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Diffstat (limited to 'libsensors/mlsdk/mllite/dmpDefault.c')
-rw-r--r--libsensors/mlsdk/mllite/dmpDefault.c418
1 files changed, 418 insertions, 0 deletions
diff --git a/libsensors/mlsdk/mllite/dmpDefault.c b/libsensors/mlsdk/mllite/dmpDefault.c
new file mode 100644
index 0000000..b649c0d
--- /dev/null
+++ b/libsensors/mlsdk/mllite/dmpDefault.c
@@ -0,0 +1,418 @@
+/*
+ $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;
+}
+/**
+ * @}
+ */
+
generated by cgit v1.1 at 2024-04-30 10:56:13 +0000