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MPU6050_Driver_Balance
by 
Chen Huan
Diff: mpu6050.h
- Revision:
- 0:badebd32bd8b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mpu6050.h Mon Apr 09 14:34:45 2018 +0000
@@ -0,0 +1,1162 @@
+#ifndef __MPU6050_H
+#define __MPU6050_H
+//#include "mpuiic.h"
+#include "mbed.h"
+
+//////////////////////////////////////////////////////////////////////////////////
+//MPU6050驱动程序 C.H.
+//////////////////////////////////////////////////////////////////////////////////
+
+//用来选择驱动程序用于哪个项目的电路板
+//define DRIVER_MODE_ROTOR //四旋翼
+#define DRIVER_MODE_BALANCE //平衡车
+
+//兼容宏定义
+#define delay_us wait_us
+#define delay_ms wait_ms
+
+
+//IO口操作宏定义
+#define BITBAND(addr, bitnum) ((addr & 0xF0000000)+0x2000000+((addr &0xFFFFF)<<5)+(bitnum<<2))
+#define MEM_ADDR(addr) *((volatile unsigned long *)(addr))
+#define BIT_ADDR(addr, bitnum) MEM_ADDR(BITBAND(addr, bitnum))
+//IO口地址映射
+#define GPIOA_ODR_Addr (GPIOA_BASE+12) //0x4001080C
+#define GPIOB_ODR_Addr (GPIOB_BASE+12) //0x40010C0C
+#define GPIOC_ODR_Addr (GPIOC_BASE+12) //0x4001100C
+#define GPIOD_ODR_Addr (GPIOD_BASE+12) //0x4001140C
+#define GPIOE_ODR_Addr (GPIOE_BASE+12) //0x4001180C
+#define GPIOF_ODR_Addr (GPIOF_BASE+12) //0x40011A0C
+#define GPIOG_ODR_Addr (GPIOG_BASE+12) //0x40011E0C
+
+#define GPIOA_IDR_Addr (GPIOA_BASE+8) //0x40010808
+#define GPIOB_IDR_Addr (GPIOB_BASE+8) //0x40010C08
+#define GPIOC_IDR_Addr (GPIOC_BASE+8) //0x40011008
+#define GPIOD_IDR_Addr (GPIOD_BASE+8) //0x40011408
+#define GPIOE_IDR_Addr (GPIOE_BASE+8) //0x40011808
+#define GPIOF_IDR_Addr (GPIOF_BASE+8) //0x40011A08
+#define GPIOG_IDR_Addr (GPIOG_BASE+8) //0x40011E08
+
+//IO口操作,只对单一的IO口!
+//确保n的值小于16!
+#define PAout(n) BIT_ADDR(GPIOA_ODR_Addr,n) //输出
+#define PAin(n) BIT_ADDR(GPIOA_IDR_Addr,n) //输入
+
+#define PBout(n) BIT_ADDR(GPIOB_ODR_Addr,n) //输出
+#define PBin(n) BIT_ADDR(GPIOB_IDR_Addr,n) //输入
+
+#define PCout(n) BIT_ADDR(GPIOC_ODR_Addr,n) //输出
+#define PCin(n) BIT_ADDR(GPIOC_IDR_Addr,n) //输入
+
+#define PDout(n) BIT_ADDR(GPIOD_ODR_Addr,n) //输出
+#define PDin(n) BIT_ADDR(GPIOD_IDR_Addr,n) //输入
+
+#define PEout(n) BIT_ADDR(GPIOE_ODR_Addr,n) //输出
+#define PEin(n) BIT_ADDR(GPIOE_IDR_Addr,n) //输入
+
+#define PFout(n) BIT_ADDR(GPIOF_ODR_Addr,n) //输出
+#define PFin(n) BIT_ADDR(GPIOF_IDR_Addr,n) //输入
+
+#define PGout(n) BIT_ADDR(GPIOG_ODR_Addr,n) //输出
+#define PGin(n) BIT_ADDR(GPIOG_IDR_Addr,n) //输入
+/////////////////////////////////////////////////////////////////
+
+
+
+
+//#define MPU_ACCEL_OFFS_REG 0X06 //accel_offs寄存器,可读取版本号,寄存器手册未提到
+//#define MPU_PROD_ID_REG 0X0C //prod id寄存器,在寄存器手册未提到
+#define MPU_SELF_TESTX_REG 0X0D //自检寄存器X
+#define MPU_SELF_TESTY_REG 0X0E //自检寄存器Y
+#define MPU_SELF_TESTZ_REG 0X0F //自检寄存器Z
+#define MPU_SELF_TESTA_REG 0X10 //自检寄存器A
+#define MPU_SAMPLE_RATE_REG 0X19 //采样频率分频器
+#define MPU_CFG_REG 0X1A //配置寄存器
+#define MPU_GYRO_CFG_REG 0X1B //陀螺仪配置寄存器
+#define MPU_ACCEL_CFG_REG 0X1C //加速度计配置寄存器
+#define MPU_MOTION_DET_REG 0X1F //运动检测阀值设置寄存器
+#define MPU_FIFO_EN_REG 0X23 //FIFO使能寄存器
+#define MPU_I2CMST_CTRL_REG 0X24 //IIC主机控制寄存器
+#define MPU_I2CSLV0_ADDR_REG 0X25 //IIC从机0器件地址寄存器
+#define MPU_I2CSLV0_REG 0X26 //IIC从机0数据地址寄存器
+#define MPU_I2CSLV0_CTRL_REG 0X27 //IIC从机0控制寄存器
+#define MPU_I2CSLV1_ADDR_REG 0X28 //IIC从机1器件地址寄存器
+#define MPU_I2CSLV1_REG 0X29 //IIC从机1数据地址寄存器
+#define MPU_I2CSLV1_CTRL_REG 0X2A //IIC从机1控制寄存器
+#define MPU_I2CSLV2_ADDR_REG 0X2B //IIC从机2器件地址寄存器
+#define MPU_I2CSLV2_REG 0X2C //IIC从机2数据地址寄存器
+#define MPU_I2CSLV2_CTRL_REG 0X2D //IIC从机2控制寄存器
+#define MPU_I2CSLV3_ADDR_REG 0X2E //IIC从机3器件地址寄存器
+#define MPU_I2CSLV3_REG 0X2F //IIC从机3数据地址寄存器
+#define MPU_I2CSLV3_CTRL_REG 0X30 //IIC从机3控制寄存器
+#define MPU_I2CSLV4_ADDR_REG 0X31 //IIC从机4器件地址寄存器
+#define MPU_I2CSLV4_REG 0X32 //IIC从机4数据地址寄存器
+#define MPU_I2CSLV4_DO_REG 0X33 //IIC从机4写数据寄存器
+#define MPU_I2CSLV4_CTRL_REG 0X34 //IIC从机4控制寄存器
+#define MPU_I2CSLV4_DI_REG 0X35 //IIC从机4读数据寄存器
+
+#define MPU_I2CMST_STA_REG 0X36 //IIC主机状态寄存器
+#define MPU_INTBP_CFG_REG 0X37 //中断/旁路设置寄存器
+#define MPU_INT_EN_REG 0X38 //中断使能寄存器
+#define MPU_INT_STA_REG 0X3A //中断状态寄存器
+
+#define MPU_ACCEL_XOUTH_REG 0X3B //加速度值,X轴高8位寄存器
+#define MPU_ACCEL_XOUTL_REG 0X3C //加速度值,X轴低8位寄存器
+#define MPU_ACCEL_YOUTH_REG 0X3D //加速度值,Y轴高8位寄存器
+#define MPU_ACCEL_YOUTL_REG 0X3E //加速度值,Y轴低8位寄存器
+#define MPU_ACCEL_ZOUTH_REG 0X3F //加速度值,Z轴高8位寄存器
+#define MPU_ACCEL_ZOUTL_REG 0X40 //加速度值,Z轴低8位寄存器
+
+#define MPU_TEMP_OUTH_REG 0X41 //温度值高八位寄存器
+#define MPU_TEMP_OUTL_REG 0X42 //温度值低8位寄存器
+
+#define MPU_GYRO_XOUTH_REG 0X43 //陀螺仪值,X轴高8位寄存器
