_ID >> 8); - cfgId[3] = (unsigned char)(MLCFG_ID); - bytesWritten = fwrite(cfgId, 1, 4, fp); - if (bytesWritten != 4) { - MPL_LOGE("CFG ID could not be written on file\n"); - return INV_ERROR_FILE_WRITE; - } - - bytesWritten = fwrite(cfg, 1, len, fp); - if (bytesWritten != len) { - MPL_LOGE("bytes write (%d) don't match requested length (%d)\n", - bytesWritten, len); - return INV_ERROR_FILE_WRITE; - } - - fclose(fp); - - return INV_SUCCESS; -} - -inv_error_t inv_serial_read_cal(unsigned char *cal, unsigned int len) -{ - FILE *fp; - unsigned int bytesRead; - inv_error_t result = INV_SUCCESS; - - fp = fopen(MLCAL_FILE,"rb"); - if (fp == NULL) { - MPL_LOGE("Cannot open file \"%s\" for read\n", MLCAL_FILE); - return INV_ERROR_FILE_OPEN; - } - bytesRead = fread(cal, 1, len, fp); - if (bytesRead != len) { - MPL_LOGE("bytes read (%d) don't match requested length (%d)\n", - bytesRead, len); - result = INV_ERROR_FILE_READ; - goto read_cal_end; - } - - /* MLCAL_ID not used - if (((unsigned int)cal[0] << 24 | cal[1] << 16 | cal[2] << 8 | cal[3]) - != MLCAL_ID) { - result = INV_ERROR_ASSERTION_FAILURE; - goto read_cal_end; - } - */ -read_cal_end: - fclose(fp); - return result; -} - -inv_error_t inv_serial_write_cal(unsigned char *cal, unsigned int len) -{ - FILE *fp; - unsigned int bytesWritten; - inv_error_t result = INV_SUCCESS; - - fp = fopen(MLCAL_FILE,"wb"); - if (fp == NULL) { - MPL_LOGE("Cannot open file \"%s\" for write\n", MLCAL_FILE); - return INV_ERROR_FILE_OPEN; - } - bytesWritten = fwrite(cal, 1, len, fp); - if (bytesWritten != len) { - MPL_LOGE("bytes written (%d) don't match requested length (%d)\n", - bytesWritten, len); - result = INV_ERROR_FILE_WRITE; - } - fclose(fp); - return result; -} - -inv_error_t inv_serial_get_cal_length(unsigned int *len) -{ - FILE *calFile; - *len = 0; - - calFile = fopen(MLCAL_FILE, "rb"); - if (calFile == NULL) { - MPL_LOGE("Cannot open file \"%s\" for read\n", MLCAL_FILE); - return INV_ERROR_FILE_OPEN; - } - - *len += (unsigned char)fgetc(calFile) << 24; - *len += (unsigned char)fgetc(calFile) << 16; - *len += (unsigned char)fgetc(calFile) << 8; - *len += (unsigned char)fgetc(calFile); - - fclose(calFile); - - if (*len <= 0) - return INV_ERROR_FILE_READ; - - return INV_SUCCESS; -} - -inv_error_t inv_serial_open(char const *port, void **sl_handle) -{ - INVENSENSE_FUNC_START; - - if (NULL == port) { - port = I2CDEV; - } - *sl_handle = (void*)(uintptr_t) open(port, O_RDWR); - if((intptr_t)*sl_handle < 0) { - /* ERROR HANDLING; you can check errno to see what went wrong */ - MPL_LOGE("inv_serial_open\n"); - MPL_LOGE("I2C Error %d: Cannot open Adapter %s\n", errno, port); - return INV_ERROR_SERIAL_OPEN_ERROR; - } else { - MPL_LOGI("inv_serial_open: %s\n", port); - } - - return INV_SUCCESS; -} - -inv_error_t inv_serial_close(void *sl_handle) -{ - INVENSENSE_FUNC_START; - - close((int)(uintptr_t)sl_handle); - - return INV_SUCCESS; -} - -inv_error_t inv_serial_reset(void *sl_handle __unused) -{ - return INV_ERROR_FEATURE_NOT_IMPLEMENTED; -} - -inv_error_t inv_serial_single_write(void *sl_handle, - unsigned char slaveAddr, - unsigned char registerAddr, - unsigned char data) -{ - unsigned char buf[2]; - buf[0] = registerAddr; - buf[1] = data; - return inv_serial_write(sl_handle, slaveAddr, 2, buf); -} - -inv_error_t inv_serial_write(void *sl_handle, - unsigned char slaveAddr __unused, - unsigned short length, - unsigned char const *data) -{ - INVENSENSE_FUNC_START; - struct mpu_read_write msg; - inv_error_t result; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - msg.address = 0; /* not used */ - msg.length = length; - msg.data = (unsigned char*)data; - - if ((result = ioctl((int)(uintptr_t)sl_handle, MPU_WRITE, &msg))) { - MPL_LOGE("I2C Error: could not write: R:%02x L:%d %d \n", - data[0], length, result); - return result; - } else if (SERIAL_FULL_DEBUG) { - char data_buff[4096] = ""; - char strchar[3]; - int ii; - for (ii = 0; ii < length; ii++) { - snprintf(strchar, sizeof(strchar), "%02x", data[0]); - strncat(data_buff, strchar, (sizeof(data_buff) - strlen(data_buff) - 1)); - } - MPL_LOGI("I2C Write Success %02x %02x: %s \n", - data[0], length, data_buff); - } - - return INV_SUCCESS; -} - -inv_error_t inv_serial_read(void *sl_handle, - unsigned char slaveAddr __unused, - unsigned char registerAddr, - unsigned short length, - unsigned char *data) -{ - INVENSENSE_FUNC_START; - int result = INV_SUCCESS; - struct mpu_read_write