| /* |
| $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; |
| } |
| |
| { |
| 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; |
| } |
| /** |
| * @} |
| */ |
| |