+#define MPU_GYRO_XOUTL_REG 0X44 //陀螺仪值,X轴低8位寄存器
+#define MPU_GYRO_YOUTH_REG 0X45 //陀螺仪值,Y轴高8位寄存器
+#define MPU_GYRO_YOUTL_REG 0X46 //陀螺仪值,Y轴低8位寄存器
+#define MPU_GYRO_ZOUTH_REG 0X47 //陀螺仪值,Z轴高8位寄存器
+#define MPU_GYRO_ZOUTL_REG 0X48 //陀螺仪值,Z轴低8位寄存器
+
+#define MPU_I2CSLV0_DO_REG 0X63 //IIC从机0数据寄存器
+#define MPU_I2CSLV1_DO_REG 0X64 //IIC从机1数据寄存器
+#define MPU_I2CSLV2_DO_REG 0X65 //IIC从机2数据寄存器
+#define MPU_I2CSLV3_DO_REG 0X66 //IIC从机3数据寄存器
+
+#define MPU_I2CMST_DELAY_REG 0X67 //IIC主机延时管理寄存器
+#define MPU_SIGPATH_RST_REG 0X68 //信号通道复位寄存器
+#define MPU_MDETECT_CTRL_REG 0X69 //运动检测控制寄存器
+#define MPU_USER_CTRL_REG 0X6A //用户控制寄存器
+#define MPU_PWR_MGMT1_REG 0X6B //电源管理寄存器1
+#define MPU_PWR_MGMT2_REG 0X6C //电源管理寄存器2
+#define MPU_FIFO_CNTH_REG 0X72 //FIFO计数寄存器高八位
+#define MPU_FIFO_CNTL_REG 0X73 //FIFO计数寄存器低八位
+#define MPU_FIFO_RW_REG 0X74 //FIFO读写寄存器
+#define MPU_DEVICE_ID_REG 0X75 //器件ID寄存器
+
+//如果AD0脚(9脚)接地,IIC地址为0X68(不包含最低位).
+//如果接V3.3,则IIC地址为0X69(不包含最低位).
+#define MPU_ADDR 0X68
+
+
+////因为模块AD0默认接GND,所以转为读写地址后,为0XD1和0XD0(如果接VCC,则为0XD3和0XD2)
+//#define MPU_READ 0XD1
+//#define MPU_WRITE 0XD0
+
+unsigned char MPU_Init(void); //初始化MPU6050
+unsigned char MPU_Write_Len(unsigned char addr,unsigned char reg,unsigned char len,unsigned char *buf);//IIC连续写
+unsigned char MPU_Read_Len(unsigned char addr,unsigned char reg,unsigned char len,unsigned char *buf); //IIC连续读
+unsigned char MPU_Write_Byte(unsigned char reg,unsigned char data); //IIC写一个字节
+unsigned char MPU_Read_Byte(unsigned char reg); //IIC读一个字节
+
+unsigned char MPU_Set_Gyro_Fsr(unsigned char fsr);
+unsigned char MPU_Set_Accel_Fsr(unsigned char fsr);
+unsigned char MPU_Set_LPF(unsigned short lpf);
+unsigned char MPU_Set_Rate(unsigned short rate);
+unsigned char MPU_Set_Fifo(unsigned char sens);
+
+
+short MPU_Get_Temperature(void);
+unsigned char MPU_Get_Gyroscope(short *gx,short *gy,short *gz);
+unsigned char MPU_Get_Accelerometer(short *ax,short *ay,short *az);
+
+#if defined DRIVER_MODE_BALANCE
+//IO方向设置
+#define MPU_SDA_IN() {GPIOB->CRL&=0X0FFFFFFF;GPIOB->CRL|=8<<28;}
+#define MPU_SDA_OUT() {GPIOB->CRL&=0X0FFFFFFF;GPIOB->CRL|=3<<28;}
+
+//IO操作函数
+#define MPU_IIC_SCL PBout(6) //SCL
+#define MPU_IIC_SDA PBout(7) //SDA
+#define MPU_READ_SDA PBin(7) //输入SDA
+#elif defined DRIVER_MODE_ROTOR
+
+#define MPU_SDA_IN() {GPIOB->CRH&=0XFFFF0FFF;GPIOB->CRH|=8<<12;}
+#define MPU_SDA_OUT() {GPIOB->CRH&=0XFFFF0FFF;GPIOB->CRH|=3<<12;}
+
+#define MPU_IIC_SCL PBout(10) //SCL
+#define MPU_IIC_SDA PBout(11) //SDA
+#define MPU_READ_SDA PBin(11) //输入SDA
+#else
+#error Target Board is not specified.
+#endif
+
+
+//IIC所有操作函数
+void MPU_IIC_Delay(void); //MPU IIC延时函数
+void MPU_IIC_Init(void); //初始化IIC的IO口
+void MPU_IIC_Start(void); //发送IIC开始信号
+void MPU_IIC_Stop(void); //发送IIC停止信号
+void MPU_IIC_Send_Byte(unsigned char txd); //IIC发送一个字节
+unsigned char MPU_IIC_Read_Byte(unsigned char ack);//IIC读取一个字节
+unsigned char MPU_IIC_Wait_Ack(void); //IIC等待ACK信号
+void MPU_IIC_Ack(void); //IIC发送ACK信号
+void MPU_IIC_NAck(void); //IIC不发送ACK信号
+
+void IMPU_IC_Write_One_Byte(unsigned char daddr,unsigned char addr,unsigned char data);
+unsigned char MPU_IIC_Read_One_Byte(unsigned char daddr,unsigned char addr);
+
+#define KEY_CFG_25 (0)
+#define KEY_CFG_24 (KEY_CFG_25 + 1)
+#define KEY_CFG_26 (KEY_CFG_24 + 1)
+#define KEY_CFG_27 (KEY_CFG_26 + 1)
+#define KEY_CFG_21 (KEY_CFG_27 + 1)
+#define KEY_CFG_20 (KEY_CFG_21 + 1)
+#define KEY_CFG_TAP4 (KEY_CFG_20 + 1)
+#define KEY_CFG_TAP5 (KEY_CFG_TAP4 + 1)
+#define KEY_CFG_TAP6 (KEY_CFG_TAP5 + 1)
+#define KEY_CFG_TAP7 (KEY_CFG_TAP6 + 1)
+#define KEY_CFG_TAP0 (KEY_CFG_TAP7 + 1)
+#define KEY_CFG_TAP1 (KEY_CFG_TAP0 + 1)
+#define KEY_CFG_TAP2 (KEY_CFG_TAP1 + 1)
+#define KEY_CFG_TAP3 (KEY_CFG_TAP2 + 1)
+#define KEY_CFG_TAP_QUANTIZE (KEY_CFG_TAP3 + 1)
+#define KEY_CFG_TAP_JERK (KEY_CFG_TAP_QUANTIZE + 1)
+#define KEY_CFG_DR_INT (KEY_CFG_TAP_JERK + 1)
+#define KEY_CFG_AUTH (KEY_CFG_DR_INT + 1)
+#define KEY_CFG_TAP_SAVE_ACCB (KEY_CFG_AUTH + 1)
+#define KEY_CFG_TAP_CLEAR_STICKY (KEY_CFG_TAP_SAVE_ACCB + 1)
+#define KEY_CFG_FIFO_ON_EVENT (KEY_CFG_TAP_CLEAR_STICKY + 1)
+#define KEY_FCFG_ACCEL_INPUT (KEY_CFG_FIFO_ON_EVENT + 1)
+#define KEY_FCFG_ACCEL_INIT (KEY_FCFG_ACCEL_INPUT + 1)
+#define KEY_CFG_23 (KEY_FCFG_ACCEL_INIT + 1)
+#define KEY_FCFG_1 (KEY_CFG_23 + 1)
+#define KEY_FCFG_3 (KEY_FCFG_1 + 1)
+#define KEY_FCFG_2 (KEY_FCFG_3 + 1)
+#define KEY_CFG_3D (KEY_FCFG_2 + 1)
+#define KEY_CFG_3B (KEY_CFG_3D + 1)
+#define KEY_CFG_3C (KEY_CFG_3B + 1)
+#define KEY_FCFG_5 (KEY_CFG_3C + 1)