msg; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - msg.address = registerAddr; - msg.length = length; - msg.data = data; - - result = ioctl((int)(uintptr_t)sl_handle, MPU_READ, &msg); - - if (result != INV_SUCCESS) { - MPL_LOGE("I2C Error %08x: could not read: R:%02x L:%d\n", - result, registerAddr, length); - result = INV_ERROR_SERIAL_READ; - } else if (SERIAL_FULL_DEBUG) { - char data_buff[4096] = ""; - char strchar[3]; - int ii; - for (ii = 0; ii < length; ii++) { - snprintf(strchar, sizeof(strchar), "%02x", data[0]); - strncat(data_buff, strchar, (sizeof(data_buff) - strlen(data_buff) - 1)); - } - MPL_LOGI("I2C Read Success %02x %02x: %s \n", - registerAddr, length, data_buff); - } - - return (inv_error_t) result; -} - -inv_error_t inv_serial_write_mem(void *sl_handle, - unsigned char mpu_addr __unused, - unsigned short memAddr, - unsigned short length, - const unsigned char *data) -{ - INVENSENSE_FUNC_START; - struct mpu_read_write msg; - int result; - - msg.address = memAddr; - msg.length = length; - msg.data = (unsigned char *)data; - - result = ioctl((int)(uintptr_t)sl_handle, MPU_WRITE_MEM, &msg); - if (result) { - LOG_RESULT_LOCATION(result); - return result; - } else if (SERIAL_FULL_DEBUG) { - char data_buff[4096] = ""; - char strchar[3]; - int ii; - for (ii = 0; ii < length; ii++) { - snprintf(strchar, sizeof(strchar), "%02x", data[0]); - strncat(data_buff, strchar, (sizeof(data_buff) - strlen(data_buff) - 1)); - } - MPL_LOGI("I2C WriteMem Success %04x %04x: %s \n", - memAddr, length, data_buff); - } - return INV_SUCCESS; -} - -inv_error_t inv_serial_read_mem(void *sl_handle, - unsigned char mpu_addr __unused, - unsigned short memAddr, - unsigned short length, - unsigned char *data) -{ - INVENSENSE_FUNC_START; - struct mpu_read_write msg; - int result; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - msg.address = memAddr; - msg.length = length; - msg.data = data; - - result = ioctl((int)(uintptr_t)sl_handle, MPU_READ_MEM, &msg); - if (result != INV_SUCCESS) { - MPL_LOGE("I2C Error %08x: could not read memory: A:%04x L:%d\n", - result, memAddr, length); - return INV_ERROR_SERIAL_READ; - } else if (SERIAL_FULL_DEBUG) { - char data_buff[4096] = ""; - char strchar[3]; - int ii; - for (ii = 0; ii < length; ii++) { - snprintf(strchar, sizeof(strchar), "%02x", data[0]); - strncat(data_buff, strchar, (sizeof(data_buff) - strlen(data_buff) - 1)); - } - MPL_LOGI("I2C ReadMem Success %04x %04x: %s\n", - memAddr, length, data_buff); - } - return INV_SUCCESS; -} - -inv_error_t inv_serial_write_fifo(void *sl_handle, - unsigned char mpu_addr __unused, - unsigned short length, - const unsigned char *data) -{ - INVENSENSE_FUNC_START; - struct mpu_read_write msg; - int result; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - msg.address = 0; /* Not used */ - msg.length = length; - msg.data = (unsigned char *)data; - - result = ioctl((int)(uintptr_t)sl_handle, MPU_WRITE_FIFO, &msg); - if (result != INV_SUCCESS) { - MPL_LOGE("I2C Error: could not write fifo: %02x %02x\n", - MPUREG_FIFO_R_W, length); - return INV_ERROR_SERIAL_WRITE; - } else if (SERIAL_FULL_DEBUG) { - char data_buff[4096] = ""; - char strchar[3]; - int ii; - for (ii = 0; ii < length; ii++) { - snprintf(strchar, sizeof(strchar), "%02x", data[0]); - strncat(data_buff, strchar, (sizeof(data_buff) - strlen(data_buff) - 1)); - } - MPL_LOGI("I2C Write Success %02x %02x: %s\n", - MPUREG_FIFO_R_W, length, data_buff); - } - return (inv_error_t) result; -} - -inv_error_t inv_serial_read_fifo(void *sl_handle, - unsigned char mpu_addr __unused, - unsigned short length, - unsigned char *data) -{ - INVENSENSE_FUNC_START; - struct mpu_read_write msg; - int result; - - if (NULL == data) { - return INV_ERROR_INVALID_PARAMETER; - } - - msg.address = MPUREG_FIFO_R_W; /* Not used */ - msg.length = length; - msg.data = data; - - result = ioctl((int)(uintptr_t)sl_handle, MPU_READ_FIFO, &msg); - if (result != INV_SUCCESS) { - MPL_LOGE("I2C Error %08x: could not read fifo: R:%02x L:%d\n", - result, MPUREG_FIFO_R_W, length); - return INV_ERROR_SERIAL_READ; - } else if (SERIAL_FULL_DEBUG) { - char data_buff[4096] = ""; - char strchar[3]; - int ii; - for (ii = 0; ii < length; ii++) { - snprintf(strchar, sizeof(strchar), "%02x", data[0]); - strncat(data_buff, strchar, (sizeof(data_buff) - strlen(data_buff) - 1)); - } - MPL_LOGI("I2C ReadFifo Success %02x %02x: %s\n", - MPUREG_FIFO_R_W, length, data_buff); - } - return INV_SUCCESS; -} - -/** - * @} - */ - - |