Seeed
motion library for mpu6050, mpu9250 and etc, supports i2c and spi
Diff: inv_mpu_dmp_motion_driver.c
- Revision:
- 0:814475fdc553
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/inv_mpu_dmp_motion_driver.c Tue Jul 05 07:19:59 2016 +0000
@@ -0,0 +1,1371 @@
+/*
+ $License:
+ Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
+ See included License.txt for License information.
+ $
+ */
+/**
+ * @addtogroup DRIVERS Sensor Driver Layer
+ * @brief Hardware drivers to communicate with sensors via I2C.
+ *
+ * @{
+ * @file inv_mpu_dmp_motion_driver.c
+ * @brief DMP image and interface functions.
+ * @details All functions are preceded by the dmp_ prefix to
+ * differentiate among MPL and general driver function calls.
+ */
+#include <stdio.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+#include "inv_mpu.h"
+#include "inv_mpu_dmp_motion_driver.h"
+#include "dmpKey.h"
+#include "dmpmap.h"
+
+/* The following functions must be defined for this platform:
+ * i2c_write(unsigned char slave_addr, unsigned char reg_addr,
+ * unsigned char length, unsigned char const *data)
+ * i2c_read(unsigned char slave_addr, unsigned char reg_addr,
+ * unsigned char length, unsigned char *data)
+ * delay_ms(unsigned long num_ms)
+ * get_ms(unsigned long *count)
+ */
+#if defined MOTION_DRIVER_TARGET_MSP430
+#include "msp430.h"
+#include "msp430_clock.h"
+#define delay_ms msp430_delay_ms
+#define get_ms msp430_get_clock_ms
+#define log_i(...) do {} while (0)
+#define log_e(...) do {} while (0)
+
+#elif defined EMPL_TARGET_MSP430
+#include "msp430.h"
+#include "msp430_clock.h"
+#include "log.h"
+#define delay_ms msp430_delay_ms
+#define get_ms msp430_get_clock_ms
+#define log_i MPL_LOGI
+#define log_e MPL_LOGE
+
+#elif defined EMPL_TARGET_UC3L0
+/* Instead of using the standard TWI driver from the ASF library, we're using
+ * a TWI driver that follows the slave address + register address convention.
+ */
+#include "delay.h"
+#include "sysclk.h"
+#include "log.h"
+#include "uc3l0_clock.h"
+/* delay_ms is a function already defined in ASF. */
+#define get_ms uc3l0_get_clock_ms
+#define log_i MPL_LOGI
+#define log_e MPL_LOGE
+
+#elif defined __MBED__
+#include "mpu_mbed_config.h"
+#else
+#error Gyro driver is missing the system layer implementations.
+#endif
+
+/* These defines are copied from dmpDefaultMPU6050.c in the general MPL
+ * releases. These defines may change for each DMP image, so be sure to modify
+ * these values when switching to a new image.
+ */
+#define CFG_LP_QUAT (2712)
+#define END_ORIENT_TEMP (1866)
+#define CFG_27 (2742)
+#define CFG_20 (2224)
+#define CFG_23 (2745)
+#define CFG_FIFO_ON_EVENT (2690)
+#define END_PREDICTION_UPDATE (1761)
+#define CGNOTICE_INTR (2620)
+#define X_GRT_Y_TMP (1358)
+#define CFG_DR_INT (1029)
+#define CFG_AUTH (1035)
+#define UPDATE_PROP_ROT (1835)
+#define END_COMPARE_Y_X_TMP2 (1455)
+#define SKIP_X_GRT_Y_TMP (1359)
+#define SKIP_END_COMPARE (1435)
+#define FCFG_3 (1088)
+#define FCFG_2 (1066)
+#define FCFG_1 (1062)
+#define END_COMPARE_Y_X_TMP3 (1434)
+#define FCFG_7 (1073)
+#define FCFG_6 (1106)
+#define FLAT_STATE_END (1713)
+#define SWING_END_4 (1616)
+#define SWING_END_2 (1565)
+#define SWING_END_3 (1587)
+#define SWING_END_1 (1550)
+#define CFG_8 (2718)
+#define CFG_15 (2727)
+#define CFG_16 (2746)
+#define CFG_EXT_GYRO_BIAS (1189)
+#define END_COMPARE_Y_X_TMP (1407)
+#define DO_NOT_UPDATE_PROP_ROT (1839)
+#define CFG_7 (1205)
+#define FLAT_STATE_END_TEMP (1683)
+#define END_COMPARE_Y_X (1484)
+#define SKIP_SWING_END_1 (1551)
+#define SKIP_SWING_END_3 (1588)
+#define SKIP_SWING_END_2 (1566)
+#define TILTG75_START (1672)
+#define CFG_6 (2753)
+#define TILTL75_END (1669)
+#define END_ORIENT (1884)
+#define CFG_FLICK_IN (2573)
+#define TILTL75_START (1643)
+#define CFG_MOTION_BIAS (1208)
+#define X_GRT_Y (1408)
+#define TEMPLABEL (2324)
+#define CFG_ANDROID_ORIENT_INT (1853)
+#define CFG_GYRO_RAW_DATA (2722)
+#define X_GRT_Y_TMP2 (1379)
+
+#define D_0_22 (22+512)
+#define D_0_24 (24+512)
+
+#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_36 (256 + 36)
+#define D_1_40 (256 + 40)
+#define D_1_44 (256 + 44)
+#define D_1_72 (256 + 72)
+#define D_1_74 (256 + 74)
+#define D_1_79 (256 + 79)
+#define D_1_88 (256 + 88)
+#define D_1_90 (256 + 90)
+#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_160 (256 + 160)
+#define D_1_176 (256 + 176)
+#define D_1_178 (256 + 178)
+#define D_1_218 (256 + 218)
+#define D_1_232 (256 + 232)
+#define D_1_236 (256 + 236)
+#define D_1_240 (256 + 240)
+#define D_1_244 (256 + 244)
+#define D_1_250 (256 + 250)
+#define D_1_252 (256 + 252)
+#define D_2_12 (512 + 12)
+#define D_2_96 (512 + 96)
+#define D_2_108 (512 + 108)
+#define D_2_208 (512 + 208)
+#define D_2_224 (512 + 224)
+#define D_2_236 (512 + 236)
+#define D_2_244 (512 + 244)
+#define D_2_248 (512 + 248)
+#define D_2_252 (512 + 252)
+
+#define CPASS_BIAS_X (35 * 16 + 4)
+#define CPASS_BIAS_Y (35 * 16 + 8)
+#define CPASS_BIAS_Z (35 * 16 + 12)
+#define CPASS_MTX_00 (36 * 16)
+#define CPASS_MTX_01 (36 * 16 + 4)
+#define CPASS_MTX_02 (36 * 16 + 8)
+#define CPASS_MTX_10 (36 * 16 + 12)
+#define CPASS_MTX_11 (37 * 16)
+#define CPASS_MTX_12 (37 * 16 + 4)
+#define CPASS_MTX_20 (37 * 16 + 8)
+#define CPASS_MTX_21 (37 * 16 + 12)
+#define CPASS_MTX_22 (43 * 16 + 12)
+#define D_EXT_GYRO_BIAS_X (61 * 16)
+#define D_EXT_GYRO_BIAS_Y (61 * 16) + 4
+#define D_EXT_GYRO_BIAS_Z (61 * 16) + 8
+#define D_ACT0 (40 * 16)
+#define D_ACSX (40 * 16 + 4)
+#define D_ACSY (40 * 16 + 8)
+#define D_ACSZ (40 * 16 + 12)
+
+#define FLICK_MSG (45 * 16 + 4)
+#define FLICK_COUNTER (45 * 16 + 8)
+#define FLICK_LOWER (45 * 16 + 12)
+#define FLICK_UPPER (46 * 16 + 12)
+
+#define D_AUTH_OUT (992)
+#define D_AUTH_IN (996)
+#define D_AUTH_A (1000)
+#define D_AUTH_B (1004)
+
+#define D_PEDSTD_BP_B (768 + 0x1C)
+#define D_PEDSTD_HP_A (768 + 0x78)