+#define KEY_FCFG_4 (KEY_FCFG_5 + 1)
+#define KEY_FCFG_7 (KEY_FCFG_4 + 1)
+#define KEY_FCFG_FSCALE (KEY_FCFG_7 + 1)
+#define KEY_FCFG_AZ (KEY_FCFG_FSCALE + 1)
+#define KEY_FCFG_6 (KEY_FCFG_AZ + 1)
+#define KEY_FCFG_LSB4 (KEY_FCFG_6 + 1)
+#define KEY_CFG_12 (KEY_FCFG_LSB4 + 1)
+#define KEY_CFG_14 (KEY_CFG_12 + 1)
+#define KEY_CFG_15 (KEY_CFG_14 + 1)
+#define KEY_CFG_16 (KEY_CFG_15 + 1)
+#define KEY_CFG_18 (KEY_CFG_16 + 1)
+#define KEY_CFG_6 (KEY_CFG_18 + 1)
+#define KEY_CFG_7 (KEY_CFG_6 + 1)
+#define KEY_CFG_4 (KEY_CFG_7 + 1)
+#define KEY_CFG_5 (KEY_CFG_4 + 1)
+#define KEY_CFG_2 (KEY_CFG_5 + 1)
+#define KEY_CFG_3 (KEY_CFG_2 + 1)
+#define KEY_CFG_1 (KEY_CFG_3 + 1)
+#define KEY_CFG_EXTERNAL (KEY_CFG_1 + 1)
+#define KEY_CFG_8 (KEY_CFG_EXTERNAL + 1)
+#define KEY_CFG_9 (KEY_CFG_8 + 1)
+#define KEY_CFG_ORIENT_3 (KEY_CFG_9 + 1)
+#define KEY_CFG_ORIENT_2 (KEY_CFG_ORIENT_3 + 1)
+#define KEY_CFG_ORIENT_1 (KEY_CFG_ORIENT_2 + 1)
+#define KEY_CFG_GYRO_SOURCE (KEY_CFG_ORIENT_1 + 1)
+#define KEY_CFG_ORIENT_IRQ_1 (KEY_CFG_GYRO_SOURCE + 1)
+#define KEY_CFG_ORIENT_IRQ_2 (KEY_CFG_ORIENT_IRQ_1 + 1)
+#define KEY_CFG_ORIENT_IRQ_3 (KEY_CFG_ORIENT_IRQ_2 + 1)
+#define KEY_FCFG_MAG_VAL (KEY_CFG_ORIENT_IRQ_3 + 1)
+#define KEY_FCFG_MAG_MOV (KEY_FCFG_MAG_VAL + 1)
+#define KEY_CFG_LP_QUAT (KEY_FCFG_MAG_MOV + 1)
+
+/* MPU6050 keys */
+#define KEY_CFG_ACCEL_FILTER (KEY_CFG_LP_QUAT + 1)
+#define KEY_CFG_MOTION_BIAS (KEY_CFG_ACCEL_FILTER + 1)
+#define KEY_TEMPLABEL (KEY_CFG_MOTION_BIAS + 1)
+
+#define KEY_D_0_22 (KEY_TEMPLABEL + 1)
+#define KEY_D_0_24 (KEY_D_0_22 + 1)
+#define KEY_D_0_36 (KEY_D_0_24 + 1)
+#define KEY_D_0_52 (KEY_D_0_36 + 1)
+#define KEY_D_0_96 (KEY_D_0_52 + 1)
+#define KEY_D_0_104 (KEY_D_0_96 + 1)
+#define KEY_D_0_108 (KEY_D_0_104 + 1)
+#define KEY_D_0_163 (KEY_D_0_108 + 1)
+#define KEY_D_0_188 (KEY_D_0_163 + 1)
+#define KEY_D_0_192 (KEY_D_0_188 + 1)
+#define KEY_D_0_224 (KEY_D_0_192 + 1)
+#define KEY_D_0_228 (KEY_D_0_224 + 1)
+#define KEY_D_0_232 (KEY_D_0_228 + 1)
+#define KEY_D_0_236 (KEY_D_0_232 + 1)
+
+#define KEY_DMP_PREVPTAT (KEY_D_0_236 + 1)
+#define KEY_D_1_2 (KEY_DMP_PREVPTAT + 1)
+#define KEY_D_1_4 (KEY_D_1_2 + 1)
+#define KEY_D_1_8 (KEY_D_1_4 + 1)
+#define KEY_D_1_10 (KEY_D_1_8 + 1)
+#define KEY_D_1_24 (KEY_D_1_10 + 1)
+#define KEY_D_1_28 (KEY_D_1_24 + 1)
+#define KEY_D_1_36 (KEY_D_1_28 + 1)
+#define KEY_D_1_40 (KEY_D_1_36 + 1)
+#define KEY_D_1_44 (KEY_D_1_40 + 1)
+#define KEY_D_1_72 (KEY_D_1_44 + 1)
+#define KEY_D_1_74 (KEY_D_1_72 + 1)
+#define KEY_D_1_79 (KEY_D_1_74 + 1)
+#define KEY_D_1_88 (KEY_D_1_79 + 1)
+#define KEY_D_1_90 (KEY_D_1_88 + 1)
+#define KEY_D_1_92 (KEY_D_1_90 + 1)
+#define KEY_D_1_96 (KEY_D_1_92 + 1)
+#define KEY_D_1_98 (KEY_D_1_96 + 1)
+#define KEY_D_1_100 (KEY_D_1_98 + 1)
+#define KEY_D_1_106 (KEY_D_1_100 + 1)
+#define KEY_D_1_108 (KEY_D_1_106 + 1)
+#define KEY_D_1_112 (KEY_D_1_108 + 1)
+#define KEY_D_1_128 (KEY_D_1_112 + 1)
+#define KEY_D_1_152 (KEY_D_1_128 + 1)
+#define KEY_D_1_160 (KEY_D_1_152 + 1)
+#define KEY_D_1_168 (KEY_D_1_160 + 1)
+#define KEY_D_1_175 (KEY_D_1_168 + 1)
+#define KEY_D_1_176 (KEY_D_1_175 + 1)
+#define KEY_D_1_178 (KEY_D_1_176 + 1)
+#define KEY_D_1_179 (KEY_D_1_178 + 1)
+#define KEY_D_1_218 (KEY_D_1_179 + 1)
+#define KEY_D_1_232 (KEY_D_1_218 + 1)
+#define KEY_D_1_236 (KEY_D_1_232 + 1)
+#define KEY_D_1_240 (KEY_D_1_236 + 1)
+#define KEY_D_1_244 (KEY_D_1_240 + 1)
+#define KEY_D_1_250 (KEY_D_1_244 + 1)
+#define KEY_D_1_252 (KEY_D_1_250 + 1)
+#define KEY_D_2_12 (KEY_D_1_252 + 1)
+#define KEY_D_2_96 (KEY_D_2_12 + 1)
+#define KEY_D_2_108 (KEY_D_2_96 + 1)
+#define KEY_D_2_208 (KEY_D_2_108 + 1)
+#define KEY_FLICK_MSG (KEY_D_2_208 + 1)
+#define KEY_FLICK_COUNTER (KEY_FLICK_MSG + 1)
+#define KEY_FLICK_LOWER (KEY_FLICK_COUNTER + 1)
+#define KEY_CFG_FLICK_IN (KEY_FLICK_LOWER + 1)
+#define KEY_FLICK_UPPER (KEY_CFG_FLICK_IN + 1)
+#define KEY_CGNOTICE_INTR (KEY_FLICK_UPPER + 1)
+#define KEY_D_2_224 (KEY_CGNOTICE_INTR + 1)
+#define KEY_D_2_244 (KEY_D_2_224 + 1)
+#define KEY_D_2_248 (KEY_D_2_244 + 1)
+#define KEY_D_2_252 (KEY_D_2_248 + 1)
+
+#define KEY_D_GYRO_BIAS_X (KEY_D_2_252 + 1)
+#define KEY_D_GYRO_BIAS_Y (KEY_D_GYRO_BIAS_X + 1)
+#define KEY_D_GYRO_BIAS_Z (KEY_D_GYRO_BIAS_Y + 1)
+#define KEY_D_ACC_BIAS_X (KEY_D_GYRO_BIAS_Z + 1)
+#define KEY_D_ACC_BIAS_Y (KEY_D_ACC_BIAS_X + 1)
+#define KEY_D_ACC_BIAS_Z (KEY_D_ACC_BIAS_Y + 1)
+#define KEY_D_GYRO_ENABLE (KEY_D_ACC_BIAS_Z + 1)
+#define KEY_D_ACCEL_ENABLE (KEY_D_GYRO_ENABLE + 1)
+#define KEY_D_QUAT_ENABLE (KEY_D_ACCEL_ENABLE +1)
