Oğuz Özdemir / MotionDriver_6_1

It is modified accordingly to work with sparkfun dmp library under mbed platform

Dependents:   MPU9250-dmp-bluepill MPU9250-dmp

Fork of MotionDriver_6_1 by Prosper Van

inv_mpu_dmp_motion_driver.c@1:a6c3f8680fe0, 2017-08-07 (annotated)

Committer:
mbedoguz
Date:
Mon Aug 07 13:49:51 2017 +0000
Revision:
1:a6c3f8680fe0
Parent:
0:5fa30cf392c3 
It is modified to work wirh mbed platform. Now compiles but fifo is not available (Using sparkfun dmp library)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
oprospero 0:5fa30cf392c3 1 /*
oprospero 0:5fa30cf392c3 2 $License:
oprospero 0:5fa30cf392c3 3 Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
oprospero 0:5fa30cf392c3 4 See included License.txt for License information.
oprospero 0:5fa30cf392c3 5 $
oprospero 0:5fa30cf392c3 6 */
oprospero 0:5fa30cf392c3 7 /**
oprospero 0:5fa30cf392c3 8 * @addtogroup DRIVERS Sensor Driver Layer
oprospero 0:5fa30cf392c3 9 * @brief Hardware drivers to communicate with sensors via I2C.
oprospero 0:5fa30cf392c3 10 *
oprospero 0:5fa30cf392c3 11 * @{
oprospero 0:5fa30cf392c3 12 * @file inv_mpu_dmp_motion_driver.c
oprospero 0:5fa30cf392c3 13 * @brief DMP image and interface functions.
oprospero 0:5fa30cf392c3 14 * @details All functions are preceded by the dmp_ prefix to
oprospero 0:5fa30cf392c3 15 * differentiate among MPL and general driver function calls.
oprospero 0:5fa30cf392c3 16 */
oprospero 0:5fa30cf392c3 17 #include <stdio.h>
oprospero 0:5fa30cf392c3 18 #include <stdint.h>
oprospero 0:5fa30cf392c3 19 #include <stdlib.h>
oprospero 0:5fa30cf392c3 20 #include <string.h>
oprospero 0:5fa30cf392c3 21 #include <math.h>
oprospero 0:5fa30cf392c3 22 #include "inv_mpu.h"
oprospero 0:5fa30cf392c3 23 #include "inv_mpu_dmp_motion_driver.h"
oprospero 0:5fa30cf392c3 24 #include "dmpKey.h"
oprospero 0:5fa30cf392c3 25 #include "dmpmap.h"
oprospero 0:5fa30cf392c3 26
oprospero 0:5fa30cf392c3 27 /* The following functions must be defined for this platform:
oprospero 0:5fa30cf392c3 28 * i2c_write(unsigned char slave_addr, unsigned char reg_addr,
oprospero 0:5fa30cf392c3 29 * unsigned char length, unsigned char const *data)
oprospero 0:5fa30cf392c3 30 * i2c_read(unsigned char slave_addr, unsigned char reg_addr,
oprospero 0:5fa30cf392c3 31 * unsigned char length, unsigned char *data)
oprospero 0:5fa30cf392c3 32 * delay_ms(unsigned long num_ms)
oprospero 0:5fa30cf392c3 33 * get_ms(unsigned long *count)
oprospero 0:5fa30cf392c3 34 */
oprospero 0:5fa30cf392c3 35 #if defined EMPL_TARGET_STM32F4
oprospero 0:5fa30cf392c3 36 #include "i2c.h"
oprospero 0:5fa30cf392c3 37 #include "main.h"
oprospero 0:5fa30cf392c3 38 #include "board-st_discovery.h"
oprospero 0:5fa30cf392c3 39
oprospero 0:5fa30cf392c3 40 #define i2c_write Sensors_I2C_WriteRegister
oprospero 0:5fa30cf392c3 41 #define i2c_read Sensors_I2C_ReadRegister
oprospero 0:5fa30cf392c3 42 #define get_ms get_tick_count
oprospero 0:5fa30cf392c3 43
oprospero 0:5fa30cf392c3 44 #elif defined MOTION_DRIVER_TARGET_MSP430
oprospero 0:5fa30cf392c3 45 #include "msp430.h"
oprospero 0:5fa30cf392c3 46 #include "msp430_clock.h"
oprospero 0:5fa30cf392c3 47 #define delay_ms msp430_delay_ms
oprospero 0:5fa30cf392c3 48 #define get_ms msp430_get_clock_ms
oprospero 0:5fa30cf392c3 49 #define log_i(...) do {} while (0)
oprospero 0:5fa30cf392c3 50 #define log_e(...) do {} while (0)
oprospero 0:5fa30cf392c3 51
oprospero 0:5fa30cf392c3 52 #elif defined EMPL_TARGET_MSP430
oprospero 0:5fa30cf392c3 53 #include "msp430.h"
oprospero 0:5fa30cf392c3 54 #include "msp430_clock.h"
oprospero 0:5fa30cf392c3 55 #include "log.h"
oprospero 0:5fa30cf392c3 56 #define delay_ms msp430_delay_ms
oprospero 0:5fa30cf392c3 57 #define get_ms msp430_get_clock_ms
oprospero 0:5fa30cf392c3 58 #define log_i MPL_LOGI
oprospero 0:5fa30cf392c3 59 #define log_e MPL_LOGE
oprospero 0:5fa30cf392c3 60
oprospero 0:5fa30cf392c3 61 #elif defined EMPL_TARGET_UC3L0
oprospero 0:5fa30cf392c3 62 /* Instead of using the standard TWI driver from the ASF library, we're using
oprospero 0:5fa30cf392c3 63 * a TWI driver that follows the slave address + register address convention.
oprospero 0:5fa30cf392c3 64 */
oprospero 0:5fa30cf392c3 65 #include "delay.h"
oprospero 0:5fa30cf392c3 66 #include "sysclk.h"
oprospero 0:5fa30cf392c3 67 #include "log.h"
oprospero 0:5fa30cf392c3 68 #include "uc3l0_clock.h"
oprospero 0:5fa30cf392c3 69 /* delay_ms is a function already defined in ASF. */
oprospero 0:5fa30cf392c3 70 #define get_ms uc3l0_get_clock_ms
oprospero 0:5fa30cf392c3 71 #define log_i MPL_LOGI
oprospero 0:5fa30cf392c3 72 #define log_e MPL_LOGE
oprospero 0:5fa30cf392c3 73
oprospero 0:5fa30cf392c3 74 #else
mbedoguz 1:a6c3f8680fe0 75 #warning Your system is not officially supported. So, I will just include \
mbedoguz 1:a6c3f8680fe0 76 mdcompat.h, however you must provide it.