+#define D_PEDSTD_HP_B (768 + 0x7C)
+#define D_PEDSTD_BP_A4 (768 + 0x40)
+#define D_PEDSTD_BP_A3 (768 + 0x44)
+#define D_PEDSTD_BP_A2 (768 + 0x48)
+#define D_PEDSTD_BP_A1 (768 + 0x4C)
+#define D_PEDSTD_INT_THRSH (768 + 0x68)
+#define D_PEDSTD_CLIP (768 + 0x6C)
+#define D_PEDSTD_SB (768 + 0x28)
+#define D_PEDSTD_SB_TIME (768 + 0x2C)
+#define D_PEDSTD_PEAKTHRSH (768 + 0x98)
+#define D_PEDSTD_TIML (768 + 0x2A)
+#define D_PEDSTD_TIMH (768 + 0x2E)
+#define D_PEDSTD_PEAK (768 + 0X94)
+#define D_PEDSTD_STEPCTR (768 + 0x60)
+#define D_PEDSTD_TIMECTR (964)
+#define D_PEDSTD_DECI (768 + 0xA0)
+
+#define D_HOST_NO_MOT (976)
+#define D_ACCEL_BIAS (660)
+
+#define D_ORIENT_GAP (76)
+
+#define D_TILT0_H (48)
+#define D_TILT0_L (50)
+#define D_TILT1_H (52)
+#define D_TILT1_L (54)
+#define D_TILT2_H (56)
+#define D_TILT2_L (58)
+#define D_TILT3_H (60)
+#define D_TILT3_L (62)
+
+#define DMP_CODE_SIZE (3062)
+
+static const unsigned char dmp_memory[DMP_CODE_SIZE] = {
+ /* bank # 0 */
+ 0x00, 0x00, 0x70, 0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,
+ 0x00, 0x65, 0x00, 0x54, 0xff, 0xef, 0x00, 0x00, 0xfa, 0x80, 0x00, 0x0b, 0x12, 0x82, 0x00, 0x01,
+ 0x03, 0x0c, 0x30, 0xc3, 0x0e, 0x8c, 0x8c, 0xe9, 0x14, 0xd5, 0x40, 0x02, 0x13, 0x71, 0x0f, 0x8e,
+ 0x38, 0x83, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83, 0x25, 0x8e, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83,
+ 0xff, 0xff, 0xff, 0xff, 0x0f, 0xfe, 0xa9, 0xd6, 0x24, 0x00, 0x04, 0x00, 0x1a, 0x82, 0x79, 0xa1,
+ 0x00, 0x00, 0x00, 0x3c, 0xff, 0xff, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x38, 0x83, 0x6f, 0xa2,
+ 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, 0x0c, 0x00, 0x00, 0x00, 0x0c, 0x18, 0x6e, 0x00, 0x00, 0x06, 0x92, 0x0a, 0x16, 0xc0, 0xdf,
+ 0xff, 0xff, 0x02, 0x56, 0xfd, 0x8c, 0xd3, 0x77, 0xff, 0xe1, 0xc4, 0x96, 0xe0, 0xc5, 0xbe, 0xaa,
+ 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0x0b, 0x2b, 0x00, 0x00, 0x16, 0x57, 0x00, 0x00, 0x03, 0x59,
+ 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1d, 0xfa, 0x00, 0x02, 0x6c, 0x1d, 0x00, 0x00, 0x00, 0x00,
+ 0x3f, 0xff, 0xdf, 0xeb, 0x00, 0x3e, 0xb3, 0xb6, 0x00, 0x0d, 0x22, 0x78, 0x00, 0x00, 0x2f, 0x3c,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x19, 0x42, 0xb5, 0x00, 0x00, 0x39, 0xa2, 0x00, 0x00, 0xb3, 0x65,
+ 0xd9, 0x0e, 0x9f, 0xc9, 0x1d, 0xcf, 0x4c, 0x34, 0x30, 0x00, 0x00, 0x00, 0x50, 0x00, 0x00, 0x00,
+ 0x3b, 0xb6, 0x7a, 0xe8, 0x00, 0x64, 0x00, 0x00, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ /* bank # 1 */
+ 0x10, 0x00, 0x00, 0x00, 0x10, 0x00, 0xfa, 0x92, 0x10, 0x00, 0x22, 0x5e, 0x00, 0x0d, 0x22, 0x9f,
+ 0x00, 0x01, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00, 0xff, 0x46, 0x00, 0x00, 0x63, 0xd4, 0x00, 0x00,
+ 0x10, 0x00, 0x00, 0x00, 0x04, 0xd6, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00,
+ 0x00, 0x00, 0x10, 0x72, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x06, 0x00, 0x02, 0x00, 0x05, 0x00, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x05, 0x00, 0x64, 0x00, 0x20, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x03, 0x00,
+ 0x00, 0x00, 0x00, 0x32, 0xf8, 0x98, 0x00, 0x00, 0xff, 0x65, 0x00, 0x00, 0x83, 0x0f, 0x00, 0x00,
+ 0xff, 0x9b, 0xfc, 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, 0x10, 0x00,
+ 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0xb2, 0x6a, 0x00, 0x02, 0x00, 0x00,
+ 0x00, 0x01, 0xfb, 0x83, 0x00, 0x68, 0x00, 0x00, 0x00, 0xd9, 0xfc, 0x00, 0x7c, 0xf1, 0xff, 0x83,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x64, 0x03, 0xe8, 0x00, 0x64, 0x00, 0x28,
+ 0x00, 0x00, 0x00, 0x25, 0x00, 0x00, 0x00, 0x00, 0x16, 0xa0, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00,
+ 0x00, 0x00, 0x10, 0x00, 0x00, 0x2f, 0x00, 0x00, 0x00, 0x00, 0x01, 0xf4, 0x00, 0x00, 0x10, 0x00,
+ /* bank # 2 */
+ 0x00, 0x28, 0x00, 0x00, 0xff, 0xff, 0x45, 0x81, 0xff, 0xff, 0xfa, 0x72, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x44, 0x00, 0x05, 0x00, 0x05, 0xba, 0xc6, 0x00, 0x47, 0x78, 0xa2,
+ 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
+ 0x00, 0x00, 0x25, 0x4d, 0x00, 0x2f, 0x70, 0x6d, 0x00, 0x00, 0x05, 0xae, 0x00, 0x0c, 0x02, 0xd0,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x64, 0x00, 0x00, 0x00, 0x08, 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, 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, 0x00, 0x00,
+ 0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0e, 0x00, 0x0e,
+ 0x00, 0x00, 0x0a, 0xc7, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x32, 0xff, 0xff, 0xff, 0x9c,
+ 0x00, 0x00, 0x0b, 0x2b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x64,
+ 0xff, 0xe5, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ /* bank # 3 */
+ 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x24, 0x26, 0xd3,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x10, 0x00, 0x96, 0x00, 0x3c,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x0c, 0x0a, 0x4e, 0x68, 0xcd, 0xcf, 0x77, 0x09, 0x50, 0x16, 0x67, 0x59, 0xc6, 0x19, 0xce, 0x82,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0xd7, 0x84, 0x00, 0x03, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xc7, 0x93, 0x8f, 0x9d, 0x1e, 0x1b, 0x1c, 0x19,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0x18, 0x85, 0x00, 0x00, 0x40, 0x00,
+ 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x40, 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, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x67, 0x7d, 0xdf, 0x7e, 0x72, 0x90, 0x2e, 0x55, 0x4c, 0xf6, 0xe6, 0x88,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+
+ /* bank # 4 */
+ 0xd8, 0xdc, 0xb4, 0xb8, 0xb0, 0xd8, 0xb9, 0xab, 0xf3, 0xf8, 0xfa, 0xb3, 0xb7, 0xbb, 0x8e, 0x9e,
+ 0xae, 0xf1, 0x32, 0xf5, 0x1b, 0xf1, 0xb4, 0xb8, 0xb0, 0x80, 0x97, 0xf1, 0xa9, 0xdf, 0xdf, 0xdf,
+ 0xaa, 0xdf, 0xdf, 0xdf, 0xf2, 0xaa, 0xc5, 0xcd, 0xc7, 0xa9, 0x0c, 0xc9, 0x2c, 0x97, 0xf1, 0xa9,