+#define KEY_D_OUTPUT_ENABLE (KEY_D_QUAT_ENABLE + 1)
+#define KEY_D_CR_TIME_G (KEY_D_OUTPUT_ENABLE + 1)
+#define KEY_D_CR_TIME_A (KEY_D_CR_TIME_G + 1)
+#define KEY_D_CR_TIME_Q (KEY_D_CR_TIME_A + 1)
+#define KEY_D_CS_TAX (KEY_D_CR_TIME_Q + 1)
+#define KEY_D_CS_TAY (KEY_D_CS_TAX + 1)
+#define KEY_D_CS_TAZ (KEY_D_CS_TAY + 1)
+#define KEY_D_CS_TGX (KEY_D_CS_TAZ + 1)
+#define KEY_D_CS_TGY (KEY_D_CS_TGX + 1)
+#define KEY_D_CS_TGZ (KEY_D_CS_TGY + 1)
+#define KEY_D_CS_TQ0 (KEY_D_CS_TGZ + 1)
+#define KEY_D_CS_TQ1 (KEY_D_CS_TQ0 + 1)
+#define KEY_D_CS_TQ2 (KEY_D_CS_TQ1 + 1)
+#define KEY_D_CS_TQ3 (KEY_D_CS_TQ2 + 1)
+
+/* Compass keys */
+#define KEY_CPASS_BIAS_X (KEY_D_CS_TQ3 + 1)
+#define KEY_CPASS_BIAS_Y (KEY_CPASS_BIAS_X + 1)
+#define KEY_CPASS_BIAS_Z (KEY_CPASS_BIAS_Y + 1)
+#define KEY_CPASS_MTX_00 (KEY_CPASS_BIAS_Z + 1)
+#define KEY_CPASS_MTX_01 (KEY_CPASS_MTX_00 + 1)
+#define KEY_CPASS_MTX_02 (KEY_CPASS_MTX_01 + 1)
+#define KEY_CPASS_MTX_10 (KEY_CPASS_MTX_02 + 1)
+#define KEY_CPASS_MTX_11 (KEY_CPASS_MTX_10 + 1)
+#define KEY_CPASS_MTX_12 (KEY_CPASS_MTX_11 + 1)
+#define KEY_CPASS_MTX_20 (KEY_CPASS_MTX_12 + 1)
+#define KEY_CPASS_MTX_21 (KEY_CPASS_MTX_20 + 1)
+#define KEY_CPASS_MTX_22 (KEY_CPASS_MTX_21 + 1)
+
+/* Gesture Keys */
+#define KEY_DMP_TAPW_MIN (KEY_CPASS_MTX_22 + 1)
+#define KEY_DMP_TAP_THR_X (KEY_DMP_TAPW_MIN + 1)
+#define KEY_DMP_TAP_THR_Y (KEY_DMP_TAP_THR_X + 1)
+#define KEY_DMP_TAP_THR_Z (KEY_DMP_TAP_THR_Y + 1)
+#define KEY_DMP_SH_TH_Y (KEY_DMP_TAP_THR_Z + 1)
+#define KEY_DMP_SH_TH_X (KEY_DMP_SH_TH_Y + 1)
+#define KEY_DMP_SH_TH_Z (KEY_DMP_SH_TH_X + 1)
+#define KEY_DMP_ORIENT (KEY_DMP_SH_TH_Z + 1)
+#define KEY_D_ACT0 (KEY_DMP_ORIENT + 1)
+#define KEY_D_ACSX (KEY_D_ACT0 + 1)
+#define KEY_D_ACSY (KEY_D_ACSX + 1)
+#define KEY_D_ACSZ (KEY_D_ACSY + 1)
+
+#define KEY_X_GRT_Y_TMP (KEY_D_ACSZ + 1)
+#define KEY_SKIP_X_GRT_Y_TMP (KEY_X_GRT_Y_TMP + 1)
+#define KEY_SKIP_END_COMPARE (KEY_SKIP_X_GRT_Y_TMP + 1)
+#define KEY_END_COMPARE_Y_X_TMP2 (KEY_SKIP_END_COMPARE + 1)
+#define KEY_CFG_ANDROID_ORIENT_INT (KEY_END_COMPARE_Y_X_TMP2 + 1)
+#define KEY_NO_ORIENT_INTERRUPT (KEY_CFG_ANDROID_ORIENT_INT + 1)
+#define KEY_END_COMPARE_Y_X_TMP (KEY_NO_ORIENT_INTERRUPT + 1)
+#define KEY_END_ORIENT_1 (KEY_END_COMPARE_Y_X_TMP + 1)
+#define KEY_END_COMPARE_Y_X (KEY_END_ORIENT_1 + 1)
+#define KEY_END_ORIENT (KEY_END_COMPARE_Y_X + 1)
+#define KEY_X_GRT_Y (KEY_END_ORIENT + 1)
+#define KEY_NOT_TIME_MINUS_1 (KEY_X_GRT_Y + 1)
+#define KEY_END_COMPARE_Y_X_TMP3 (KEY_NOT_TIME_MINUS_1 + 1)
+#define KEY_X_GRT_Y_TMP2 (KEY_END_COMPARE_Y_X_TMP3 + 1)
+
+/* Authenticate Keys */
+#define KEY_D_AUTH_OUT (KEY_X_GRT_Y_TMP2 + 1)
+#define KEY_D_AUTH_IN (KEY_D_AUTH_OUT + 1)
+#define KEY_D_AUTH_A (KEY_D_AUTH_IN + 1)
+#define KEY_D_AUTH_B (KEY_D_AUTH_A + 1)
+
+/* Pedometer standalone only keys */
+#define KEY_D_PEDSTD_BP_B (KEY_D_AUTH_B + 1)
+#define KEY_D_PEDSTD_HP_A (KEY_D_PEDSTD_BP_B + 1)
+#define KEY_D_PEDSTD_HP_B (KEY_D_PEDSTD_HP_A + 1)
+#define KEY_D_PEDSTD_BP_A4 (KEY_D_PEDSTD_HP_B + 1)
+#define KEY_D_PEDSTD_BP_A3 (KEY_D_PEDSTD_BP_A4 + 1)
+#define KEY_D_PEDSTD_BP_A2 (KEY_D_PEDSTD_BP_A3 + 1)
+#define KEY_D_PEDSTD_BP_A1 (KEY_D_PEDSTD_BP_A2 + 1)
+#define KEY_D_PEDSTD_INT_THRSH (KEY_D_PEDSTD_BP_A1 + 1)
+#define KEY_D_PEDSTD_CLIP (KEY_D_PEDSTD_INT_THRSH + 1)
+#define KEY_D_PEDSTD_SB (KEY_D_PEDSTD_CLIP + 1)
+#define KEY_D_PEDSTD_SB_TIME (KEY_D_PEDSTD_SB + 1)
+#define KEY_D_PEDSTD_PEAKTHRSH (KEY_D_PEDSTD_SB_TIME + 1)
+#define KEY_D_PEDSTD_TIML (KEY_D_PEDSTD_PEAKTHRSH + 1)
+#define KEY_D_PEDSTD_TIMH (KEY_D_PEDSTD_TIML + 1)
+#define KEY_D_PEDSTD_PEAK (KEY_D_PEDSTD_TIMH + 1)
+#define KEY_D_PEDSTD_TIMECTR (KEY_D_PEDSTD_PEAK + 1)
+#define KEY_D_PEDSTD_STEPCTR (KEY_D_PEDSTD_TIMECTR + 1)
+#define KEY_D_PEDSTD_WALKTIME (KEY_D_PEDSTD_STEPCTR + 1)
+#define KEY_D_PEDSTD_DECI (KEY_D_PEDSTD_WALKTIME + 1)
+
+/*Host Based No Motion*/
+#define KEY_D_HOST_NO_MOT (KEY_D_PEDSTD_DECI + 1)
+
+/* EIS keys */
+#define KEY_P_EIS_FIFO_FOOTER (KEY_D_HOST_NO_MOT + 1)
+#define KEY_P_EIS_FIFO_YSHIFT (KEY_P_EIS_FIFO_FOOTER + 1)
+#define KEY_P_EIS_DATA_RATE (KEY_P_EIS_FIFO_YSHIFT + 1)
+#define KEY_P_EIS_FIFO_XSHIFT (KEY_P_EIS_DATA_RATE + 1)
+#define KEY_P_EIS_FIFO_SYNC (KEY_P_EIS_FIFO_XSHIFT + 1)
+#define KEY_P_EIS_FIFO_ZSHIFT (KEY_P_EIS_FIFO_SYNC + 1)
+#define KEY_P_EIS_FIFO_READY (KEY_P_EIS_FIFO_ZSHIFT + 1)
+#define KEY_DMP_FOOTER (KEY_P_EIS_FIFO_READY + 1)
+#define KEY_DMP_INTX_HC (KEY_DMP_FOOTER + 1)
+#define KEY_DMP_INTX_PH (KEY_DMP_INTX_HC + 1)