mbedoguz 1:a6c3f8680fe0 77 #include "mdcompat.h"
mbedoguz 1:a6c3f8680fe0 78 #define log_i MPL_LOGI
mbedoguz 1:a6c3f8680fe0 79 #define log_e MPL_LOGE
mbedoguz 1:a6c3f8680fe0 80
oprospero 0:5fa30cf392c3 81 #endif
oprospero 0:5fa30cf392c3 82
oprospero 0:5fa30cf392c3 83 /* These defines are copied from dmpDefaultMPU6050.c in the general MPL
oprospero 0:5fa30cf392c3 84 * releases. These defines may change for each DMP image, so be sure to modify
oprospero 0:5fa30cf392c3 85 * these values when switching to a new image.
oprospero 0:5fa30cf392c3 86 */
oprospero 0:5fa30cf392c3 87 #define CFG_LP_QUAT (2712)
oprospero 0:5fa30cf392c3 88 #define END_ORIENT_TEMP (1866)
oprospero 0:5fa30cf392c3 89 #define CFG_27 (2742)
oprospero 0:5fa30cf392c3 90 #define CFG_20 (2224)
oprospero 0:5fa30cf392c3 91 #define CFG_23 (2745)
oprospero 0:5fa30cf392c3 92 #define CFG_FIFO_ON_EVENT (2690)
oprospero 0:5fa30cf392c3 93 #define END_PREDICTION_UPDATE (1761)
oprospero 0:5fa30cf392c3 94 #define CGNOTICE_INTR (2620)
oprospero 0:5fa30cf392c3 95 #define X_GRT_Y_TMP (1358)
oprospero 0:5fa30cf392c3 96 #define CFG_DR_INT (1029)
oprospero 0:5fa30cf392c3 97 #define CFG_AUTH (1035)
oprospero 0:5fa30cf392c3 98 #define UPDATE_PROP_ROT (1835)
oprospero 0:5fa30cf392c3 99 #define END_COMPARE_Y_X_TMP2 (1455)
oprospero 0:5fa30cf392c3 100 #define SKIP_X_GRT_Y_TMP (1359)
oprospero 0:5fa30cf392c3 101 #define SKIP_END_COMPARE (1435)
oprospero 0:5fa30cf392c3 102 #define FCFG_3 (1088)
oprospero 0:5fa30cf392c3 103 #define FCFG_2 (1066)
oprospero 0:5fa30cf392c3 104 #define FCFG_1 (1062)
oprospero 0:5fa30cf392c3 105 #define END_COMPARE_Y_X_TMP3 (1434)
oprospero 0:5fa30cf392c3 106 #define FCFG_7 (1073)
oprospero 0:5fa30cf392c3 107 #define FCFG_6 (1106)
oprospero 0:5fa30cf392c3 108 #define FLAT_STATE_END (1713)
oprospero 0:5fa30cf392c3 109 #define SWING_END_4 (1616)
oprospero 0:5fa30cf392c3 110 #define SWING_END_2 (1565)
oprospero 0:5fa30cf392c3 111 #define SWING_END_3 (1587)
oprospero 0:5fa30cf392c3 112 #define SWING_END_1 (1550)
oprospero 0:5fa30cf392c3 113 #define CFG_8 (2718)
oprospero 0:5fa30cf392c3 114 #define CFG_15 (2727)
oprospero 0:5fa30cf392c3 115 #define CFG_16 (2746)
oprospero 0:5fa30cf392c3 116 #define CFG_EXT_GYRO_BIAS (1189)
oprospero 0:5fa30cf392c3 117 #define END_COMPARE_Y_X_TMP (1407)
oprospero 0:5fa30cf392c3 118 #define DO_NOT_UPDATE_PROP_ROT (1839)
oprospero 0:5fa30cf392c3 119 #define CFG_7 (1205)
oprospero 0:5fa30cf392c3 120 #define FLAT_STATE_END_TEMP (1683)
oprospero 0:5fa30cf392c3 121 #define END_COMPARE_Y_X (1484)
oprospero 0:5fa30cf392c3 122 #define SKIP_SWING_END_1 (1551)
oprospero 0:5fa30cf392c3 123 #define SKIP_SWING_END_3 (1588)
oprospero 0:5fa30cf392c3 124 #define SKIP_SWING_END_2 (1566)
oprospero 0:5fa30cf392c3 125 #define TILTG75_START (1672)
oprospero 0:5fa30cf392c3 126 #define CFG_6 (2753)
oprospero 0:5fa30cf392c3 127 #define TILTL75_END (1669)
oprospero 0:5fa30cf392c3 128 #define END_ORIENT (1884)
oprospero 0:5fa30cf392c3 129 #define CFG_FLICK_IN (2573)
oprospero 0:5fa30cf392c3 130 #define TILTL75_START (1643)
oprospero 0:5fa30cf392c3 131 #define CFG_MOTION_BIAS (1208)
oprospero 0:5fa30cf392c3 132 #define X_GRT_Y (1408)
oprospero 0:5fa30cf392c3 133 #define TEMPLABEL (2324)
oprospero 0:5fa30cf392c3 134 #define CFG_ANDROID_ORIENT_INT (1853)
oprospero 0:5fa30cf392c3 135 #define CFG_GYRO_RAW_DATA (2722)
oprospero 0:5fa30cf392c3 136 #define X_GRT_Y_TMP2 (1379)
oprospero 0:5fa30cf392c3 137
oprospero 0:5fa30cf392c3 138 #define D_0_22 (22+512)
oprospero 0:5fa30cf392c3 139 #define D_0_24 (24+512)
oprospero 0:5fa30cf392c3 140
oprospero 0:5fa30cf392c3 141 #define D_0_36 (36)
oprospero 0:5fa30cf392c3 142 #define D_0_52 (52)
oprospero 0:5fa30cf392c3 143 #define D_0_96 (96)