+ 0x89, 0x26, 0x46, 0x66, 0xb2, 0x89, 0x99, 0xa9, 0x2d, 0x55, 0x7d, 0xb0, 0xb0, 0x8a, 0xa8, 0x96,
+ 0x36, 0x56, 0x76, 0xf1, 0xba, 0xa3, 0xb4, 0xb2, 0x80, 0xc0, 0xb8, 0xa8, 0x97, 0x11, 0xb2, 0x83,
+ 0x98, 0xba, 0xa3, 0xf0, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xb2, 0xb9, 0xb4, 0x98, 0x83, 0xf1,
+ 0xa3, 0x29, 0x55, 0x7d, 0xba, 0xb5, 0xb1, 0xa3, 0x83, 0x93, 0xf0, 0x00, 0x28, 0x50, 0xf5, 0xb2,
+ 0xb6, 0xaa, 0x83, 0x93, 0x28, 0x54, 0x7c, 0xf1, 0xb9, 0xa3, 0x82, 0x93, 0x61, 0xba, 0xa2, 0xda,
+ 0xde, 0xdf, 0xdb, 0x81, 0x9a, 0xb9, 0xae, 0xf5, 0x60, 0x68, 0x70, 0xf1, 0xda, 0xba, 0xa2, 0xdf,
+ 0xd9, 0xba, 0xa2, 0xfa, 0xb9, 0xa3, 0x82, 0x92, 0xdb, 0x31, 0xba, 0xa2, 0xd9, 0xba, 0xa2, 0xf8,
+ 0xdf, 0x85, 0xa4, 0xd0, 0xc1, 0xbb, 0xad, 0x83, 0xc2, 0xc5, 0xc7, 0xb8, 0xa2, 0xdf, 0xdf, 0xdf,
+ 0xba, 0xa0, 0xdf, 0xdf, 0xdf, 0xd8, 0xd8, 0xf1, 0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35,
+ 0x5d, 0xb2, 0xb6, 0xba, 0xaf, 0x8c, 0x96, 0x19, 0x8f, 0x9f, 0xa7, 0x0e, 0x16, 0x1e, 0xb4, 0x9a,
+ 0xb8, 0xaa, 0x87, 0x2c, 0x54, 0x7c, 0xba, 0xa4, 0xb0, 0x8a, 0xb6, 0x91, 0x32, 0x56, 0x76, 0xb2,
+ 0x84, 0x94, 0xa4, 0xc8, 0x08, 0xcd, 0xd8, 0xb8, 0xb4, 0xb0, 0xf1, 0x99, 0x82, 0xa8, 0x2d, 0x55,
+ 0x7d, 0x98, 0xa8, 0x0e, 0x16, 0x1e, 0xa2, 0x2c, 0x54, 0x7c, 0x92, 0xa4, 0xf0, 0x2c, 0x50, 0x78,
+ /* bank # 5 */
+ 0xf1, 0x84, 0xa8, 0x98, 0xc4, 0xcd, 0xfc, 0xd8, 0x0d, 0xdb, 0xa8, 0xfc, 0x2d, 0xf3, 0xd9, 0xba,
+ 0xa6, 0xf8, 0xda, 0xba, 0xa6, 0xde, 0xd8, 0xba, 0xb2, 0xb6, 0x86, 0x96, 0xa6, 0xd0, 0xf3, 0xc8,
+ 0x41, 0xda, 0xa6, 0xc8, 0xf8, 0xd8, 0xb0, 0xb4, 0xb8, 0x82, 0xa8, 0x92, 0xf5, 0x2c, 0x54, 0x88,
+ 0x98, 0xf1, 0x35, 0xd9, 0xf4, 0x18, 0xd8, 0xf1, 0xa2, 0xd0, 0xf8, 0xf9, 0xa8, 0x84, 0xd9, 0xc7,
+ 0xdf, 0xf8, 0xf8, 0x83, 0xc5, 0xda, 0xdf, 0x69, 0xdf, 0x83, 0xc1, 0xd8, 0xf4, 0x01, 0x14, 0xf1,
+ 0xa8, 0x82, 0x4e, 0xa8, 0x84, 0xf3, 0x11, 0xd1, 0x82, 0xf5, 0xd9, 0x92, 0x28, 0x97, 0x88, 0xf1,
+ 0x09, 0xf4, 0x1c, 0x1c, 0xd8, 0x84, 0xa8, 0xf3, 0xc0, 0xf9, 0xd1, 0xd9, 0x97, 0x82, 0xf1, 0x29,
+ 0xf4, 0x0d, 0xd8, 0xf3, 0xf9, 0xf9, 0xd1, 0xd9, 0x82, 0xf4, 0xc2, 0x03, 0xd8, 0xde, 0xdf, 0x1a,
+ 0xd8, 0xf1, 0xa2, 0xfa, 0xf9, 0xa8, 0x84, 0x98, 0xd9, 0xc7, 0xdf, 0xf8, 0xf8, 0xf8, 0x83, 0xc7,
+ 0xda, 0xdf, 0x69, 0xdf, 0xf8, 0x83, 0xc3, 0xd8, 0xf4, 0x01, 0x14, 0xf1, 0x98, 0xa8, 0x82, 0x2e,
+ 0xa8, 0x84, 0xf3, 0x11, 0xd1, 0x82, 0xf5, 0xd9, 0x92, 0x50, 0x97, 0x88, 0xf1, 0x09, 0xf4, 0x1c,
+ 0xd8, 0x84, 0xa8, 0xf3, 0xc0, 0xf8, 0xf9, 0xd1, 0xd9, 0x97, 0x82, 0xf1, 0x49, 0xf4, 0x0d, 0xd8,
+ 0xf3, 0xf9, 0xf9, 0xd1, 0xd9, 0x82, 0xf4, 0xc4, 0x03, 0xd8, 0xde, 0xdf, 0xd8, 0xf1, 0xad, 0x88,
+ 0x98, 0xcc, 0xa8, 0x09, 0xf9, 0xd9, 0x82, 0x92, 0xa8, 0xf5, 0x7c, 0xf1, 0x88, 0x3a, 0xcf, 0x94,
+ 0x4a, 0x6e, 0x98, 0xdb, 0x69, 0x31, 0xda, 0xad, 0xf2, 0xde, 0xf9, 0xd8, 0x87, 0x95, 0xa8, 0xf2,
+ 0x21, 0xd1, 0xda, 0xa5, 0xf9, 0xf4, 0x17, 0xd9, 0xf1, 0xae, 0x8e, 0xd0, 0xc0, 0xc3, 0xae, 0x82,
+ /* bank # 6 */
+ 0xc6, 0x84, 0xc3, 0xa8, 0x85, 0x95, 0xc8, 0xa5, 0x88, 0xf2, 0xc0, 0xf1, 0xf4, 0x01, 0x0e, 0xf1,
+ 0x8e, 0x9e, 0xa8, 0xc6, 0x3e, 0x56, 0xf5, 0x54, 0xf1, 0x88, 0x72, 0xf4, 0x01, 0x15, 0xf1, 0x98,
+ 0x45, 0x85, 0x6e, 0xf5, 0x8e, 0x9e, 0x04, 0x88, 0xf1, 0x42, 0x98, 0x5a, 0x8e, 0x9e, 0x06, 0x88,
+ 0x69, 0xf4, 0x01, 0x1c, 0xf1, 0x98, 0x1e, 0x11, 0x08, 0xd0, 0xf5, 0x04, 0xf1, 0x1e, 0x97, 0x02,
+ 0x02, 0x98, 0x36, 0x25, 0xdb, 0xf9, 0xd9, 0x85, 0xa5, 0xf3, 0xc1, 0xda, 0x85, 0xa5, 0xf3, 0xdf,
+ 0xd8, 0x85, 0x95, 0xa8, 0xf3, 0x09, 0xda, 0xa5, 0xfa, 0xd8, 0x82, 0x92, 0xa8, 0xf5, 0x78, 0xf1,
+ 0x88, 0x1a, 0x84, 0x9f, 0x26, 0x88, 0x98, 0x21, 0xda, 0xf4, 0x1d, 0xf3, 0xd8, 0x87, 0x9f, 0x39,
+ 0xd1, 0xaf, 0xd9, 0xdf, 0xdf, 0xfb, 0xf9, 0xf4, 0x0c, 0xf3, 0xd8, 0xfa, 0xd0, 0xf8, 0xda, 0xf9,
+ 0xf9, 0xd0, 0xdf, 0xd9, 0xf9, 0xd8, 0xf4, 0x0b, 0xd8, 0xf3, 0x87, 0x9f, 0x39, 0xd1, 0xaf, 0xd9,
+ 0xdf, 0xdf, 0xf4, 0x1d, 0xf3, 0xd8, 0xfa, 0xfc, 0xa8, 0x69, 0xf9, 0xf9, 0xaf, 0xd0, 0xda, 0xde,
+ 0xfa, 0xd9, 0xf8, 0x8f, 0x9f, 0xa8, 0xf1, 0xcc, 0xf3, 0x98, 0xdb, 0x45, 0xd9, 0xaf, 0xdf, 0xd0,
+ 0xf8, 0xd8, 0xf1, 0x8f, 0x9f, 0xa8, 0xca, 0xf3, 0x88, 0x09, 0xda, 0xaf, 0x8f, 0xcb, 0xf8, 0xd8,
+ 0xf2, 0xad, 0x97, 0x8d, 0x0c, 0xd9, 0xa5, 0xdf, 0xf9, 0xba, 0xa6, 0xf3, 0xfa, 0xf4, 0x12, 0xf2,
+ 0xd8, 0x95, 0x0d, 0xd1, 0xd9, 0xba, 0xa6, 0xf3, 0xfa, 0xda, 0xa5, 0xf2, 0xc1, 0xba, 0xa6, 0xf3,
+ 0xdf, 0xd8, 0xf1, 0xba, 0xb2, 0xb6, 0x86, 0x96, 0xa6, 0xd0, 0xca, 0xf3, 0x49, 0xda, 0xa6, 0xcb,
+ 0xf8, 0xd8, 0xb0, 0xb4, 0xb8, 0xd8, 0xad, 0x84, 0xf2, 0xc0, 0xdf, 0xf1, 0x8f, 0xcb, 0xc3, 0xa8,
+ /* bank # 7 */
+ 0xb2, 0xb6, 0x86, 0x96, 0xc8, 0xc1, 0xcb, 0xc3, 0xf3, 0xb0, 0xb4, 0x88, 0x98, 0xa8, 0x21, 0xdb,
+ 0x71, 0x8d, 0x9d, 0x71, 0x85, 0x95, 0x21, 0xd9, 0xad, 0xf2, 0xfa, 0xd8, 0x85, 0x97, 0xa8, 0x28,
+ 0xd9, 0xf4, 0x08, 0xd8, 0xf2, 0x8d, 0x29, 0xda, 0xf4, 0x05, 0xd9, 0xf2, 0x85, 0xa4, 0xc2, 0xf2,
+ 0xd8, 0xa8, 0x8d, 0x94, 0x01, 0xd1, 0xd9, 0xf4, 0x11, 0xf2, 0xd8, 0x87, 0x21, 0xd8, 0xf4, 0x0a,
+ 0xd8, 0xf2, 0x84, 0x98, 0xa8, 0xc8, 0x01, 0xd1, 0xd9, 0xf4, 0x11, 0xd8, 0xf3, 0xa4, 0xc8, 0xbb,
+ 0xaf, 0xd0, 0xf2, 0xde, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xd8, 0xf1, 0xb8, 0xf6,
+ 0xb5, 0xb9, 0xb0, 0x8a, 0x95, 0xa3, 0xde, 0x3c, 0xa3, 0xd9, 0xf8, 0xd8, 0x5c, 0xa3, 0xd9, 0xf8,
+ 0xd8, 0x7c, 0xa3, 0xd9, 0xf8, 0xd8, 0xf8, 0xf9, 0xd1, 0xa5, 0xd9, 0xdf, 0xda, 0xfa, 0xd8, 0xb1,
+ 0x85, 0x30, 0xf7, 0xd9, 0xde, 0xd8, 0xf8, 0x30, 0xad, 0xda, 0xde, 0xd8, 0xf2, 0xb4, 0x8c, 0x99,
+ 0xa3, 0x2d, 0x55, 0x7d, 0xa0, 0x83, 0xdf, 0xdf, 0xdf, 0xb5, 0x91, 0xa0, 0xf6, 0x29, 0xd9, 0xfb,
+ 0xd8, 0xa0, 0xfc, 0x29, 0xd9, 0xfa, 0xd8, 0xa0, 0xd0, 0x51, 0xd9, 0xf8, 0xd8, 0xfc, 0x51, 0xd9,
+ 0xf9, 0xd8, 0x79, 0xd9, 0xfb, 0xd8, 0xa0, 0xd0, 0xfc, 0x79, 0xd9, 0xfa, 0xd8, 0xa1, 0xf9, 0xf9,
+ 0xf9, 0xf9, 0xf9, 0xa0, 0xda, 0xdf, 0xdf, 0xdf, 0xd8, 0xa1, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xac,
+ 0xde, 0xf8, 0xad, 0xde, 0x83, 0x93, 0xac, 0x2c, 0x54, 0x7c, 0xf1, 0xa8, 0xdf, 0xdf, 0xdf, 0xf6,