+#define KEY_DMP_INTX_SH (KEY_DMP_INTX_PH + 1)
+#define KEY_DMP_AINV_SH (KEY_DMP_INTX_SH + 1)
+#define KEY_DMP_A_INV_XH (KEY_DMP_AINV_SH + 1)
+#define KEY_DMP_AINV_PH (KEY_DMP_A_INV_XH + 1)
+#define KEY_DMP_CTHX_H (KEY_DMP_AINV_PH + 1)
+#define KEY_DMP_CTHY_H (KEY_DMP_CTHX_H + 1)
+#define KEY_DMP_CTHZ_H (KEY_DMP_CTHY_H + 1)
+#define KEY_DMP_NCTHX_H (KEY_DMP_CTHZ_H + 1)
+#define KEY_DMP_NCTHY_H (KEY_DMP_NCTHX_H + 1)
+#define KEY_DMP_NCTHZ_H (KEY_DMP_NCTHY_H + 1)
+#define KEY_DMP_CTSQ_XH (KEY_DMP_NCTHZ_H + 1)
+#define KEY_DMP_CTSQ_YH (KEY_DMP_CTSQ_XH + 1)
+#define KEY_DMP_CTSQ_ZH (KEY_DMP_CTSQ_YH + 1)
+#define KEY_DMP_INTX_H (KEY_DMP_CTSQ_ZH + 1)
+#define KEY_DMP_INTY_H (KEY_DMP_INTX_H + 1)
+#define KEY_DMP_INTZ_H (KEY_DMP_INTY_H + 1)
+//#define KEY_DMP_HPX_H (KEY_DMP_INTZ_H + 1)
+//#define KEY_DMP_HPY_H (KEY_DMP_HPX_H + 1)
+//#define KEY_DMP_HPZ_H (KEY_DMP_HPY_H + 1)
+
+/* Stream keys */
+#define KEY_STREAM_P_GYRO_Z (KEY_DMP_INTZ_H + 1)
+#define KEY_STREAM_P_GYRO_Y (KEY_STREAM_P_GYRO_Z + 1)
+#define KEY_STREAM_P_GYRO_X (KEY_STREAM_P_GYRO_Y + 1)
+#define KEY_STREAM_P_TEMP (KEY_STREAM_P_GYRO_X + 1)
+#define KEY_STREAM_P_AUX_Y (KEY_STREAM_P_TEMP + 1)
+#define KEY_STREAM_P_AUX_X (KEY_STREAM_P_AUX_Y + 1)
+#define KEY_STREAM_P_AUX_Z (KEY_STREAM_P_AUX_X + 1)
+#define KEY_STREAM_P_ACCEL_Y (KEY_STREAM_P_AUX_Z + 1)
+#define KEY_STREAM_P_ACCEL_X (KEY_STREAM_P_ACCEL_Y + 1)
+#define KEY_STREAM_P_FOOTER (KEY_STREAM_P_ACCEL_X + 1)
+#define KEY_STREAM_P_ACCEL_Z (KEY_STREAM_P_FOOTER + 1)
+
+#define NUM_KEYS (KEY_STREAM_P_ACCEL_Z + 1)
+
+typedef struct {
+ unsigned short key;
+ unsigned short addr;
+} tKeyLabel;
+
+#define DINA0A 0x0a
+#define DINA22 0x22
+#define DINA42 0x42
+#define DINA5A 0x5a
+
+#define DINA06 0x06
+#define DINA0E 0x0e
+#define DINA16 0x16
+#define DINA1E 0x1e
+#define DINA26 0x26
+#define DINA2E 0x2e
+#define DINA36 0x36
+#define DINA3E 0x3e
+#define DINA46 0x46
+#define DINA4E 0x4e
+#define DINA56 0x56
+#define DINA5E 0x5e
+#define DINA66 0x66
+#define DINA6E 0x6e
+#define DINA76 0x76
+#define DINA7E 0x7e
+
+#define DINA00 0x00
+#define DINA08 0x08
+#define DINA10 0x10
+#define DINA18 0x18
+#define DINA20 0x20
+#define DINA28 0x28
+#define DINA30 0x30
+#define DINA38 0x38
+#define DINA40 0x40
+#define DINA48 0x48
+#define DINA50 0x50
+#define DINA58 0x58
+#define DINA60 0x60
+#define DINA68 0x68
+#define DINA70 0x70
+#define DINA78 0x78
+
+#define DINA04 0x04
+#define DINA0C 0x0c
+#define DINA14 0x14
+#define DINA1C 0x1C
+#define DINA24 0x24
+#define DINA2C 0x2c
+#define DINA34 0x34
+#define DINA3C 0x3c
+#define DINA44 0x44
+#define DINA4C 0x4c
+#define DINA54 0x54
+#define DINA5C 0x5c
+#define DINA64 0x64
+#define DINA6C 0x6c
+#define DINA74 0x74
+#define DINA7C 0x7c
+
+#define DINA01 0x01
+#define DINA09 0x09
+#define DINA11 0x11
+#define DINA19 0x19
+#define DINA21 0x21
+#define DINA29 0x29
+#define DINA31 0x31
+#define DINA39 0x39
+#define DINA41 0x41
+#define DINA49 0x49
+#define DINA51 0x51
+#define DINA59 0x59
+#define DINA61 0x61
+#define DINA69 0x69
+#define DINA71 0x71
+#define DINA79 0x79
+
+#define DINA25 0x25
+#define DINA2D 0x2d
+#define DINA35 0x35
+#define DINA3D 0x3d
+#define DINA4D 0x4d
+#define DINA55 0x55
+#define DINA5D 0x5D
+#define DINA6D 0x6d
+#define DINA75 0x75
+#define DINA7D 0x7d
+
+#define DINADC 0xdc
+#define DINAF2 0xf2
+#define DINAAB 0xab
+#define DINAAA 0xaa
+#define DINAF1 0xf1
+#define DINADF 0xdf
+#define DINADA 0xda
+#define DINAB1 0xb1
+#define DINAB9 0xb9
+#define DINAF3 0xf3
+#define DINA8B 0x8b
+#define DINAA3 0xa3
+#define DINA91 0x91
+#define DINAB6 0xb6
+#define DINAB4 0xb4
+
+
+#define DINC00 0x00
+#define DINC01 0x01
+#define DINC02 0x02
+#define DINC03 0x03
+#define DINC08 0x08
+#define DINC09 0x09
+#define DINC0A 0x0a
+#define DINC0B 0x0b
+#define DINC10 0x10
+#define DINC11 0x11
+#define DINC12 0x12
+#define DINC13 0x13
+#define DINC18 0x18
+#define DINC19 0x19
+#define DINC1A 0x1a
+#define DINC1B 0x1b
+
+#define DINC20 0x20
+#define DINC21 0x21
+#define DINC22 0x22
+#define DINC23 0x23
+#define DINC28 0x28
+#define DINC29 0x29
+#define DINC2A 0x2a
+#define DINC2B 0x2b
+#define DINC30 0x30
+#define DINC31 0x31
+#define DINC32 0x32
+#define DINC33 0x33
+#define DINC38 0x38
+#define DINC39 0x39
+#define DINC3A 0x3a
+#define DINC3B 0x3b
+
+#define DINC40 0x40
+#define DINC41 0x41
+#define DINC42 0x42
+#define DINC43 0x43
+#define DINC48 0x48
+#define DINC49 0x49
+#define DINC4A 0x4a
+#define DINC4B 0x4b
+#define DINC50 0x50
+#define DINC51 0x51
+#define DINC52 0x52