oprospero 0:5fa30cf392c3 144 #define D_0_104 (104)
oprospero 0:5fa30cf392c3 145 #define D_0_108 (108)
oprospero 0:5fa30cf392c3 146 #define D_0_163 (163)
oprospero 0:5fa30cf392c3 147 #define D_0_188 (188)
oprospero 0:5fa30cf392c3 148 #define D_0_192 (192)
oprospero 0:5fa30cf392c3 149 #define D_0_224 (224)
oprospero 0:5fa30cf392c3 150 #define D_0_228 (228)
oprospero 0:5fa30cf392c3 151 #define D_0_232 (232)
oprospero 0:5fa30cf392c3 152 #define D_0_236 (236)
oprospero 0:5fa30cf392c3 153
oprospero 0:5fa30cf392c3 154 #define D_1_2 (256 + 2)
oprospero 0:5fa30cf392c3 155 #define D_1_4 (256 + 4)
oprospero 0:5fa30cf392c3 156 #define D_1_8 (256 + 8)
oprospero 0:5fa30cf392c3 157 #define D_1_10 (256 + 10)
oprospero 0:5fa30cf392c3 158 #define D_1_24 (256 + 24)
oprospero 0:5fa30cf392c3 159 #define D_1_28 (256 + 28)
oprospero 0:5fa30cf392c3 160 #define D_1_36 (256 + 36)
oprospero 0:5fa30cf392c3 161 #define D_1_40 (256 + 40)
oprospero 0:5fa30cf392c3 162 #define D_1_44 (256 + 44)
oprospero 0:5fa30cf392c3 163 #define D_1_72 (256 + 72)
oprospero 0:5fa30cf392c3 164 #define D_1_74 (256 + 74)
oprospero 0:5fa30cf392c3 165 #define D_1_79 (256 + 79)
oprospero 0:5fa30cf392c3 166 #define D_1_88 (256 + 88)
oprospero 0:5fa30cf392c3 167 #define D_1_90 (256 + 90)
oprospero 0:5fa30cf392c3 168 #define D_1_92 (256 + 92)
oprospero 0:5fa30cf392c3 169 #define D_1_96 (256 + 96)
oprospero 0:5fa30cf392c3 170 #define D_1_98 (256 + 98)
oprospero 0:5fa30cf392c3 171 #define D_1_106 (256 + 106)
oprospero 0:5fa30cf392c3 172 #define D_1_108 (256 + 108)
oprospero 0:5fa30cf392c3 173 #define D_1_112 (256 + 112)
oprospero 0:5fa30cf392c3 174 #define D_1_128 (256 + 144)
oprospero 0:5fa30cf392c3 175 #define D_1_152 (256 + 12)
oprospero 0:5fa30cf392c3 176 #define D_1_160 (256 + 160)
oprospero 0:5fa30cf392c3 177 #define D_1_176 (256 + 176)
oprospero 0:5fa30cf392c3 178 #define D_1_178 (256 + 178)
oprospero 0:5fa30cf392c3 179 #define D_1_218 (256 + 218)
oprospero 0:5fa30cf392c3 180 #define D_1_232 (256 + 232)
oprospero 0:5fa30cf392c3 181 #define D_1_236 (256 + 236)
oprospero 0:5fa30cf392c3 182 #define D_1_240 (256 + 240)
oprospero 0:5fa30cf392c3 183 #define D_1_244 (256 + 244)
oprospero 0:5fa30cf392c3 184 #define D_1_250 (256 + 250)
oprospero 0:5fa30cf392c3 185 #define D_1_252 (256 + 252)
oprospero 0:5fa30cf392c3 186 #define D_2_12 (512 + 12)
oprospero 0:5fa30cf392c3 187 #define D_2_96 (512 + 96)
oprospero 0:5fa30cf392c3 188 #define D_2_108 (512 + 108)
oprospero 0:5fa30cf392c3 189 #define D_2_208 (512 + 208)
oprospero 0:5fa30cf392c3 190 #define D_2_224 (512 + 224)
oprospero 0:5fa30cf392c3 191 #define D_2_236 (512 + 236)
oprospero 0:5fa30cf392c3 192 #define D_2_244 (512 + 244)
oprospero 0:5fa30cf392c3 193 #define D_2_248 (512 + 248)
oprospero 0:5fa30cf392c3 194 #define D_2_252 (512 + 252)
oprospero 0:5fa30cf392c3 195
oprospero 0:5fa30cf392c3 196 #define CPASS_BIAS_X (35 * 16 + 4)
oprospero 0:5fa30cf392c3 197 #define CPASS_BIAS_Y (35 * 16 + 8)
oprospero 0:5fa30cf392c3 198 #define CPASS_BIAS_Z (35 * 16 + 12)
oprospero 0:5fa30cf392c3 199 #define CPASS_MTX_00 (36 * 16)
oprospero 0:5fa30cf392c3 200 #define CPASS_MTX_01 (36 * 16 + 4)
oprospero 0:5fa30cf392c3 201 #define CPASS_MTX_02 (36 * 16 + 8)
oprospero 0:5fa30cf392c3 202 #define CPASS_MTX_10 (36 * 16 + 12)
oprospero 0:5fa30cf392c3 203 #define CPASS_MTX_11 (37 * 16)
oprospero 0:5fa30cf392c3 204 #define CPASS_MTX_12 (37 * 16 + 4)
oprospero 0:5fa30cf392c3 205 #define CPASS_MTX_20 (37 * 16 + 8)
oprospero 0:5fa30cf392c3 206 #define CPASS_MTX_21 (37 * 16 + 12)
oprospero 0:5fa30cf392c3 207 #define CPASS_MTX_22 (43 * 16 + 12)
oprospero 0:5fa30cf392c3 208 #define D_EXT_GYRO_BIAS_X (61 * 16)
oprospero 0:5fa30cf392c3 209 #define D_EXT_GYRO_BIAS_Y (61 * 16) + 4
