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Diffstat (limited to 'libsensors/mlsdk/mllite/ml_mputest.c')
| -rw-r--r-- | libsensors/mlsdk/mllite/ml_mputest.c | 180 |
1 files changed, 0 insertions, 180 deletions
diff --git a/libsensors/mlsdk/mllite/ml_mputest.c b/libsensors/mlsdk/mllite/ml_mputest.c deleted file mode 100644 index ffb17cd..0000000 --- a/libsensors/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 - -/** - * @} - */ - |