+#define DINC53 0x53
+#define DINC58 0x58
+#define DINC59 0x59
+#define DINC5A 0x5a
+#define DINC5B 0x5b
+
+#define DINC60 0x60
+#define DINC61 0x61
+#define DINC62 0x62
+#define DINC63 0x63
+#define DINC68 0x68
+#define DINC69 0x69
+#define DINC6A 0x6a
+#define DINC6B 0x6b
+#define DINC70 0x70
+#define DINC71 0x71
+#define DINC72 0x72
+#define DINC73 0x73
+#define DINC78 0x78
+#define DINC79 0x79
+#define DINC7A 0x7a
+#define DINC7B 0x7b
+
+#define DIND40 0x40
+
+
+#define DINA80 0x80
+#define DINA90 0x90
+#define DINAA0 0xa0
+#define DINAC9 0xc9
+#define DINACB 0xcb
+#define DINACD 0xcd
+#define DINACF 0xcf
+#define DINAC8 0xc8
+#define DINACA 0xca
+#define DINACC 0xcc
+#define DINACE 0xce
+#define DINAD8 0xd8
+#define DINADD 0xdd
+#define DINAF8 0xf0
+#define DINAFE 0xfe
+
+#define DINBF8 0xf8
+#define DINAC0 0xb0
+#define DINAC1 0xb1
+#define DINAC2 0xb4
+#define DINAC3 0xb5
+#define DINAC4 0xb8
+#define DINAC5 0xb9
+#define DINBC0 0xc0
+#define DINBC2 0xc2
+#define DINBC4 0xc4
+#define DINBC6 0xc6
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#define DMP_PTAT 0
+#define DMP_XGYR 2
+#define DMP_YGYR 4
+#define DMP_ZGYR 6
+#define DMP_XACC 8
+#define DMP_YACC 10
+#define DMP_ZACC 12
+#define DMP_ADC1 14
+#define DMP_ADC2 16
+#define DMP_ADC3 18
+#define DMP_BIASUNC 20
+#define DMP_FIFORT 22
+#define DMP_INVGSFH 24
+#define DMP_INVGSFL 26
+#define DMP_1H 28
+#define DMP_1L 30
+#define DMP_BLPFSTCH 32
+#define DMP_BLPFSTCL 34
+#define DMP_BLPFSXH 36
+#define DMP_BLPFSXL 38
+#define DMP_BLPFSYH 40
+#define DMP_BLPFSYL 42
+#define DMP_BLPFSZH 44
+#define DMP_BLPFSZL 46
+#define DMP_BLPFMTC 48
+#define DMP_SMC 50
+#define DMP_BLPFMXH 52
+#define DMP_BLPFMXL 54
+#define DMP_BLPFMYH 56
+#define DMP_BLPFMYL 58
+#define DMP_BLPFMZH 60
+#define DMP_BLPFMZL 62
+#define DMP_BLPFC 64
+#define DMP_SMCTH 66
+#define DMP_0H2 68
+#define DMP_0L2 70
+#define DMP_BERR2H 72
+#define DMP_BERR2L 74
+#define DMP_BERR2NH 76
+#define DMP_SMCINC 78
+#define DMP_ANGVBXH 80
+#define DMP_ANGVBXL 82
+#define DMP_ANGVBYH 84
+#define DMP_ANGVBYL 86
+#define DMP_ANGVBZH 88
+#define DMP_ANGVBZL 90
+#define DMP_BERR1H 92
+#define DMP_BERR1L 94
+#define DMP_ATCH 96
+#define DMP_BIASUNCSF 98
+#define DMP_ACT2H 100
+#define DMP_ACT2L 102
+#define DMP_GSFH 104
+#define DMP_GSFL 106
+#define DMP_GH 108
+#define DMP_GL 110
+#define DMP_0_5H 112
+#define DMP_0_5L 114
+#define DMP_0_0H 116
+#define DMP_0_0L 118
+#define DMP_1_0H 120
+#define DMP_1_0L 122
+#define DMP_1_5H 124
+#define DMP_1_5L 126
+#define DMP_TMP1AH 128
+#define DMP_TMP1AL 130
+#define DMP_TMP2AH 132
+#define DMP_TMP2AL 134
+#define DMP_TMP3AH 136
+#define DMP_TMP3AL 138
+#define DMP_TMP4AH 140
+#define DMP_TMP4AL 142
+#define DMP_XACCW 144
+#define DMP_TMP5 146
+#define DMP_XACCB 148
+#define DMP_TMP8 150
+#define DMP_YACCB 152
+#define DMP_TMP9 154
+#define DMP_ZACCB 156
+#define DMP_TMP10 158
+#define DMP_DZH 160
+#define DMP_DZL 162
+#define DMP_XGCH 164
+#define DMP_XGCL 166
+#define DMP_YGCH 168
+#define DMP_YGCL 170
+#define DMP_ZGCH 172
+#define DMP_ZGCL 174
+#define DMP_YACCW 176
+#define DMP_TMP7 178
+#define DMP_AFB1H 180
+#define DMP_AFB1L 182
+#define DMP_AFB2H 184
+#define DMP_AFB2L 186
+#define DMP_MAGFBH 188
+#define DMP_MAGFBL 190
+#define DMP_QT1H 192
+#define DMP_QT1L 194
+#define DMP_QT2H 196
+#define DMP_QT2L 198
+#define DMP_QT3H 200
+#define DMP_QT3L 202
+#define DMP_QT4H 204
+#define DMP_QT4L 206
+#define DMP_CTRL1H 208
+#define DMP_CTRL1L 210
+#define DMP_CTRL2H 212
+#define DMP_CTRL2L 214
+#define DMP_CTRL3H 216
+#define DMP_CTRL3L 218
+#define DMP_CTRL4H 220
+#define DMP_CTRL4L 222
+#define DMP_CTRLS1 224
+#define DMP_CTRLSF1 226
+#define DMP_CTRLS2 228
+#define DMP_CTRLSF2 230
+#define DMP_CTRLS3 232
+#define DMP_CTRLSFNLL 234
+#define DMP_CTRLS4 236
+#define DMP_CTRLSFNL2 238
+#define DMP_CTRLSFNL 240
+#define DMP_TMP30 242
+#define DMP_CTRLSFJT 244
+#define DMP_TMP31 246
+#define DMP_TMP11 248
+#define DMP_CTRLSF2_2 250
+#define DMP_TMP12 252
+#define DMP_CTRLSF1_2 254
+#define DMP_PREVPTAT 256
+#define DMP_ACCZB 258
+#define DMP_ACCXB 264
+#define DMP_ACCYB 266
+#define DMP_1HB 272
+#define DMP_1LB 274
+#define DMP_0H 276
+#define DMP_0L 278
+#define DMP_ASR22H 280
+#define DMP_ASR22L 282
+#define DMP_ASR6H 284
+#define DMP_ASR6L 286
+#define DMP_TMP13 288
+#define DMP_TMP14 290
+#define DMP_FINTXH 292
+#define DMP_FINTXL 294
+#define DMP_FINTYH 296
+#define DMP_FINTYL 298
+#define DMP_FINTZH 300
+#define DMP_FINTZL 302
+#define DMP_TMP1BH 304