oprospero 0:5fa30cf392c3 210 #define D_EXT_GYRO_BIAS_Z (61 * 16) + 8
oprospero 0:5fa30cf392c3 211 #define D_ACT0 (40 * 16)
oprospero 0:5fa30cf392c3 212 #define D_ACSX (40 * 16 + 4)
oprospero 0:5fa30cf392c3 213 #define D_ACSY (40 * 16 + 8)
oprospero 0:5fa30cf392c3 214 #define D_ACSZ (40 * 16 + 12)
oprospero 0:5fa30cf392c3 215
oprospero 0:5fa30cf392c3 216 #define FLICK_MSG (45 * 16 + 4)
oprospero 0:5fa30cf392c3 217 #define FLICK_COUNTER (45 * 16 + 8)
oprospero 0:5fa30cf392c3 218 #define FLICK_LOWER (45 * 16 + 12)
oprospero 0:5fa30cf392c3 219 #define FLICK_UPPER (46 * 16 + 12)
oprospero 0:5fa30cf392c3 220
oprospero 0:5fa30cf392c3 221 #define D_AUTH_OUT (992)
oprospero 0:5fa30cf392c3 222 #define D_AUTH_IN (996)
oprospero 0:5fa30cf392c3 223 #define D_AUTH_A (1000)
oprospero 0:5fa30cf392c3 224 #define D_AUTH_B (1004)
oprospero 0:5fa30cf392c3 225
oprospero 0:5fa30cf392c3 226 #define D_PEDSTD_BP_B (768 + 0x1C)
oprospero 0:5fa30cf392c3 227 #define D_PEDSTD_HP_A (768 + 0x78)
oprospero 0:5fa30cf392c3 228 #define D_PEDSTD_HP_B (768 + 0x7C)
oprospero 0:5fa30cf392c3 229 #define D_PEDSTD_BP_A4 (768 + 0x40)
oprospero 0:5fa30cf392c3 230 #define D_PEDSTD_BP_A3 (768 + 0x44)
oprospero 0:5fa30cf392c3 231 #define D_PEDSTD_BP_A2 (768 + 0x48)
oprospero 0:5fa30cf392c3 232 #define D_PEDSTD_BP_A1 (768 + 0x4C)
oprospero 0:5fa30cf392c3 233 #define D_PEDSTD_INT_THRSH (768 + 0x68)
oprospero 0:5fa30cf392c3 234 #define D_PEDSTD_CLIP (768 + 0x6C)
oprospero 0:5fa30cf392c3 235 #define D_PEDSTD_SB (768 + 0x28)
oprospero 0:5fa30cf392c3 236 #define D_PEDSTD_SB_TIME (768 + 0x2C)
oprospero 0:5fa30cf392c3 237 #define D_PEDSTD_PEAKTHRSH (768 + 0x98)
oprospero 0:5fa30cf392c3 238 #define D_PEDSTD_TIML (768 + 0x2A)
oprospero 0:5fa30cf392c3 239 #define D_PEDSTD_TIMH (768 + 0x2E)
oprospero 0:5fa30cf392c3 240 #define D_PEDSTD_PEAK (768 + 0X94)
oprospero 0:5fa30cf392c3 241 #define D_PEDSTD_STEPCTR (768 + 0x60)
oprospero 0:5fa30cf392c3 242 #define D_PEDSTD_TIMECTR (964)
oprospero 0:5fa30cf392c3 243 #define D_PEDSTD_DECI (768 + 0xA0)
oprospero 0:5fa30cf392c3 244
oprospero 0:5fa30cf392c3 245 #define D_HOST_NO_MOT (976)
oprospero 0:5fa30cf392c3 246 #define D_ACCEL_BIAS (660)
oprospero 0:5fa30cf392c3 247
oprospero 0:5fa30cf392c3 248 #define D_ORIENT_GAP (76)
oprospero 0:5fa30cf392c3 249
oprospero 0:5fa30cf392c3 250 #define D_TILT0_H (48)
oprospero 0:5fa30cf392c3 251 #define D_TILT0_L (50)
oprospero 0:5fa30cf392c3 252 #define D_TILT1_H (52)
oprospero 0:5fa30cf392c3 253 #define D_TILT1_L (54)
oprospero 0:5fa30cf392c3 254 #define D_TILT2_H (56)
oprospero 0:5fa30cf392c3 255 #define D_TILT2_L (58)
oprospero 0:5fa30cf392c3 256 #define D_TILT3_H (60)
oprospero 0:5fa30cf392c3 257 #define D_TILT3_L (62)
oprospero 0:5fa30cf392c3 258
oprospero 0:5fa30cf392c3 259 #define DMP_CODE_SIZE (3062)
oprospero 0:5fa30cf392c3 260
oprospero 0:5fa30cf392c3 261 static const unsigned char dmp_memory[DMP_CODE_SIZE] = {
oprospero 0:5fa30cf392c3 262 /* bank # 0 */
oprospero 0:5fa30cf392c3 263 0x00, 0x00, 0x70, 0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,
oprospero 0:5fa30cf392c3 264 0x00, 0x65, 0x00, 0x54, 0xff, 0xef, 0x00, 0x00, 0xfa, 0x80, 0x00, 0x0b, 0x12, 0x82, 0x00, 0x01,
oprospero 0:5fa30cf392c3 265 0x03, 0x0c, 0x30, 0xc3, 0x0e, 0x8c, 0x8c, 0xe9, 0x14, 0xd5, 0x40, 0x02, 0x13, 0x71, 0x0f, 0x8e,
oprospero 0:5fa30cf392c3 266 0x38, 0x83, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83, 0x25, 0x8e, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83,
oprospero 0:5fa30cf392c3 267 0xff, 0xff, 0xff, 0xff, 0x0f, 0xfe, 0xa9, 0xd6, 0x24, 0x00, 0x04, 0x00, 0x1a, 0x82, 0x79, 0xa1,
oprospero 0:5fa30cf392c3 268 0x00, 0x00, 0x00, 0x3c, 0xff, 0xff, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x38, 0x83, 0x6f, 0xa2,