+ 0x9d, 0x2c, 0xda, 0xa0, 0xdf, 0xd9, 0xfa, 0xdb, 0x2d, 0xf8, 0xd8, 0xa8, 0x50, 0xda, 0xa0, 0xd0,
+ 0xde, 0xd9, 0xd0, 0xf8, 0xf8, 0xf8, 0xdb, 0x55, 0xf8, 0xd8, 0xa8, 0x78, 0xda, 0xa0, 0xd0, 0xdf,
+ /* bank # 8 */
+ 0xd9, 0xd0, 0xfa, 0xf8, 0xf8, 0xf8, 0xf8, 0xdb, 0x7d, 0xf8, 0xd8, 0x9c, 0xa8, 0x8c, 0xf5, 0x30,
+ 0xdb, 0x38, 0xd9, 0xd0, 0xde, 0xdf, 0xa0, 0xd0, 0xde, 0xdf, 0xd8, 0xa8, 0x48, 0xdb, 0x58, 0xd9,
+ 0xdf, 0xd0, 0xde, 0xa0, 0xdf, 0xd0, 0xde, 0xd8, 0xa8, 0x68, 0xdb, 0x70, 0xd9, 0xdf, 0xdf, 0xa0,
+ 0xdf, 0xdf, 0xd8, 0xf1, 0xa8, 0x88, 0x90, 0x2c, 0x54, 0x7c, 0x98, 0xa8, 0xd0, 0x5c, 0x38, 0xd1,
+ 0xda, 0xf2, 0xae, 0x8c, 0xdf, 0xf9, 0xd8, 0xb0, 0x87, 0xa8, 0xc1, 0xc1, 0xb1, 0x88, 0xa8, 0xc6,
+ 0xf9, 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xa8,
+ 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xf7, 0x8d, 0x9d, 0xad, 0xf8, 0x18, 0xda,
+ 0xf2, 0xae, 0xdf, 0xd8, 0xf7, 0xad, 0xfa, 0x30, 0xd9, 0xa4, 0xde, 0xf9, 0xd8, 0xf2, 0xae, 0xde,
+ 0xfa, 0xf9, 0x83, 0xa7, 0xd9, 0xc3, 0xc5, 0xc7, 0xf1, 0x88, 0x9b, 0xa7, 0x7a, 0xad, 0xf7, 0xde,
+ 0xdf, 0xa4, 0xf8, 0x84, 0x94, 0x08, 0xa7, 0x97, 0xf3, 0x00, 0xae, 0xf2, 0x98, 0x19, 0xa4, 0x88,
+ 0xc6, 0xa3, 0x94, 0x88, 0xf6, 0x32, 0xdf, 0xf2, 0x83, 0x93, 0xdb, 0x09, 0xd9, 0xf2, 0xaa, 0xdf,
+ 0xd8, 0xd8, 0xae, 0xf8, 0xf9, 0xd1, 0xda, 0xf3, 0xa4, 0xde, 0xa7, 0xf1, 0x88, 0x9b, 0x7a, 0xd8,
+ 0xf3, 0x84, 0x94, 0xae, 0x19, 0xf9, 0xda, 0xaa, 0xf1, 0xdf, 0xd8, 0xa8, 0x81, 0xc0, 0xc3, 0xc5,
+ 0xc7, 0xa3, 0x92, 0x83, 0xf6, 0x28, 0xad, 0xde, 0xd9, 0xf8, 0xd8, 0xa3, 0x50, 0xad, 0xd9, 0xf8,
+ 0xd8, 0xa3, 0x78, 0xad, 0xd9, 0xf8, 0xd8, 0xf8, 0xf9, 0xd1, 0xa1, 0xda, 0xde, 0xc3, 0xc5, 0xc7,
+ 0xd8, 0xa1, 0x81, 0x94, 0xf8, 0x18, 0xf2, 0xb0, 0x89, 0xac, 0xc3, 0xc5, 0xc7, 0xf1, 0xd8, 0xb8,
+ /* bank # 9 */
+ 0xb4, 0xb0, 0x97, 0x86, 0xa8, 0x31, 0x9b, 0x06, 0x99, 0x07, 0xab, 0x97, 0x28, 0x88, 0x9b, 0xf0,
+ 0x0c, 0x20, 0x14, 0x40, 0xb0, 0xb4, 0xb8, 0xf0, 0xa8, 0x8a, 0x9a, 0x28, 0x50, 0x78, 0xb7, 0x9b,
+ 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xf1, 0xbb, 0xab,
+ 0x88, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0xb3, 0x8b, 0xb8, 0xa8, 0x04, 0x28, 0x50, 0x78, 0xf1, 0xb0,
+ 0x88, 0xb4, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xbb, 0xab, 0xb3, 0x8b, 0x02, 0x26, 0x46, 0x66, 0xb0,
+ 0xb8, 0xf0, 0x8a, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x8b, 0x29, 0x51, 0x79, 0x8a, 0x24, 0x70, 0x59,
+ 0x8b, 0x20, 0x58, 0x71, 0x8a, 0x44, 0x69, 0x38, 0x8b, 0x39, 0x40, 0x68, 0x8a, 0x64, 0x48, 0x31,
+ 0x8b, 0x30, 0x49, 0x60, 0x88, 0xf1, 0xac, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0x8c, 0xa8, 0x04, 0x28,
+ 0x50, 0x78, 0xf1, 0x88, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xac, 0x8c, 0x02, 0x26, 0x46, 0x66, 0xf0,
+ 0x89, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xa9,
+ 0x88, 0x09, 0x20, 0x59, 0x70, 0xab, 0x11, 0x38, 0x40, 0x69, 0xa8, 0x19, 0x31, 0x48, 0x60, 0x8c,
+ 0xa8, 0x3c, 0x41, 0x5c, 0x20, 0x7c, 0x00, 0xf1, 0x87, 0x98, 0x19, 0x86, 0xa8, 0x6e, 0x76, 0x7e,
+ 0xa9, 0x99, 0x88, 0x2d, 0x55, 0x7d, 0xd8, 0xb1, 0xb5, 0xb9, 0xa3, 0xdf, 0xdf, 0xdf, 0xae, 0xd0,
+ 0xdf, 0xaa, 0xd0, 0xde, 0xf2, 0xab, 0xf8, 0xf9, 0xd9, 0xb0, 0x87, 0xc4, 0xaa, 0xf1, 0xdf, 0xdf,
+ 0xbb, 0xaf, 0xdf, 0xdf, 0xb9, 0xd8, 0xb1, 0xf1, 0xa3, 0x97, 0x8e, 0x60, 0xdf, 0xb0, 0x84, 0xf2,
+ 0xc8, 0xf8, 0xf9, 0xd9, 0xde, 0xd8, 0x93, 0x85, 0xf1, 0x4a, 0xb1, 0x83, 0xa3, 0x08, 0xb5, 0x83,
+ /* bank # 10 */
+ 0x9a, 0x08, 0x10, 0xb7, 0x9f, 0x10, 0xd8, 0xf1, 0xb0, 0xba, 0xae, 0xb0, 0x8a, 0xc2, 0xb2, 0xb6,
+ 0x8e, 0x9e, 0xf1, 0xfb, 0xd9, 0xf4, 0x1d, 0xd8, 0xf9, 0xd9, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad,
+ 0x61, 0xd9, 0xae, 0xfb, 0xd8, 0xf4, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad, 0x19, 0xd9, 0xae, 0xfb,
+ 0xdf, 0xd8, 0xf4, 0x16, 0xf1, 0xd8, 0xf8, 0xad, 0x8d, 0x61, 0xd9, 0xf4, 0xf4, 0xac, 0xf5, 0x9c,
+ 0x9c, 0x8d, 0xdf, 0x2b, 0xba, 0xb6, 0xae, 0xfa, 0xf8, 0xf4, 0x0b, 0xd8, 0xf1, 0xae, 0xd0, 0xf8,
+ 0xad, 0x51, 0xda, 0xae, 0xfa, 0xf8, 0xf1, 0xd8, 0xb9, 0xb1, 0xb6, 0xa3, 0x83, 0x9c, 0x08, 0xb9,
+ 0xb1, 0x83, 0x9a, 0xb5, 0xaa, 0xc0, 0xfd, 0x30, 0x83, 0xb7, 0x9f, 0x10, 0xb5, 0x8b, 0x93, 0xf2,
+ 0x02, 0x02, 0xd1, 0xab, 0xda, 0xde, 0xd8, 0xf1, 0xb0, 0x80, 0xba, 0xab, 0xc0, 0xc3, 0xb2, 0x84,
+ 0xc1, 0xc3, 0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9, 0xab, 0xde, 0xb0,
+ 0x87, 0x9c, 0xb9, 0xa3, 0xdd, 0xf1, 0xb3, 0x8b, 0x8b, 0x8b, 0x8b, 0x8b, 0xb0, 0x87, 0xa3, 0xa3,
+ 0xa3, 0xa3, 0xb2, 0x8b, 0xb6, 0x9b, 0xf2, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3,
+ 0xa3, 0xf1, 0xb0, 0x87, 0xb5, 0x9a, 0xa3, 0xf3, 0x9b, 0xa3, 0xa3, 0xdc, 0xba, 0xac, 0xdf, 0xb9,
+ 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3,
+ 0xd8, 0xd8, 0xd8, 0xbb, 0xb3, 0xb7, 0xf1, 0xaa, 0xf9, 0xda, 0xff, 0xd9, 0x80, 0x9a, 0xaa, 0x28,
+ 0xb4, 0x80, 0x98, 0xa7, 0x20, 0xb7, 0x97, 0x87, 0xa8, 0x66, 0x88, 0xf0, 0x79, 0x51, 0xf1, 0x90,
+ 0x2c, 0x87, 0x0c, 0xa7, 0x81, 0x97, 0x62, 0x93, 0xf0, 0x71, 0x71, 0x60, 0x85, 0x94, 0x01, 0x29,
+ /* bank # 11 */
+ 0x51, 0x79, 0x90, 0xa5, 0xf1, 0x28, 0x4c, 0x6c, 0x87, 0x0c, 0x95, 0x18, 0x85, 0x78, 0xa3, 0x83,
+ 0x90, 0x28, 0x4c, 0x6c, 0x88, 0x6c, 0xd8, 0xf3, 0xa2, 0x82, 0x00, 0xf2, 0x10, 0xa8, 0x92, 0x19,
+ 0x80, 0xa2, 0xf2, 0xd9, 0x26, 0xd8, 0xf1, 0x88, 0xa8, 0x4d, 0xd9, 0x48, 0xd8, 0x96, 0xa8, 0x39,
+ 0x80, 0xd9, 0x3c, 0xd8, 0x95, 0x80, 0xa8, 0x39, 0xa6, 0x86, 0x98, 0xd9, 0x2c, 0xda, 0x87, 0xa7,
+ 0x2c, 0xd8, 0xa8, 0x89, 0x95, 0x19, 0xa9, 0x80, 0xd9, 0x38, 0xd8, 0xa8, 0x89, 0x39, 0xa9, 0x80,
+ 0xda, 0x3c, 0xd8, 0xa8, 0x2e, 0xa8, 0x39, 0x90, 0xd9, 0x0c, 0xd8, 0xa8, 0x95, 0x31, 0x98, 0xd9,
+ 0x0c, 0xd8, 0xa8, 0x09, 0xd9, 0xff, 0xd8, 0x01, 0xda, 0xff, 0xd8, 0x95, 0x39, 0xa9, 0xda, 0x26,
+ 0xff, 0xd8, 0x90, 0xa8, 0x0d, 0x89, 0x99, 0xa8, 0x10, 0x80, 0x98, 0x21, 0xda, 0x2e, 0xd8, 0x89,
+ 0x99, 0xa8, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x86, 0x96, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8,