+#define DMP_TMP1BL 306
+#define DMP_TMP2BH 308
+#define DMP_TMP2BL 310
+#define DMP_TMP3BH 312
+#define DMP_TMP3BL 314
+#define DMP_TMP4BH 316
+#define DMP_TMP4BL 318
+#define DMP_STXG 320
+#define DMP_ZCTXG 322
+#define DMP_STYG 324
+#define DMP_ZCTYG 326
+#define DMP_STZG 328
+#define DMP_ZCTZG 330
+#define DMP_CTRLSFJT2 332
+#define DMP_CTRLSFJTCNT 334
+#define DMP_PVXG 336
+#define DMP_TMP15 338
+#define DMP_PVYG 340
+#define DMP_TMP16 342
+#define DMP_PVZG 344
+#define DMP_TMP17 346
+#define DMP_MNMFLAGH 352
+#define DMP_MNMFLAGL 354
+#define DMP_MNMTMH 356
+#define DMP_MNMTML 358
+#define DMP_MNMTMTHRH 360
+#define DMP_MNMTMTHRL 362
+#define DMP_MNMTHRH 364
+#define DMP_MNMTHRL 366
+#define DMP_ACCQD4H 368
+#define DMP_ACCQD4L 370
+#define DMP_ACCQD5H 372
+#define DMP_ACCQD5L 374
+#define DMP_ACCQD6H 376
+#define DMP_ACCQD6L 378
+#define DMP_ACCQD7H 380
+#define DMP_ACCQD7L 382
+#define DMP_ACCQD0H 384
+#define DMP_ACCQD0L 386
+#define DMP_ACCQD1H 388
+#define DMP_ACCQD1L 390
+#define DMP_ACCQD2H 392
+#define DMP_ACCQD2L 394
+#define DMP_ACCQD3H 396
+#define DMP_ACCQD3L 398
+#define DMP_XN2H 400
+#define DMP_XN2L 402
+#define DMP_XN1H 404
+#define DMP_XN1L 406
+#define DMP_YN2H 408
+#define DMP_YN2L 410
+#define DMP_YN1H 412
+#define DMP_YN1L 414
+#define DMP_YH 416
+#define DMP_YL 418
+#define DMP_B0H 420
+#define DMP_B0L 422
+#define DMP_A1H 424
+#define DMP_A1L 426
+#define DMP_A2H 428
+#define DMP_A2L 430
+#define DMP_SEM1 432
+#define DMP_FIFOCNT 434
+#define DMP_SH_TH_X 436
+#define DMP_PACKET 438
+#define DMP_SH_TH_Y 440
+#define DMP_FOOTER 442
+#define DMP_SH_TH_Z 444
+#define DMP_TEMP29 448
+#define DMP_TEMP30 450
+#define DMP_XACCB_PRE 452
+#define DMP_XACCB_PREL 454
+#define DMP_YACCB_PRE 456
+#define DMP_YACCB_PREL 458
+#define DMP_ZACCB_PRE 460
+#define DMP_ZACCB_PREL 462
+#define DMP_TMP22 464
+#define DMP_TAP_TIMER 466
+#define DMP_TAP_THX 468
+#define DMP_TAP_THY 472
+#define DMP_TAP_THZ 476
+#define DMP_TAPW_MIN 478
+#define DMP_TMP25 480
+#define DMP_TMP26 482
+#define DMP_TMP27 484
+#define DMP_TMP28 486
+#define DMP_ORIENT 488
+#define DMP_THRSH 490
+#define DMP_ENDIANH 492
+#define DMP_ENDIANL 494
+#define DMP_BLPFNMTCH 496
+#define DMP_BLPFNMTCL 498
+#define DMP_BLPFNMXH 500
+#define DMP_BLPFNMXL 502
+#define DMP_BLPFNMYH 504
+#define DMP_BLPFNMYL 506
+#define DMP_BLPFNMZH 508
+#define DMP_BLPFNMZL 510
+#ifdef __cplusplus
+}
+#endif
+
+//定义输出速度
+#define DEFAULT_MPU_HZ (100) //100Hz
+
+#define INV_X_GYRO (0x40)
+#define INV_Y_GYRO (0x20)
+#define INV_Z_GYRO (0x10)
+#define INV_XYZ_GYRO (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO)
+#define INV_XYZ_ACCEL (0x08)
+#define INV_XYZ_COMPASS (0x01)
+
+//移植官方MSP430 DMP驱动过来
+struct int_param_s {
+//#if defined EMPL_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_MSP430
+ void (*cb)(void);
+ unsigned short pin;
+ unsigned char lp_exit;
+ unsigned char active_low;
+//#elif defined EMPL_TARGET_UC3L0
+// unsigned long pin;
+// void (*cb)(volatile void*);
+// void *arg;
+//#endif
+};
+
+#define MPU_INT_STATUS_DATA_READY (0x0001)
+#define MPU_INT_STATUS_DMP (0x0002)
+#define MPU_INT_STATUS_PLL_READY (0x0004)
+#define MPU_INT_STATUS_I2C_MST (0x0008)
+#define MPU_INT_STATUS_FIFO_OVERFLOW (0x0010)
+#define MPU_INT_STATUS_ZMOT (0x0020)
+#define MPU_INT_STATUS_MOT (0x0040)
+#define MPU_INT_STATUS_FREE_FALL (0x0080)
+#define MPU_INT_STATUS_DMP_0 (0x0100)
+#define MPU_INT_STATUS_DMP_1 (0x0200)
+#define MPU_INT_STATUS_DMP_2 (0x0400)
+#define MPU_INT_STATUS_DMP_3 (0x0800)
+#define MPU_INT_STATUS_DMP_4 (0x1000)
+#define MPU_INT_STATUS_DMP_5 (0x2000)
+
+/* Set up APIs */
+int mpu_init(void);
+int mpu_init_slave(void);
+int mpu_set_bypass(unsigned char bypass_on);
+
+/* Configuration APIs */
+int mpu_lp_accel_mode(unsigned char rate);
+int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time,
+ unsigned char lpa_freq);
+int mpu_set_int_level(unsigned char active_low);
+int mpu_set_int_latched(unsigned char enable);
+
+int mpu_set_dmp_state(unsigned char enable);
+int mpu_get_dmp_state(unsigned char *enabled);
+
+int mpu_get_lpf(unsigned short *lpf);
+int mpu_set_lpf(unsigned short lpf);
+
+int mpu_get_gyro_fsr(unsigned short *fsr);
+int mpu_set_gyro_fsr(unsigned short fsr);
+
+int mpu_get_accel_fsr(unsigned char *fsr);
+int mpu_set_accel_fsr(unsigned char fsr);
+
+int mpu_get_compass_fsr(unsigned short *fsr);
+
+int mpu_get_gyro_sens(float *sens);
+int mpu_get_accel_sens(unsigned short *sens);
+
+int mpu_get_sample_rate(unsigned short *rate);