oprospero 0:5fa30cf392c3 269 0x00, 0x3e, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xca, 0xe3, 0x09, 0x3e, 0x80, 0x00, 0x00,
oprospero 0:5fa30cf392c3 270 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 271 0x00, 0x0c, 0x00, 0x00, 0x00, 0x0c, 0x18, 0x6e, 0x00, 0x00, 0x06, 0x92, 0x0a, 0x16, 0xc0, 0xdf,
oprospero 0:5fa30cf392c3 272 0xff, 0xff, 0x02, 0x56, 0xfd, 0x8c, 0xd3, 0x77, 0xff, 0xe1, 0xc4, 0x96, 0xe0, 0xc5, 0xbe, 0xaa,
oprospero 0:5fa30cf392c3 273 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0x0b, 0x2b, 0x00, 0x00, 0x16, 0x57, 0x00, 0x00, 0x03, 0x59,
oprospero 0:5fa30cf392c3 274 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1d, 0xfa, 0x00, 0x02, 0x6c, 0x1d, 0x00, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 275 0x3f, 0xff, 0xdf, 0xeb, 0x00, 0x3e, 0xb3, 0xb6, 0x00, 0x0d, 0x22, 0x78, 0x00, 0x00, 0x2f, 0x3c,
oprospero 0:5fa30cf392c3 276 0x00, 0x00, 0x00, 0x00, 0x00, 0x19, 0x42, 0xb5, 0x00, 0x00, 0x39, 0xa2, 0x00, 0x00, 0xb3, 0x65,
oprospero 0:5fa30cf392c3 277 0xd9, 0x0e, 0x9f, 0xc9, 0x1d, 0xcf, 0x4c, 0x34, 0x30, 0x00, 0x00, 0x00, 0x50, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 278 0x3b, 0xb6, 0x7a, 0xe8, 0x00, 0x64, 0x00, 0x00, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 279 /* bank # 1 */
oprospero 0:5fa30cf392c3 280 0x10, 0x00, 0x00, 0x00, 0x10, 0x00, 0xfa, 0x92, 0x10, 0x00, 0x22, 0x5e, 0x00, 0x0d, 0x22, 0x9f,
oprospero 0:5fa30cf392c3 281 0x00, 0x01, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00, 0xff, 0x46, 0x00, 0x00, 0x63, 0xd4, 0x00, 0x00,
oprospero 0:5fa30cf392c3 282 0x10, 0x00, 0x00, 0x00, 0x04, 0xd6, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00,
oprospero 0:5fa30cf392c3 283 0x00, 0x00, 0x10, 0x72, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 284 0x00, 0x06, 0x00, 0x02, 0x00, 0x05, 0x00, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00,
oprospero 0:5fa30cf392c3 285 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x05, 0x00, 0x64, 0x00, 0x20, 0x00, 0x00,
oprospero 0:5fa30cf392c3 286 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x03, 0x00,
oprospero 0:5fa30cf392c3 287 0x00, 0x00, 0x00, 0x32, 0xf8, 0x98, 0x00, 0x00, 0xff, 0x65, 0x00, 0x00, 0x83, 0x0f, 0x00, 0x00,
oprospero 0:5fa30cf392c3 288 0xff, 0x9b, 0xfc, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 289 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 290 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00,
oprospero 0:5fa30cf392c3 291 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0xb2, 0x6a, 0x00, 0x02, 0x00, 0x00,
oprospero 0:5fa30cf392c3 292 0x00, 0x01, 0xfb, 0x83, 0x00, 0x68, 0x00, 0x00, 0x00, 0xd9, 0xfc, 0x00, 0x7c, 0xf1, 0xff, 0x83,
oprospero 0:5fa30cf392c3 293 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x64, 0x03, 0xe8, 0x00, 0x64, 0x00, 0x28,
oprospero 0:5fa30cf392c3 294 0x00, 0x00, 0x00, 0x25, 0x00, 0x00, 0x00, 0x00, 0x16, 0xa0, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00,
oprospero 0:5fa30cf392c3 295 0x00, 0x00, 0x10, 0x00, 0x00, 0x2f, 0x00, 0x00, 0x00, 0x00, 0x01, 0xf4, 0x00, 0x00, 0x10, 0x00,
oprospero 0:5fa30cf392c3 296 /* bank # 2 */
oprospero 0:5fa30cf392c3 297 0x00, 0x28, 0x00, 0x00, 0xff, 0xff, 0x45, 0x81, 0xff, 0xff, 0xfa, 0x72, 0x00, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 298 0x00, 0x00, 0x00, 0x00, 0x00, 0x44, 0x00, 0x05, 0x00, 0x05, 0xba, 0xc6, 0x00, 0x47, 0x78, 0xa2,
oprospero 0:5fa30cf392c3 299 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
oprospero 0:5fa30cf392c3 300 0x00, 0x00, 0x25, 0x4d, 0x00, 0x2f, 0x70, 0x6d, 0x00, 0x00, 0x05, 0xae, 0x00, 0x0c, 0x02, 0xd0,
