diff options
| -rw-r--r-- | mlsdk/mllite/dmpDefault.c | 1 | ||||
| -rw-r--r-- | mlsdk/mllite/ml.c | 41 | ||||
| -rw-r--r-- | mlsdk/mllite/mldmp.c | 4 |
3 files changed, 30 insertions, 16 deletions
diff --git a/mlsdk/mllite/dmpDefault.c b/mlsdk/mllite/dmpDefault.c index fe29376..6620d14 100644 --- a/mlsdk/mllite/dmpDefault.c +++ b/mlsdk/mllite/dmpDefault.c @@ -357,6 +357,7 @@ inv_error_t inv_setup_dmp(void) return result; } + if (inv_accel_present()) { struct ext_slave_config config; long odr; diff --git a/mlsdk/mllite/ml.c b/mlsdk/mllite/ml.c index 0489f5b..3328edd 100644 --- a/mlsdk/mllite/ml.c +++ b/mlsdk/mllite/ml.c @@ -201,8 +201,12 @@ inv_error_t inv_apply_calibration(void) for (ii = 0; ii < 9; ii++) { gyroCal[ii] = mldl_cfg->pdata->orientation[ii]; - accelCal[ii] = mldl_cfg->pdata->accel.orientation[ii]; - magCal[ii] = mldl_cfg->pdata->compass.orientation[ii]; + if (NULL != mldl_cfg->accel){ + accelCal[ii] = mldl_cfg->pdata->accel.orientation[ii]; + } + if (NULL != mldl_cfg->compass){ + magCal[ii] = mldl_cfg->pdata->compass.orientation[ii]; + } } switch (mldl_cfg->full_scale) { @@ -225,8 +229,9 @@ inv_error_t inv_apply_calibration(void) break; } - RANGE_FIXEDPOINT_TO_FLOAT(mldl_cfg->accel->range, accelScale); - inv_obj.accel_sens = (long)(accelScale * 65536L); + if (NULL != mldl_cfg->accel){ + RANGE_FIXEDPOINT_TO_FLOAT(mldl_cfg->accel->range, accelScale); + inv_obj.accel_sens = (long)(accelScale * 65536L); /* sensitivity adjustment, typically = 2 (for +/- 2 gee) */ #if defined CONFIG_MPU_SENSORS_MPU6050A2 || \ defined CONFIG_MPU_SENSORS_MPU6050B1 @@ -234,9 +239,11 @@ inv_error_t inv_apply_calibration(void) #else inv_obj.accel_sens /= 2; #endif - - RANGE_FIXEDPOINT_TO_FLOAT(mldl_cfg->compass->range, magScale); - inv_obj.compass_sens = (long)(magScale * 32768); + } + if (NULL != mldl_cfg->compass){ + RANGE_FIXEDPOINT_TO_FLOAT(mldl_cfg->compass->range, magScale); + inv_obj.compass_sens = (long)(magScale * 32768); + } if (inv_get_state() == INV_STATE_DMP_OPENED) { result = inv_set_gyro_calibration(gyroScale, gyroCal); @@ -244,15 +251,19 @@ inv_error_t inv_apply_calibration(void) MPL_LOGE("Unable to set Gyro Calibration\n"); return result; } - result = inv_set_accel_calibration(accelScale, accelCal); - if (INV_SUCCESS != result) { - MPL_LOGE("Unable to set Accel Calibration\n"); - return result; + if (NULL != mldl_cfg->accel){ + result = inv_set_accel_calibration(accelScale, accelCal); + if (INV_SUCCESS != result) { + MPL_LOGE("Unable to set Accel Calibration\n"); + return result; + } } - result = inv_set_compass_calibration(magScale, magCal); - if (INV_SUCCESS != result) { - MPL_LOGE("Unable to set Mag Calibration\n"); - return result; + if (NULL != mldl_cfg->compass){ + result = inv_set_compass_calibration(magScale, magCal); + if (INV_SUCCESS != result) { + MPL_LOGE("Unable to set Mag Calibration\n"); + return result; + } } } return INV_SUCCESS; diff --git a/mlsdk/mllite/mldmp.c b/mlsdk/mllite/mldmp.c index 200d0d1..7381dd4 100644 --- a/mlsdk/mllite/mldmp.c +++ b/mlsdk/mllite/mldmp.c @@ -152,7 +152,9 @@ inv_error_t inv_dmp_open(void) LOG_RESULT_LOCATION(result); return result; } - result = inv_apply_endian_accel(); + if (NULL != mldl_cfg->accel){ + result = inv_apply_endian_accel(); + } return result; } |