diff options
Diffstat (limited to 'libsensors/mlsdk/mllite/dmpDefaultMantis.c')
| -rw-r--r-- | libsensors/mlsdk/mllite/dmpDefaultMantis.c | 467 |
1 files changed, 0 insertions, 467 deletions
diff --git a/libsensors/mlsdk/mllite/dmpDefaultMantis.c b/libsensors/mlsdk/mllite/dmpDefaultMantis.c deleted file mode 100644 index 5282dd9..0000000 --- a/libsensors/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, 0x05, 0x80, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, - 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6f, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5e, 0xc0, - 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0xfb, 0x8c, 0x6f, 0x5d, 0xfd, 0x5d, 0x08, 0xd9, 0x00, 0x7c, 0x73, 0x3b, 0x00, 0x6c, 0x12, 0xcc, - 0x32, 0x00, 0x13, 0x9d, 0x32, 0x00, 0xd0, 0xd6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xf4, - 0xff, 0xe6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xd0, 0xd6, 0x00, 0x00, 0x27, 0x10, - 0xfb, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, - 0x00, 0x00, 0xfa, 0x36, 0xff, 0xbc, 0x30, 0x8e, 0x00, 0x05, 0xfb, 0xf0, 0xff, 0xd9, 0x5b, 0xc8, - 0xff, 0xd0, 0x9a, 0xbe, 0x00, 0x00, 0x10, 0xa9, 0xff, 0xf4, 0x1e, 0xb2, 0x00, 0xce, 0xbb, 0xf7, - 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0c, - 0xff, 0xc2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xcf, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00, - 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-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; -} -/** - *@} - */ |