oprospero 0:5fa30cf392c3 301 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 302 0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 303 0x00, 0x64, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 304 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 305 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 306 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 307 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 308 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 309 0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0e, 0x00, 0x0e,
oprospero 0:5fa30cf392c3 310 0x00, 0x00, 0x0a, 0xc7, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x32, 0xff, 0xff, 0xff, 0x9c,
oprospero 0:5fa30cf392c3 311 0x00, 0x00, 0x0b, 0x2b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x64,
oprospero 0:5fa30cf392c3 312 0xff, 0xe5, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 313 /* bank # 3 */
oprospero 0:5fa30cf392c3 314 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 315 0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x24, 0x26, 0xd3,
oprospero 0:5fa30cf392c3 316 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x10, 0x00, 0x96, 0x00, 0x3c,
oprospero 0:5fa30cf392c3 317 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 318 0x0c, 0x0a, 0x4e, 0x68, 0xcd, 0xcf, 0x77, 0x09, 0x50, 0x16, 0x67, 0x59, 0xc6, 0x19, 0xce, 0x82,
oprospero 0:5fa30cf392c3 319 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 320 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0xd7, 0x84, 0x00, 0x03, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 321 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xc7, 0x93, 0x8f, 0x9d, 0x1e, 0x1b, 0x1c, 0x19,
oprospero 0:5fa30cf392c3 322 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 323 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0x18, 0x85, 0x00, 0x00, 0x40, 0x00,
oprospero 0:5fa30cf392c3 324 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 325 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 326 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 327 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 328 0x00, 0x00, 0x00, 0x00, 0x67, 0x7d, 0xdf, 0x7e, 0x72, 0x90, 0x2e, 0x55, 0x4c, 0xf6, 0xe6, 0x88,
oprospero 0:5fa30cf392c3 329 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
oprospero 0:5fa30cf392c3 330
oprospero 0:5fa30cf392c3 331 /* bank # 4 */
oprospero 0:5fa30cf392c3 332 0xd8, 0xdc, 0xb4, 0xb8, 0xb0, 0xd8, 0xb9, 0xab, 0xf3, 0xf8, 0xfa, 0xb3, 0xb7, 0xbb, 0x8e, 0x9e,
oprospero 0:5fa30cf392c3 333 0xae, 0xf1, 0x32, 0xf5, 0x1b, 0xf1, 0xb4, 0xb8, 0xb0, 0x80, 0x97, 0xf1, 0xa9, 0xdf, 0xdf, 0xdf,
oprospero 0:5fa30cf392c3 334 0xaa, 0xdf, 0xdf, 0xdf, 0xf2, 0xaa, 0xc5, 0xcd, 0xc7, 0xa9, 0x0c, 0xc9, 0x2c, 0x97, 0xf1, 0xa9,
oprospero 0:5fa30cf392c3 335 0x89, 0x26, 0x46, 0x66, 0xb2, 0x89, 0x99, 0xa9, 0x2d, 0x55, 0x7d, 0xb0, 0xb0, 0x8a, 0xa8, 0x96,
oprospero 0:5fa30cf392c3 336 0x36, 0x56, 0x76, 0xf1, 0xba, 0xa3, 0xb4, 0xb2, 0x80, 0xc0, 0xb8, 0xa8, 0x97, 0x11, 0xb2, 0x83,
oprospero 0:5fa30cf392c3 337 0x98, 0xba, 0xa3, 0xf0, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xb2, 0xb9, 0xb4, 0x98, 0x83, 0xf1,
oprospero 0:5fa30cf392c3 338 0xa3, 0x29, 0x55, 0x7d, 0xba, 0xb5, 0xb1, 0xa3, 0x83, 0x93, 0xf0, 0x00, 0x28, 0x50, 0xf5, 0xb2,
oprospero 0:5fa30cf392c3 339 0xb6, 0xaa, 0x83, 0x93, 0x28, 0x54, 0x7c, 0xf1, 0xb9, 0xa3, 0x82, 0x93, 0x61, 0xba, 0xa2, 0xda,
oprospero 0:5fa30cf392c3 340 0xde, 0xdf, 0xdb, 0x81, 0x9a, 0xb9, 0xae, 0xf5, 0x60, 0x68, 0x70, 0xf1, 0xda, 0xba, 0xa2, 0xdf,
oprospero 0:5fa30cf392c3 341 0xd9, 0xba, 0xa2, 0xfa, 0xb9, 0xa3, 0x82, 0x92, 0xdb, 0x31, 0xba, 0xa2, 0xd9, 0xba, 0xa2, 0xf8,
oprospero 0:5fa30cf392c3 342 0xdf, 0x85, 0xa4, 0xd0, 0xc1, 0xbb, 0xad, 0x83, 0xc2, 0xc5, 0xc7, 0xb8, 0xa2, 0xdf, 0xdf, 0xdf,