+int mpu_set_sample_rate(unsigned short rate);
+int mpu_get_compass_sample_rate(unsigned short *rate);
+int mpu_set_compass_sample_rate(unsigned short rate);
+
+int mpu_get_fifo_config(unsigned char *sensors);
+int mpu_configure_fifo(unsigned char sensors);
+
+int mpu_get_power_state(unsigned char *power_on);
+int mpu_set_sensors(unsigned char sensors);
+
+int mpu_set_accel_bias(const long *accel_bias);
+
+/* Data getter/setter APIs */
+int mpu_get_gyro_reg(short *data, unsigned long *timestamp);
+int mpu_get_accel_reg(short *data, unsigned long *timestamp);
+int mpu_get_compass_reg(short *data, unsigned long *timestamp);
+int mpu_get_temperature(long *data, unsigned long *timestamp);
+
+int mpu_get_int_status(short *status);
+int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
+ unsigned char *sensors, unsigned char *more);
+int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
+ unsigned char *more);
+int mpu_reset_fifo(void);
+
+int mpu_write_mem(unsigned short mem_addr, unsigned short length,
+ unsigned char *data);
+int mpu_read_mem(unsigned short mem_addr, unsigned short length,
+ unsigned char *data);
+int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
+ unsigned short start_addr, unsigned short sample_rate);
+
+int mpu_reg_dump(void);
+int mpu_read_reg(unsigned char reg, unsigned char *data);
+int mpu_run_self_test(long *gyro, long *accel);
+int mpu_register_tap_cb(void (*func)(unsigned char, unsigned char));
+//自行添加的一些函数
+void mget_ms(unsigned long *time);
+unsigned short inv_row_2_scale(const signed char *row);
+unsigned short inv_orientation_matrix_to_scalar(const signed char *mtx);
+unsigned char run_self_test(void);
+unsigned char mpu_dmp_init(void);
+unsigned char mpu_dmp_get_data(float *pitch,float *roll,float *yaw);
+
+#define TAP_X (0x01)
+#define TAP_Y (0x02)
+#define TAP_Z (0x04)
+#define TAP_XYZ (0x07)
+
+#define TAP_X_UP (0x01)
+#define TAP_X_DOWN (0x02)
+#define TAP_Y_UP (0x03)
+#define TAP_Y_DOWN (0x04)
+#define TAP_Z_UP (0x05)
+#define TAP_Z_DOWN (0x06)
+
+#define ANDROID_ORIENT_PORTRAIT (0x00)
+#define ANDROID_ORIENT_LANDSCAPE (0x01)
+#define ANDROID_ORIENT_REVERSE_PORTRAIT (0x02)
+#define ANDROID_ORIENT_REVERSE_LANDSCAPE (0x03)
+
+#define DMP_INT_GESTURE (0x01)
+#define DMP_INT_CONTINUOUS (0x02)
+
+#define DMP_FEATURE_TAP (0x001)
+#define DMP_FEATURE_ANDROID_ORIENT (0x002)
+#define DMP_FEATURE_LP_QUAT (0x004)
+#define DMP_FEATURE_PEDOMETER (0x008)
+#define DMP_FEATURE_6X_LP_QUAT (0x010)
+#define DMP_FEATURE_GYRO_CAL (0x020)
+#define DMP_FEATURE_SEND_RAW_ACCEL (0x040)
+#define DMP_FEATURE_SEND_RAW_GYRO (0x080)
+#define DMP_FEATURE_SEND_CAL_GYRO (0x100)
+
+#define INV_WXYZ_QUAT (0x100)
+
+/* Set up functions. */
+int dmp_load_motion_driver_firmware(void);
+int dmp_set_fifo_rate(unsigned short rate);
+int dmp_get_fifo_rate(unsigned short *rate);
+int dmp_enable_feature(unsigned short mask);
+int dmp_get_enabled_features(unsigned short *mask);
+int dmp_set_interrupt_mode(unsigned char mode);
+int dmp_set_orientation(unsigned short orient);
+int dmp_set_gyro_bias(long *bias);
+int dmp_set_accel_bias(long *bias);
+
+/* Tap functions. */
+int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char));
+int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh);
+int dmp_set_tap_axes(unsigned char axis);
+int dmp_set_tap_count(unsigned char min_taps);
+int dmp_set_tap_time(unsigned short time);
+int dmp_set_tap_time_multi(unsigned short time);
+int dmp_set_shake_reject_thresh(long sf, unsigned short thresh);
+int dmp_set_shake_reject_time(unsigned short time);
+int dmp_set_shake_reject_timeout(unsigned short time);
+
+/* Android orientation functions. */
+int dmp_register_android_orient_cb(void (*func)(unsigned char));
+
+/* LP quaternion functions. */
+int dmp_enable_lp_quat(unsigned char enable);
+int dmp_enable_6x_lp_quat(unsigned char enable);
+
+/* Pedometer functions. */
+int dmp_get_pedometer_step_count(unsigned long *count);
+int dmp_set_pedometer_step_count(unsigned long count);
+int dmp_get_pedometer_walk_time(unsigned long *time);
+int dmp_set_pedometer_walk_time(unsigned long time);
+
+/* DMP gyro calibration functions. */
+int dmp_enable_gyro_cal(unsigned char enable);
+
+/* Read function. This function should be called whenever the MPU interrupt is
+ * detected.
+ */
+int dmp_read_fifo(short *gyro, short *accel, long *quat,
+ unsigned long *timestamp, short *sensors, unsigned char *more);
+
+#endif
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