+ 0x87, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x82, 0x92, 0xf3, 0x41, 0x80, 0xf1, 0xd9, 0x2e, 0xd8,
+ 0xa8, 0x82, 0xf3, 0x19, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, 0x82, 0xac, 0xf3, 0xc0, 0xa2, 0x80, 0x22,
+ 0xf1, 0xa6, 0x2e, 0xa7, 0x2e, 0xa9, 0x22, 0x98, 0xa8, 0x29, 0xda, 0xac, 0xde, 0xff, 0xd8, 0xa2,
+ 0xf2, 0x2a, 0xf1, 0xa9, 0x2e, 0x82, 0x92, 0xa8, 0xf2, 0x31, 0x80, 0xa6, 0x96, 0xf1, 0xd9, 0x00,
+ 0xac, 0x8c, 0x9c, 0x0c, 0x30, 0xac, 0xde, 0xd0, 0xde, 0xff, 0xd8, 0x8c, 0x9c, 0xac, 0xd0, 0x10,
+ 0xac, 0xde, 0x80, 0x92, 0xa2, 0xf2, 0x4c, 0x82, 0xa8, 0xf1, 0xca, 0xf2, 0x35, 0xf1, 0x96, 0x88,
+ 0xa6, 0xd9, 0x00, 0xd8, 0xf1, 0xff
+};
+
+static const unsigned short sStartAddress = 0x0400;
+
+/* END OF SECTION COPIED FROM dmpDefaultMPU6050.c */
+
+#define INT_SRC_TAP (0x01)
+#define INT_SRC_ANDROID_ORIENT (0x08)
+
+#define DMP_FEATURE_SEND_ANY_GYRO (DMP_FEATURE_SEND_RAW_GYRO | \
+ DMP_FEATURE_SEND_CAL_GYRO)
+
+#define MAX_PACKET_LENGTH (32)
+
+#define DMP_SAMPLE_RATE (200)
+#define GYRO_SF (46850825LL * 200 / DMP_SAMPLE_RATE)
+
+#define FIFO_CORRUPTION_CHECK
+#ifdef FIFO_CORRUPTION_CHECK
+#define QUAT_ERROR_THRESH (1L<<24)
+#define QUAT_MAG_SQ_NORMALIZED (1L<<28)
+#define QUAT_MAG_SQ_MIN (QUAT_MAG_SQ_NORMALIZED - QUAT_ERROR_THRESH)
+#define QUAT_MAG_SQ_MAX (QUAT_MAG_SQ_NORMALIZED + QUAT_ERROR_THRESH)
+#endif
+
+struct dmp_s {
+ void (*tap_cb)(unsigned char count, unsigned char direction);
+ void (*android_orient_cb)(unsigned char orientation);
+ unsigned short orient;
+ unsigned short feature_mask;
+ unsigned short fifo_rate;
+ unsigned char packet_length;
+};
+
+static struct dmp_s dmp = {
+ .tap_cb = NULL,
+ .android_orient_cb = NULL,
+ .orient = 0,
+ .feature_mask = 0,
+ .fifo_rate = 0,
+ .packet_length = 0
+};
+
+/**
+ * @brief Load the DMP with this image.
+ * @return 0 if successful.
+ */
+int dmp_load_motion_driver_firmware(void)
+{
+ return mpu_load_firmware(DMP_CODE_SIZE, dmp_memory, sStartAddress,
+ DMP_SAMPLE_RATE);
+}
+
+/**
+ * @brief Push gyro and accel orientation to the DMP.
+ * The orientation is represented here as the output of
+ * @e inv_orientation_matrix_to_scalar.
+ * @param[in] orient Gyro and accel orientation in body frame.
+ * @return 0 if successful.
+ */
+int dmp_set_orientation(unsigned short orient)
+{
+ unsigned char gyro_regs[3], accel_regs[3];
+ const unsigned char gyro_axes[3] = {DINA4C, DINACD, DINA6C};
+ const unsigned char accel_axes[3] = {DINA0C, DINAC9, DINA2C};
+ const unsigned char gyro_sign[3] = {DINA36, DINA56, DINA76};
+ const unsigned char accel_sign[3] = {DINA26, DINA46, DINA66};
+
+ gyro_regs[0] = gyro_axes[orient & 3];
+ gyro_regs[1] = gyro_axes[(orient >> 3) & 3];
+ gyro_regs[2] = gyro_axes[(orient >> 6) & 3];
+ accel_regs[0] = accel_axes[orient & 3];
+ accel_regs[1] = accel_axes[(orient >> 3) & 3];
+ accel_regs[2] = accel_axes[(orient >> 6) & 3];
+
+ /* Chip-to-body, axes only. */
+ if (mpu_write_mem(FCFG_1, 3, gyro_regs))
+ return -1;
+ if (mpu_write_mem(FCFG_2, 3, accel_regs))
+ return -1;
+
+ memcpy(gyro_regs, gyro_sign, 3);
+ memcpy(accel_regs, accel_sign, 3);
+ if (orient & 4) {
+ gyro_regs[0] |= 1;
+ accel_regs[0] |= 1;
+ }
+ if (orient & 0x20) {
+ gyro_regs[1] |= 1;
+ accel_regs[1] |= 1;
+ }
+ if (orient & 0x100) {
+ gyro_regs[2] |= 1;
+ accel_regs[2] |= 1;
+ }
+
+ /* Chip-to-body, sign only. */
+ if (mpu_write_mem(FCFG_3, 3, gyro_regs))
+ return -1;
+ if (mpu_write_mem(FCFG_7, 3, accel_regs))
+ return -1;
+ dmp.orient = orient;
+ return 0;
+}
+
+/**
+ * @brief Push gyro biases to the DMP.
+ * Because the gyro integration is handled in the DMP, any gyro biases
+ * calculated by the MPL should be pushed down to DMP memory to remove
+ * 3-axis quaternion drift.
+ * \n NOTE: If the DMP-based gyro calibration is enabled, the DMP will
+ * overwrite the biases written to this location once a new one is computed.
+ * @param[in] bias Gyro biases in q16.
+ * @return 0 if successful.
+ */
+int dmp_set_gyro_bias(long *bias)
+{
+ long gyro_bias_body[3];
+ unsigned char regs[4];
+
+ gyro_bias_body[0] = bias[dmp.orient & 3];
+ if (dmp.orient & 4)
+ gyro_bias_body[0] *= -1;
+ gyro_bias_body[1] = bias[(dmp.orient >> 3) & 3];
+ if (dmp.orient & 0x20)
+ gyro_bias_body[1] *= -1;
+ gyro_bias_body[2] = bias[(dmp.orient >> 6) & 3];
+ if (dmp.orient & 0x100)
+ gyro_bias_body[2] *= -1;
+
+#ifdef EMPL_NO_64BIT
+ gyro_bias_body[0] = (long)(((float)gyro_bias_body[0] * GYRO_SF) / 1073741824.f);
+ gyro_bias_body[1] = (long)(((float)gyro_bias_body[1] * GYRO_SF) / 1073741824.f);
+ gyro_bias_body[2] = (long)(((float)gyro_bias_body[2] * GYRO_SF) / 1073741824.f);
+#else
+ gyro_bias_body[0] = (long)(((long long)gyro_bias_body[0] * GYRO_SF) >> 30);
+ gyro_bias_body[1] = (long)(((long long)gyro_bias_body[1] * GYRO_SF) >> 30);
+ gyro_bias_body[2] = (long)(((long long)gyro_bias_body[2] * GYRO_SF) >> 30);
+#endif
+
+ regs[0] = (unsigned char)((gyro_bias_body[0] >> 24) & 0xFF);
+ regs[1] = (unsigned char)((gyro_bias_body[0] >> 16) & 0xFF);
+ regs[2] = (unsigned char)((gyro_bias_body[0] >> 8) & 0xFF);
+ regs[3] = (unsigned char)(gyro_bias_body[0] & 0xFF);
+ if (mpu_write_mem(D_EXT_GYRO_BIAS_X, 4, regs))
+ return -1;
+
+ regs[0] = (unsigned char)((gyro_bias_body[1] >> 24) & 0xFF);
+ regs[1] = (unsigned char)((gyro_bias_body[1] >> 16) & 0xFF);
+ regs[2] = (unsigned char)((gyro_bias_body[1] >> 8) & 0xFF);
+ regs[3] = (unsigned char)(gyro_bias_body[1] & 0xFF);
+ if (mpu_write_mem(D_EXT_GYRO_BIAS_Y, 4, regs))
+ return -1;
+
+ regs[0] = (unsigned char)((gyro_bias_body[2] >> 24) & 0xFF);
+ regs[1] = (unsigned char)((gyro_bias_body[2] >> 16) & 0xFF);
+ regs[2] = (unsigned char)((gyro_bias_body[2] >> 8) & 0xFF);
+ regs[3] = (unsigned char)(gyro_bias_body[2] & 0xFF);
+ return mpu_write_mem(D_EXT_GYRO_BIAS_Z, 4, regs);
+}
+
+/**
+ * @brief Push accel biases to the DMP.