oprospero 0:5fa30cf392c3 343 0xba, 0xa0, 0xdf, 0xdf, 0xdf, 0xd8, 0xd8, 0xf1, 0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35,
oprospero 0:5fa30cf392c3 344 0x5d, 0xb2, 0xb6, 0xba, 0xaf, 0x8c, 0x96, 0x19, 0x8f, 0x9f, 0xa7, 0x0e, 0x16, 0x1e, 0xb4, 0x9a,
oprospero 0:5fa30cf392c3 345 0xb8, 0xaa, 0x87, 0x2c, 0x54, 0x7c, 0xba, 0xa4, 0xb0, 0x8a, 0xb6, 0x91, 0x32, 0x56, 0x76, 0xb2,
oprospero 0:5fa30cf392c3 346 0x84, 0x94, 0xa4, 0xc8, 0x08, 0xcd, 0xd8, 0xb8, 0xb4, 0xb0, 0xf1, 0x99, 0x82, 0xa8, 0x2d, 0x55,
oprospero 0:5fa30cf392c3 347 0x7d, 0x98, 0xa8, 0x0e, 0x16, 0x1e, 0xa2, 0x2c, 0x54, 0x7c, 0x92, 0xa4, 0xf0, 0x2c, 0x50, 0x78,
oprospero 0:5fa30cf392c3 348 /* bank # 5 */
oprospero 0:5fa30cf392c3 349 0xf1, 0x84, 0xa8, 0x98, 0xc4, 0xcd, 0xfc, 0xd8, 0x0d, 0xdb, 0xa8, 0xfc, 0x2d, 0xf3, 0xd9, 0xba,
oprospero 0:5fa30cf392c3 350 0xa6, 0xf8, 0xda, 0xba, 0xa6, 0xde, 0xd8, 0xba, 0xb2, 0xb6, 0x86, 0x96, 0xa6, 0xd0, 0xf3, 0xc8,
oprospero 0:5fa30cf392c3 351 0x41, 0xda, 0xa6, 0xc8, 0xf8, 0xd8, 0xb0, 0xb4, 0xb8, 0x82, 0xa8, 0x92, 0xf5, 0x2c, 0x54, 0x88,
oprospero 0:5fa30cf392c3 352 0x98, 0xf1, 0x35, 0xd9, 0xf4, 0x18, 0xd8, 0xf1, 0xa2, 0xd0, 0xf8, 0xf9, 0xa8, 0x84, 0xd9, 0xc7,
oprospero 0:5fa30cf392c3 353 0xdf, 0xf8, 0xf8, 0x83, 0xc5, 0xda, 0xdf, 0x69, 0xdf, 0x83, 0xc1, 0xd8, 0xf4, 0x01, 0x14, 0xf1,
oprospero 0:5fa30cf392c3 354 0xa8, 0x82, 0x4e, 0xa8, 0x84, 0xf3, 0x11, 0xd1, 0x82, 0xf5, 0xd9, 0x92, 0x28, 0x97, 0x88, 0xf1,
oprospero 0:5fa30cf392c3 355 0x09, 0xf4, 0x1c, 0x1c, 0xd8, 0x84, 0xa8, 0xf3, 0xc0, 0xf9, 0xd1, 0xd9, 0x97, 0x82, 0xf1, 0x29,
oprospero 0:5fa30cf392c3 356 0xf4, 0x0d, 0xd8, 0xf3, 0xf9, 0xf9, 0xd1, 0xd9, 0x82, 0xf4, 0xc2, 0x03, 0xd8, 0xde, 0xdf, 0x1a,
oprospero 0:5fa30cf392c3 357 0xd8, 0xf1, 0xa2, 0xfa, 0xf9, 0xa8, 0x84, 0x98, 0xd9, 0xc7, 0xdf, 0xf8, 0xf8, 0xf8, 0x83, 0xc7,
oprospero 0:5fa30cf392c3 358 0xda, 0xdf, 0x69, 0xdf, 0xf8, 0x83, 0xc3, 0xd8, 0xf4, 0x01, 0x14, 0xf1, 0x98, 0xa8, 0x82, 0x2e,
oprospero 0:5fa30cf392c3 359 0xa8, 0x84, 0xf3, 0x11, 0xd1, 0x82, 0xf5, 0xd9, 0x92, 0x50, 0x97, 0x88, 0xf1, 0x09, 0xf4, 0x1c,
oprospero 0:5fa30cf392c3 360 0xd8, 0x84, 0xa8, 0xf3, 0xc0, 0xf8, 0xf9, 0xd1, 0xd9, 0x97, 0x82, 0xf1, 0x49, 0xf4, 0x0d, 0xd8,
oprospero 0:5fa30cf392c3 361 0xf3, 0xf9, 0xf9, 0xd1, 0xd9, 0x82, 0xf4, 0xc4, 0x03, 0xd8, 0xde, 0xdf, 0xd8, 0xf1, 0xad, 0x88,
oprospero 0:5fa30cf392c3 362 0x98, 0xcc, 0xa8, 0x09, 0xf9, 0xd9, 0x82, 0x92, 0xa8, 0xf5, 0x7c, 0xf1, 0x88, 0x3a, 0xcf, 0x94,
oprospero 0:5fa30cf392c3 363 0x4a, 0x6e, 0x98, 0xdb, 0x69, 0x31, 0xda, 0xad, 0xf2, 0xde, 0xf9, 0xd8, 0x87, 0x95, 0xa8, 0xf2,
oprospero 0:5fa30cf392c3 364 0x21, 0xd1, 0xda, 0xa5, 0xf9, 0xf4, 0x17, 0xd9, 0xf1, 0xae, 0x8e, 0xd0, 0xc0, 0xc3, 0xae, 0x82,
oprospero 0:5fa30cf392c3 365 /* bank # 6 */
oprospero 0:5fa30cf392c3 366 0xc6, 0x84, 0xc3, 0xa8, 0x85, 0x95, 0xc8, 0xa5, 0x88, 0xf2, 0xc0, 0xf1, 0xf4, 0x01, 0x0e, 0xf1,
oprospero 0:5fa30cf392c3 367 0x8e, 0x9e, 0xa8, 0xc6, 0x3e, 0x56, 0xf5, 0x54, 0xf1, 0x88, 0x72, 0xf4, 0x01, 0x15, 0xf1, 0x98,
oprospero 0:5fa30cf392c3 368 0x45, 0x85, 0x6e, 0xf5, 0x8e, 0x9e, 0x04, 0x88, 0xf1, 0x42, 0x98, 0x5a, 0x8e, 0x9e, 0x06, 0x88,
oprospero 0:5fa30cf392c3 369 0x69, 0xf4, 0x01, 0x1c, 0xf1, 0x98, 0x1e, 0x11, 0x08, 0xd0, 0xf5, 0x04, 0xf1, 0x1e, 0x97, 0x02,
oprospero 0:5fa30cf392c3 370 0x02, 0x98, 0x36, 0x25, 0xdb, 0xf9, 0xd9, 0x85, 0xa5, 0xf3, 0xc1, 0xda, 0x85, 0xa5, 0xf3, 0xdf,
oprospero 0:5fa30cf392c3 371 0xd8, 0x85, 0x95, 0xa8, 0xf3, 0x09, 0xda, 0xa5, 0xfa, 0xd8, 0x82, 0x92, 0xa8, 0xf5, 0x78, 0xf1,
oprospero 0:5fa30cf392c3 372 0x88, 0x1a, 0x84, 0x9f, 0x26, 0x88, 0x98, 0x21, 0xda, 0xf4, 0x1d, 0xf3, 0xd8, 0x87, 0x9f, 0x39,
oprospero 0:5fa30cf392c3 373 0xd1, 0xaf, 0xd9, 0xdf, 0xdf, 0xfb, 0xf9, 0xf4, 0x0c, 0xf3, 0xd8, 0xfa, 0xd0, 0xf8, 0xda, 0xf9,
