summaryrefslogtreecommitdiffstats
path: root/60xx/mlsdk/mllite/dmpDefault.c
diff options
context:
space:
mode:
Diffstat (limited to '60xx/mlsdk/mllite/dmpDefault.c')
-rw-r--r--60xx/mlsdk/mllite/dmpDefault.c417
1 files changed, 0 insertions, 417 deletions
diff --git a/60xx/mlsdk/mllite/dmpDefault.c b/60xx/mlsdk/mllite/dmpDefault.c
deleted file mode 100644
index 6620d14..0000000
--- a/60xx/mlsdk/mllite/dmpDefault.c
+++ /dev/null
@@ -1,417 +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"
-
-#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 ) {
- 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, 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 v1.2.3 (git 2.25.1) at 2024-06-30 08:32:20 +0000