+ * These biases will be removed from the DMP 6-axis quaternion.
+ * @param[in] bias Accel biases in q16.
+ * @return 0 if successful.
+ */
+int dmp_set_accel_bias(long *bias)
+{
+ long accel_bias_body[3];
+ unsigned char regs[12];
+ long long accel_sf;
+ unsigned short accel_sens;
+
+ mpu_get_accel_sens(&accel_sens);
+ accel_sf = (long long)accel_sens << 15;
+ __no_operation();
+
+ accel_bias_body[0] = bias[dmp.orient & 3];
+ if (dmp.orient & 4)
+ accel_bias_body[0] *= -1;
+ accel_bias_body[1] = bias[(dmp.orient >> 3) & 3];
+ if (dmp.orient & 0x20)
+ accel_bias_body[1] *= -1;
+ accel_bias_body[2] = bias[(dmp.orient >> 6) & 3];
+ if (dmp.orient & 0x100)
+ accel_bias_body[2] *= -1;
+
+#ifdef EMPL_NO_64BIT
+ accel_bias_body[0] = (long)(((float)accel_bias_body[0] * accel_sf) / 1073741824.f);
+ accel_bias_body[1] = (long)(((float)accel_bias_body[1] * accel_sf) / 1073741824.f);
+ accel_bias_body[2] = (long)(((float)accel_bias_body[2] * accel_sf) / 1073741824.f);
+#else
+ accel_bias_body[0] = (long)(((long long)accel_bias_body[0] * accel_sf) >> 30);
+ accel_bias_body[1] = (long)(((long long)accel_bias_body[1] * accel_sf) >> 30);
+ accel_bias_body[2] = (long)(((long long)accel_bias_body[2] * accel_sf) >> 30);
+#endif
+
+ regs[0] = (unsigned char)((accel_bias_body[0] >> 24) & 0xFF);
+ regs[1] = (unsigned char)((accel_bias_body[0] >> 16) & 0xFF);
+ regs[2] = (unsigned char)((accel_bias_body[0] >> 8) & 0xFF);
+ regs[3] = (unsigned char)(accel_bias_body[0] & 0xFF);
+ regs[4] = (unsigned char)((accel_bias_body[1] >> 24) & 0xFF);
+ regs[5] = (unsigned char)((accel_bias_body[1] >> 16) & 0xFF);
+ regs[6] = (unsigned char)((accel_bias_body[1] >> 8) & 0xFF);
+ regs[7] = (unsigned char)(accel_bias_body[1] & 0xFF);
+ regs[8] = (unsigned char)((accel_bias_body[2] >> 24) & 0xFF);
+ regs[9] = (unsigned char)((accel_bias_body[2] >> 16) & 0xFF);
+ regs[10] = (unsigned char)((accel_bias_body[2] >> 8) & 0xFF);
+ regs[11] = (unsigned char)(accel_bias_body[2] & 0xFF);
+ return mpu_write_mem(D_ACCEL_BIAS, 12, regs);
+}
+
+/**
+ * @brief Set DMP output rate.
+ * Only used when DMP is on.
+ * @param[in] rate Desired fifo rate (Hz).
+ * @return 0 if successful.
+ */
+int dmp_set_fifo_rate(unsigned short rate)
+{
+ const unsigned char regs_end[12] = {DINAFE, DINAF2, DINAAB,
+ 0xc4, DINAAA, DINAF1, DINADF, DINADF, 0xBB, 0xAF, DINADF, DINADF};
+ unsigned short div;
+ unsigned char tmp[8];
+
+ if (rate > DMP_SAMPLE_RATE)
+ return -1;
+ div = DMP_SAMPLE_RATE / rate - 1;
+ tmp[0] = (unsigned char)((div >> 8) & 0xFF);
+ tmp[1] = (unsigned char)(div & 0xFF);
+ if (mpu_write_mem(D_0_22, 2, tmp))
+ return -1;
+ if (mpu_write_mem(CFG_6, 12, (unsigned char*)regs_end))
+ return -1;
+
+ dmp.fifo_rate = rate;
+ return 0;
+}
+
+/**
+ * @brief Get DMP output rate.
+ * @param[out] rate Current fifo rate (Hz).
+ * @return 0 if successful.
+ */
+int dmp_get_fifo_rate(unsigned short *rate)
+{
+ rate[0] = dmp.fifo_rate;
+ return 0;
+}
+
+/**
+ * @brief Set tap threshold for a specific axis.
+ * @param[in] axis 1, 2, and 4 for XYZ accel, respectively.
+ * @param[in] thresh Tap threshold, in mg/ms.
+ * @return 0 if successful.
+ */
+int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh)
+{
+ unsigned char tmp[4], accel_fsr;
+ float scaled_thresh;
+ unsigned short dmp_thresh, dmp_thresh_2;
+ if (!(axis & TAP_XYZ) || thresh > 1600)
+ return -1;
+
+ scaled_thresh = (float)thresh / DMP_SAMPLE_RATE;
+
+ mpu_get_accel_fsr(&accel_fsr);
+ switch (accel_fsr) {
+ case 2:
+ dmp_thresh = (unsigned short)(scaled_thresh * 16384);
+ /* dmp_thresh * 0.75 */
+ dmp_thresh_2 = (unsigned short)(scaled_thresh * 12288);
+ break;
+ case 4:
+ dmp_thresh = (unsigned short)(scaled_thresh * 8192);
+ /* dmp_thresh * 0.75 */
+ dmp_thresh_2 = (unsigned short)(scaled_thresh * 6144);
+ break;
+ case 8:
+ dmp_thresh = (unsigned short)(scaled_thresh * 4096);
+ /* dmp_thresh * 0.75 */
+ dmp_thresh_2 = (unsigned short)(scaled_thresh * 3072);
+ break;
+ case 16:
+ dmp_thresh = (unsigned short)(scaled_thresh * 2048);
+ /* dmp_thresh * 0.75 */
+ dmp_thresh_2 = (unsigned short)(scaled_thresh * 1536);
+ break;
+ default:
+ return -1;
+ }
+ tmp[0] = (unsigned char)(dmp_thresh >> 8);
+ tmp[1] = (unsigned char)(dmp_thresh & 0xFF);
+ tmp[2] = (unsigned char)(dmp_thresh_2 >> 8);
+ tmp[3] = (unsigned char)(dmp_thresh_2 & 0xFF);
+
+ if (axis & TAP_X) {
+ if (mpu_write_mem(DMP_TAP_THX, 2, tmp))
+ return -1;
+ if (mpu_write_mem(D_1_36, 2, tmp+2))
+ return -1;
+ }
+ if (axis & TAP_Y) {
+ if (mpu_write_mem(DMP_TAP_THY, 2, tmp))
+ return -1;
+ if (mpu_write_mem(D_1_40, 2, tmp+2))
+ return -1;
+ }
+ if (axis & TAP_Z) {
+ if (mpu_write_mem(DMP_TAP_THZ, 2, tmp))
+ return -1;
+ if (mpu_write_mem(D_1_44, 2, tmp+2))
+ return -1;
+ }
+ return 0;
+}
+
+/**
+ * @brief Set which axes will register a tap.
+ * @param[in] axis 1, 2, and 4 for XYZ, respectively.
+ * @return 0 if successful.
+ */
+int dmp_set_tap_axes(unsigned char axis)
+{
+ unsigned char tmp = 0;
+
+ if (axis & TAP_X)
+ tmp |= 0x30;
+ if (axis & TAP_Y)
+ tmp |= 0x0C;
+ if (axis & TAP_Z)
+ tmp |= 0x03;
+ return mpu_write_mem(D_1_72, 1, &tmp);
+}
+
+/**
+ * @brief Set minimum number of taps needed for an interrupt.
+ * @param[in] min_taps Minimum consecutive taps (1-4).
+ * @return 0 if successful.
+ */
+int dmp_set_tap_count(unsigned char min_taps)
+{
+ unsigned char tmp;
+
+ if (min_taps < 1)
+ min_taps = 1;
+ else if (min_taps > 4)
+ min_taps = 4;
+
+ tmp = min_taps - 1;
+ return mpu_write_mem(D_1_79, 1, &tmp);
+}
+
+/**
+ * @brief Set length between valid taps.
+ * @param[in] time Milliseconds between taps.
+ * @return 0 if successful.
+ */
+int dmp_set_tap_time(unsigned short time)
+{
+ unsigned short dmp_time;
+ unsigned char tmp[2];
+
+ dmp_time = time / (1000 / DMP_SAMPLE_RATE);
+ tmp[0] = (unsigned char)(dmp_time >> 8);
+ tmp[1] = (unsigned char)(dmp_time & 0xFF);
+ return mpu_write_mem(DMP_TAPW_MIN, 2, tmp);
+}
+
+/**
+ * @brief Set max time between taps to register as a multi-tap.
+ * @param[in] time Max milliseconds between taps.
+ * @return 0 if successful.
+ */
+int dmp_set_tap_time_multi(unsigned short time)
+{
+ unsigned short dmp_time;
+ unsigned char tmp[2];
+
+ dmp_time = time / (1000 / DMP_SAMPLE_RATE);
+ tmp[0] = (unsigned char)(dmp_time >> 8);
+ tmp[1] = (unsigned char)(dmp_time & 0xFF);
+ return mpu_write_mem(D_1_218, 2, tmp);
+}
+
+/**
+ * @brief Set shake rejection threshold.
+ * If the DMP detects a gyro sample larger than @e thresh, taps are rejected.
+ * @param[in] sf Gyro scale factor.
+ * @param[in] thresh Gyro threshold in dps.
+ * @return 0 if successful.
