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+/*
+ $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 */
+/**
+ * @}
+**/