+ */
+int dmp_set_shake_reject_thresh(long sf, unsigned short thresh)
+{
+ unsigned char tmp[4];
+ long thresh_scaled = sf / 1000 * thresh;
+ tmp[0] = (unsigned char)(((long)thresh_scaled >> 24) & 0xFF);
+ tmp[1] = (unsigned char)(((long)thresh_scaled >> 16) & 0xFF);
+ tmp[2] = (unsigned char)(((long)thresh_scaled >> 8) & 0xFF);
+ tmp[3] = (unsigned char)((long)thresh_scaled & 0xFF);
+ return mpu_write_mem(D_1_92, 4, tmp);
+}
+
+/**
+ * @brief Set shake rejection time.
+ * Sets the length of time that the gyro must be outside of the threshold set
+ * by @e gyro_set_shake_reject_thresh before taps are rejected. A mandatory
+ * 60 ms is added to this parameter.
+ * @param[in] time Time in milliseconds.
+ * @return 0 if successful.
+ */
+int dmp_set_shake_reject_time(unsigned short time)
+{
+ unsigned char tmp[2];
+
+ time /= (1000 / DMP_SAMPLE_RATE);
+ tmp[0] = time >> 8;
+ tmp[1] = time & 0xFF;
+ return mpu_write_mem(D_1_90,2,tmp);
+}
+
+/**
+ * @brief Set shake rejection timeout.
+ * Sets the length of time after a shake rejection that the gyro must stay
+ * inside of the threshold before taps can be detected again. A mandatory
+ * 60 ms is added to this parameter.
+ * @param[in] time Time in milliseconds.
+ * @return 0 if successful.
+ */
+int dmp_set_shake_reject_timeout(unsigned short time)
+{
+ unsigned char tmp[2];
+
+ time /= (1000 / DMP_SAMPLE_RATE);
+ tmp[0] = time >> 8;
+ tmp[1] = time & 0xFF;
+ return mpu_write_mem(D_1_88,2,tmp);
+}
+
+/**
+ * @brief Get current step count.
+ * @param[out] count Number of steps detected.
+ * @return 0 if successful.
+ */
+int dmp_get_pedometer_step_count(unsigned long *count)
+{
+ unsigned char tmp[4];
+ if (!count)
+ return -1;
+
+ if (mpu_read_mem(D_PEDSTD_STEPCTR, 4, tmp))
+ return -1;
+
+ count[0] = ((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) |
+ ((unsigned long)tmp[2] << 8) | tmp[3];
+ return 0;
+}
+
+/**
+ * @brief Overwrite current step count.
+ * WARNING: This function writes to DMP memory and could potentially encounter
+ * a race condition if called while the pedometer is enabled.
+ * @param[in] count New step count.
+ * @return 0 if successful.
+ */
+int dmp_set_pedometer_step_count(unsigned long count)
+{
+ unsigned char tmp[4];
+
+ tmp[0] = (unsigned char)((count >> 24) & 0xFF);
+ tmp[1] = (unsigned char)((count >> 16) & 0xFF);
+ tmp[2] = (unsigned char)((count >> 8) & 0xFF);
+ tmp[3] = (unsigned char)(count & 0xFF);
+ return mpu_write_mem(D_PEDSTD_STEPCTR, 4, tmp);
+}
+
+/**
+ * @brief Get duration of walking time.
+ * @param[in] time Walk time in milliseconds.
+ * @return 0 if successful.
+ */
+int dmp_get_pedometer_walk_time(unsigned long *time)
+{
+ unsigned char tmp[4];
+ if (!time)
+ return -1;
+
+ if (mpu_read_mem(D_PEDSTD_TIMECTR, 4, tmp))
+ return -1;
+
+ time[0] = (((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) |
+ ((unsigned long)tmp[2] << 8) | tmp[3]) * 20;
+ return 0;
+}
+
+/**
+ * @brief Overwrite current walk time.
+ * WARNING: This function writes to DMP memory and could potentially encounter
+ * a race condition if called while the pedometer is enabled.
+ * @param[in] time New walk time in milliseconds.
+ */
+int dmp_set_pedometer_walk_time(unsigned long time)
+{
+ unsigned char tmp[4];
+
+ time /= 20;
+
+ tmp[0] = (unsigned char)((time >> 24) & 0xFF);
+ tmp[1] = (unsigned char)((time >> 16) & 0xFF);
+ tmp[2] = (unsigned char)((time >> 8) & 0xFF);
+ tmp[3] = (unsigned char)(time & 0xFF);
+ return mpu_write_mem(D_PEDSTD_TIMECTR, 4, tmp);
+}
+
+/**
+ * @brief Enable DMP features.
+ * The following \#define's are used in the input mask:
+ * \n DMP_FEATURE_TAP
+ * \n DMP_FEATURE_ANDROID_ORIENT
+ * \n DMP_FEATURE_LP_QUAT
+ * \n DMP_FEATURE_6X_LP_QUAT
+ * \n DMP_FEATURE_GYRO_CAL
+ * \n DMP_FEATURE_SEND_RAW_ACCEL
+ * \n DMP_FEATURE_SEND_RAW_GYRO
+ * \n NOTE: DMP_FEATURE_LP_QUAT and DMP_FEATURE_6X_LP_QUAT are mutually
+ * exclusive.
+ * \n NOTE: DMP_FEATURE_SEND_RAW_GYRO and DMP_FEATURE_SEND_CAL_GYRO are also
+ * mutually exclusive.
+ * @param[in] mask Mask of features to enable.
+ * @return 0 if successful.
+ */
+int dmp_enable_feature(unsigned short mask)
+{
+ unsigned char tmp[10];
+
+ /* TODO: All of these settings can probably be integrated into the default
+ * DMP image.
+ */
+ /* Set integration scale factor. */
+ tmp[0] = (unsigned char)((GYRO_SF >> 24) & 0xFF);
+ tmp[1] = (unsigned char)((GYRO_SF >> 16) & 0xFF);
+ tmp[2] = (unsigned char)((GYRO_SF >> 8) & 0xFF);
+ tmp[3] = (unsigned char)(GYRO_SF & 0xFF);
+ mpu_write_mem(D_0_104, 4, tmp);
+
+ /* Send sensor data to the FIFO. */
+ tmp[0] = 0xA3;
+ if (mask & DMP_FEATURE_SEND_RAW_ACCEL) {
+ tmp[1] = 0xC0;
+ tmp[2] = 0xC8;
+ tmp[3] = 0xC2;
+ } else {
+ tmp[1] = 0xA3;
+ tmp[2] = 0xA3;
+ tmp[3] = 0xA3;
+ }
+ if (mask & DMP_FEATURE_SEND_ANY_GYRO) {
+ tmp[4] = 0xC4;
+ tmp[5] = 0xCC;
+ tmp[6] = 0xC6;
+ } else {
+ tmp[4] = 0xA3;
+ tmp[5] = 0xA3;
+ tmp[6] = 0xA3;
+ }
+ tmp[7] = 0xA3;
+ tmp[8] = 0xA3;
+ tmp[9] = 0xA3;
+ mpu_write_mem(CFG_15,10,tmp);
+
+ /* Send gesture data to the FIFO. */
+ if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT))
+ tmp[0] = DINA20;
+ else
+ tmp[0] = 0xD8;
+ mpu_write_mem(CFG_27,1,tmp);
+
+ if (mask & DMP_FEATURE_GYRO_CAL)
+ dmp_enable_gyro_cal(1);
+ else
+ dmp_enable_gyro_cal(0);
+
+ if (mask & DMP_FEATURE_SEND_ANY_GYRO) {
+ if (mask & DMP_FEATURE_SEND_CAL_GYRO) {
+ tmp[0] = 0xB2;
+ tmp[1] = 0x8B;
+ tmp[2] = 0xB6;
+ tmp[3] = 0x9B;
+ } else {
+ tmp[0] = DINAC0;
+ tmp[1] = DINA80;
+ tmp[2] = DINAC2;
+ tmp[3] = DINA90;
+ }
+ mpu_write_mem(CFG_GYRO_RAW_DATA, 4, tmp);
+ }
+
+ if (mask & DMP_FEATURE_TAP) {
+ /* Enable tap. */
+ tmp[0] = 0xF8;
+ mpu_write_mem(CFG_20, 1, tmp);
+ dmp_set_tap_thresh(TAP_XYZ, 250);
+ dmp_set_tap_axes(TAP_XYZ);
+ dmp_set_tap_count(1);
+ dmp_set_tap_time(100);
+ dmp_set_tap_time_multi(500);
+
+ dmp_set_shake_reject_thresh(GYRO_SF, 200);
+ dmp_set_shake_reject_time(40);
+ dmp_set_shake_reject_timeout(10);
+ } else {
+ tmp[0] = 0xD8;
+ mpu_write_mem(CFG_20, 1, tmp);
+ }
+
+ if (mask & DMP_FEATURE_ANDROID_ORIENT) {
+ tmp[0] = 0xD9;
+ } else
+ tmp[0] = 0xD8;
+ mpu_write_mem(CFG_ANDROID_ORIENT_INT, 1, tmp);
+
+ if (mask & DMP_FEATURE_LP_QUAT)
+ dmp_enable_lp_quat(1);
+ else
+ dmp_enable_lp_quat(0);
+
+ if (mask & DMP_FEATURE_6X_LP_QUAT)
+ dmp_enable_6x_lp_quat(1);
+ else
+ dmp_enable_6x_lp_quat(0);
+
+ /* Pedometer is always enabled. */
+ dmp.feature_mask = mask | DMP_FEATURE_PEDOMETER;
+ mpu_reset_fifo();
+
+ dmp.packet_length = 0;
+ if (mask & DMP_FEATURE_SEND_RAW_ACCEL)
+ dmp.packet_length += 6;
+ if (mask & DMP_FEATURE_SEND_ANY_GYRO)
+ dmp.packet_length += 6;
+ if (mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT))
+ dmp.packet_length += 16;
+ if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT))
+ dmp.packet_length += 4;
+
+ return 0;
+}
+
+/**
+ * @brief Get list of currently enabled DMP features.
+ * @param[out] Mask of enabled features.
+ * @return 0 if successful.
+ */
+int dmp_get_enabled_features(unsigned short *mask)
+{
+ mask[0] = dmp.feature_mask;
+ return 0;
+}
+
+/**
+ * @brief Calibrate the gyro data in the DMP.
+ * After eight seconds of no motion, the DMP will compute gyro biases and
+ * subtract them from the quaternion output. If @e dmp_enable_feature is
+ * called with @e DMP_FEATURE_SEND_CAL_GYRO, the biases will also be
+ * subtracted from the gyro output.
+ * @param[in] enable 1 to enable gyro calibration.
+ * @return 0 if successful.
+ */
+int dmp_enable_gyro_cal(unsigned char enable)
+{
+ if (enable) {
+ unsigned char regs[9] = {0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35, 0x5d};
+ return mpu_write_mem(CFG_MOTION_BIAS, 9, regs);
+ } else {
+ unsigned char regs[9] = {0xb8, 0xaa, 0xaa, 0xaa, 0xb0, 0x88, 0xc3, 0xc5, 0xc7};
+ return mpu_write_mem(CFG_MOTION_BIAS, 9, regs);
+ }
+}
+
+/**
+ * @brief Generate 3-axis quaternions from the DMP.
+ * In this driver, the 3-axis and 6-axis DMP quaternion features are mutually
+ * exclusive.
+ * @param[in] enable 1 to enable 3-axis quaternion.
+ * @return 0 if successful.
+ */
+int dmp_enable_lp_quat(unsigned char enable)
+{
+ unsigned char regs[4];
+ if (enable) {
+ regs[0] = DINBC0;
+ regs[1] = DINBC2;
+ regs[2] = DINBC4;
+ regs[3] = DINBC6;
+ }
+ else
+ memset(regs, 0x8B, 4);
+
+ mpu_write_mem(CFG_LP_QUAT, 4, regs);
+
+ return mpu_reset_fifo();
+}
+
+/**
+ * @brief Generate 6-axis quaternions from the DMP.
+ * In this driver, the 3-axis and 6-axis DMP quaternion features are mutually
+ * exclusive.
+ * @param[in] enable 1 to enable 6-axis quaternion.
+ * @return 0 if successful.
+ */
+int dmp_enable_6x_lp_quat(unsigned char enable)
+{
+ unsigned char regs[4];
+ if (enable) {
+ regs[0] = DINA20;
+ regs[1] = DINA28;
+ regs[2] = DINA30;
+ regs[3] = DINA38;
+ } else
+ memset(regs, 0xA3, 4);
+
+ mpu_write_mem(CFG_8, 4, regs);
+
+ return mpu_reset_fifo();
+}
+
+/**
+ * @brief Decode the four-byte gesture data and execute any callbacks.
+ * @param[in] gesture Gesture data from DMP packet.
+ * @return 0 if successful.
+ */
+static int decode_gesture(unsigned char *gesture)
+{
+ unsigned char tap, android_orient;
+
+ android_orient = gesture[3] & 0xC0;
+ tap = 0x3F & gesture[3];
+
+ if (gesture[1] & INT_SRC_TAP) {
+ unsigned char direction, count;
+ direction = tap >> 3;
+ count = (tap % 8) + 1;
+ if (dmp.tap_cb)
+ dmp.tap_cb(direction, count);
+ }
+
+ if (gesture[1] & INT_SRC_ANDROID_ORIENT) {
+ if (dmp.android_orient_cb)
+ dmp.android_orient_cb(android_orient >> 6);
+ }
+
+ return 0;
+}
+
+/**
+ * @brief Specify when a DMP interrupt should occur.
+ * A DMP interrupt can be configured to trigger on either of the two
+ * conditions below:
+ * \n a. One FIFO period has elapsed (set by @e mpu_set_sample_rate).
+ * \n b. A tap event has been detected.
+ * @param[in] mode DMP_INT_GESTURE or DMP_INT_CONTINUOUS.
+ * @return 0 if successful.
+ */
+int dmp_set_interrupt_mode(unsigned char mode)
+{
+ const unsigned char regs_continuous[11] =
+ {0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9};
+ const unsigned char regs_gesture[11] =
+ {0xda, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0xda, 0xb4, 0xda};
+
+ switch (mode) {
+ case DMP_INT_CONTINUOUS:
+ return mpu_write_mem(CFG_FIFO_ON_EVENT, 11,
+ (unsigned char*)regs_continuous);
+ case DMP_INT_GESTURE:
+ return mpu_write_mem(CFG_FIFO_ON_EVENT, 11,
+ (unsigned char*)regs_gesture);
+ default:
+ return -1;
+ }
+}
+
+/**
+ * @brief Get one packet from the FIFO.
+ * If @e sensors does not contain a particular sensor, disregard the data
+ * returned to that pointer.
+ * \n @e sensors can contain a combination of the following flags:
+ * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
+ * \n INV_XYZ_GYRO
+ * \n INV_XYZ_ACCEL
+ * \n INV_WXYZ_QUAT
+ * \n If the FIFO has no new data, @e sensors will be zero.
+ * \n If the FIFO is disabled, @e sensors will be zero and this function will
+ * return a non-zero error code.
+ * @param[out] gyro Gyro data in hardware units.
+ * @param[out] accel Accel data in hardware units.
+ * @param[out] quat 3-axis quaternion data in hardware units.
+ * @param[out] timestamp Timestamp in milliseconds.
+ * @param[out] sensors Mask of sensors read from FIFO.
+ * @param[out] more Number of remaining packets.
+ * @return 0 if successful.
+ */
+int dmp_read_fifo(short *gyro, short *accel, long *quat,
+ unsigned long *timestamp, short *sensors, unsigned char *more)
+{
+ unsigned char fifo_data[MAX_PACKET_LENGTH];
+ unsigned char ii = 0;
+
+ /* TODO: sensors[0] only changes when dmp_enable_feature is called. We can
+ * cache this value and save some cycles.
+ */
+ sensors[0] = 0;
+
+ /* Get a packet. */
+ if (mpu_read_fifo_stream(dmp.packet_length, fifo_data, more))
+ return -1;
+
+ /* Parse DMP packet. */
+ if (dmp.feature_mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT)) {
+#ifdef FIFO_CORRUPTION_CHECK
+ long quat_q14[4], quat_mag_sq;
+#endif
+ quat[0] = ((long)fifo_data[0] << 24) | ((long)fifo_data[1] << 16) |
+ ((long)fifo_data[2] << 8) | fifo_data[3];
+ quat[1] = ((long)fifo_data[4] << 24) | ((long)fifo_data[5] << 16) |
+ ((long)fifo_data[6] << 8) | fifo_data[7];
+ quat[2] = ((long)fifo_data[8] << 24) | ((long)fifo_data[9] << 16) |
+ ((long)fifo_data[10] << 8) | fifo_data[11];
+ quat[3] = ((long)fifo_data[12] << 24) | ((long)fifo_data[13] << 16) |
+ ((long)fifo_data[14] << 8) | fifo_data[15];
+ ii += 16;
+#ifdef FIFO_CORRUPTION_CHECK
+ /* We can detect a corrupted FIFO by monitoring the quaternion data and
+ * ensuring that the magnitude is always normalized to one. This
+ * shouldn't happen in normal operation, but if an I2C error occurs,
+ * the FIFO reads might become misaligned.
+ *
+ * Let's start by scaling down the quaternion data to avoid long long
+ * math.
+ */
+ quat_q14[0] = quat[0] >> 16;
+ quat_q14[1] = quat[1] >> 16;
+ quat_q14[2] = quat[2] >> 16;
+ quat_q14[3] = quat[3] >> 16;
+ quat_mag_sq = quat_q14[0] * quat_q14[0] + quat_q14[1] * quat_q14[1] +
+ quat_q14[2] * quat_q14[2] + quat_q14[3] * quat_q14[3];
+ if ((quat_mag_sq < QUAT_MAG_SQ_MIN) ||
+ (quat_mag_sq > QUAT_MAG_SQ_MAX)) {
+ /* Quaternion is outside of the acceptable threshold. */
+ mpu_reset_fifo();
+ sensors[0] = 0;
+ return -1;
+ }
+ sensors[0] |= INV_WXYZ_QUAT;
+#endif
+ }
+
+ if (dmp.feature_mask & DMP_FEATURE_SEND_RAW_ACCEL) {
+ accel[0] = ((short)fifo_data[ii+0] << 8) | fifo_data[ii+1];
+ accel[1] = ((short)fifo_data[ii+2] << 8) | fifo_data[ii+3];
+ accel[2] = ((short)fifo_data[ii+4] << 8) | fifo_data[ii+5];
+ ii += 6;
+ sensors[0] |= INV_XYZ_ACCEL;
+ }
+
+ if (dmp.feature_mask & DMP_FEATURE_SEND_ANY_GYRO) {
+ gyro[0] = ((short)fifo_data[ii+0] << 8) | fifo_data[ii+1];
+ gyro[1] = ((short)fifo_data[ii+2] << 8) | fifo_data[ii+3];
+ gyro[2] = ((short)fifo_data[ii+4] << 8) | fifo_data[ii+5];
+ ii += 6;
+ sensors[0] |= INV_XYZ_GYRO;
+ }
+
+ /* Gesture data is at the end of the DMP packet. Parse it and call
+ * the gesture callbacks (if registered).
+ */
+ if (dmp.feature_mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT))
+ decode_gesture(fifo_data + ii);
+
+ get_ms(timestamp);
+ return 0;
+}
+
+/**
+ * @brief Register a function to be executed on a tap event.
+ * The tap direction is represented by one of the following:
+ * \n TAP_X_UP
+ * \n TAP_X_DOWN
+ * \n TAP_Y_UP
+ * \n TAP_Y_DOWN
+ * \n TAP_Z_UP
+ * \n TAP_Z_DOWN
+ * @param[in] func Callback function.
+ * @return 0 if successful.
+ */
+int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char))
+{
+ dmp.tap_cb = func;
+ return 0;
+}
+
+/**
+ * @brief Register a function to be executed on a android orientation event.
+ * @param[in] func Callback function.
+ * @return 0 if successful.
+ */
+int dmp_register_android_orient_cb(void (*func)(unsigned char))
+{
+ dmp.android_orient_cb = func;
+ return 0;
+}
+
+/**
+ * @}
+ */
+