oprospero 0:5fa30cf392c3 374 0xf9, 0xd0, 0xdf, 0xd9, 0xf9, 0xd8, 0xf4, 0x0b, 0xd8, 0xf3, 0x87, 0x9f, 0x39, 0xd1, 0xaf, 0xd9,
oprospero 0:5fa30cf392c3 375 0xdf, 0xdf, 0xf4, 0x1d, 0xf3, 0xd8, 0xfa, 0xfc, 0xa8, 0x69, 0xf9, 0xf9, 0xaf, 0xd0, 0xda, 0xde,
oprospero 0:5fa30cf392c3 376 0xfa, 0xd9, 0xf8, 0x8f, 0x9f, 0xa8, 0xf1, 0xcc, 0xf3, 0x98, 0xdb, 0x45, 0xd9, 0xaf, 0xdf, 0xd0,
oprospero 0:5fa30cf392c3 377 0xf8, 0xd8, 0xf1, 0x8f, 0x9f, 0xa8, 0xca, 0xf3, 0x88, 0x09, 0xda, 0xaf, 0x8f, 0xcb, 0xf8, 0xd8,
oprospero 0:5fa30cf392c3 378 0xf2, 0xad, 0x97, 0x8d, 0x0c, 0xd9, 0xa5, 0xdf, 0xf9, 0xba, 0xa6, 0xf3, 0xfa, 0xf4, 0x12, 0xf2,
oprospero 0:5fa30cf392c3 379 0xd8, 0x95, 0x0d, 0xd1, 0xd9, 0xba, 0xa6, 0xf3, 0xfa, 0xda, 0xa5, 0xf2, 0xc1, 0xba, 0xa6, 0xf3,
oprospero 0:5fa30cf392c3 380 0xdf, 0xd8, 0xf1, 0xba, 0xb2, 0xb6, 0x86, 0x96, 0xa6, 0xd0, 0xca, 0xf3, 0x49, 0xda, 0xa6, 0xcb,
oprospero 0:5fa30cf392c3 381 0xf8, 0xd8, 0xb0, 0xb4, 0xb8, 0xd8, 0xad, 0x84, 0xf2, 0xc0, 0xdf, 0xf1, 0x8f, 0xcb, 0xc3, 0xa8,
oprospero 0:5fa30cf392c3 382 /* bank # 7 */
oprospero 0:5fa30cf392c3 383 0xb2, 0xb6, 0x86, 0x96, 0xc8, 0xc1, 0xcb, 0xc3, 0xf3, 0xb0, 0xb4, 0x88, 0x98, 0xa8, 0x21, 0xdb,
oprospero 0:5fa30cf392c3 384 0x71, 0x8d, 0x9d, 0x71, 0x85, 0x95, 0x21, 0xd9, 0xad, 0xf2, 0xfa, 0xd8, 0x85, 0x97, 0xa8, 0x28,
oprospero 0:5fa30cf392c3 385 0xd9, 0xf4, 0x08, 0xd8, 0xf2, 0x8d, 0x29, 0xda, 0xf4, 0x05, 0xd9, 0xf2, 0x85, 0xa4, 0xc2, 0xf2,
oprospero 0:5fa30cf392c3 386 0xd8, 0xa8, 0x8d, 0x94, 0x01, 0xd1, 0xd9, 0xf4, 0x11, 0xf2, 0xd8, 0x87, 0x21, 0xd8, 0xf4, 0x0a,
oprospero 0:5fa30cf392c3 387 0xd8, 0xf2, 0x84, 0x98, 0xa8, 0xc8, 0x01, 0xd1, 0xd9, 0xf4, 0x11, 0xd8, 0xf3, 0xa4, 0xc8, 0xbb,
oprospero 0:5fa30cf392c3 388 0xaf, 0xd0, 0xf2, 0xde, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xd8, 0xf1, 0xb8, 0xf6,
oprospero 0:5fa30cf392c3 389 0xb5, 0xb9, 0xb0, 0x8a, 0x95, 0xa3, 0xde, 0x3c, 0xa3, 0xd9, 0xf8, 0xd8, 0x5c, 0xa3, 0xd9, 0xf8,
oprospero 0:5fa30cf392c3 390 0xd8, 0x7c, 0xa3, 0xd9, 0xf8, 0xd8, 0xf8, 0xf9, 0xd1, 0xa5, 0xd9, 0xdf, 0xda, 0xfa, 0xd8, 0xb1,
oprospero 0:5fa30cf392c3 391 0x85, 0x30, 0xf7, 0xd9, 0xde, 0xd8, 0xf8, 0x30, 0xad, 0xda, 0xde, 0xd8, 0xf2, 0xb4, 0x8c, 0x99,
oprospero 0:5fa30cf392c3 392 0xa3, 0x2d, 0x55, 0x7d, 0xa0, 0x83, 0xdf, 0xdf, 0xdf, 0xb5, 0x91, 0xa0, 0xf6, 0x29, 0xd9, 0xfb,
oprospero 0:5fa30cf392c3 393 0xd8, 0xa0, 0xfc, 0x29, 0xd9, 0xfa, 0xd8, 0xa0, 0xd0, 0x51, 0xd9, 0xf8, 0xd8, 0xfc, 0x51, 0xd9,
oprospero 0:5fa30cf392c3 394 0xf9, 0xd8, 0x79, 0xd9, 0xfb, 0xd8, 0xa0, 0xd0, 0xfc, 0x79, 0xd9, 0xfa, 0xd8, 0xa1, 0xf9, 0xf9,
oprospero 0:5fa30cf392c3 395 0xf9, 0xf9, 0xf9, 0xa0, 0xda, 0xdf, 0xdf, 0xdf, 0xd8, 0xa1, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xac,
oprospero 0:5fa30cf392c3 396 0xde, 0xf8, 0xad, 0xde, 0x83, 0x93, 0xac, 0x2c, 0x54, 0x7c, 0xf1, 0xa8, 0xdf, 0xdf, 0xdf, 0xf6,
oprospero 0:5fa30cf392c3 397 0x9d, 0x2c, 0xda, 0xa0, 0xdf, 0xd9, 0xfa, 0xdb, 0x2d, 0xf8, 0xd8, 0xa8, 0x50, 0xda, 0xa0, 0xd0,
oprospero 0:5fa30cf392c3 398 0xde, 0xd9, 0xd0, 0xf8, 0xf8, 0xf8, 0xdb, 0x55, 0xf8, 0xd8, 0xa8, 0x78, 0xda, 0xa0, 0xd0, 0xdf,
oprospero 0:5fa30cf392c3 399 /* bank # 8 */
oprospero 0:5fa30cf392c3 400 0xd9, 0xd0, 0xfa, 0xf8, 0xf8, 0xf8, 0xf8, 0xdb, 0x7d, 0xf8, 0xd8, 0x9c, 0xa8, 0x8c, 0xf5, 0x30,
oprospero 0:5fa30cf392c3 401 0xdb, 0x38, 0xd9, 0xd0, 0xde, 0xdf, 0xa0, 0xd0, 0xde, 0xdf, 0xd8, 0xa8, 0x48, 0xdb, 0x58, 0xd9,
oprospero 0:5fa30cf392c3 402 0xdf, 0xd0, 0xde, 0xa0, 0xdf, 0xd0, 0xde, 0xd8, 0xa8, 0x68, 0xdb, 0x70, 0xd9, 0xdf, 0xdf, 0xa0,
oprospero 0:5fa30cf392c3 403 0xdf, 0xdf, 0xd8, 0xf1, 0xa8, 0x88, 0x90, 0x2c, 0x54, 0x7c, 0x98, 0xa8, 0xd0, 0x5c, 0x38, 0xd1,
oprospero 0:5fa30cf392c3 404 0xda, 0xf2, 0xae, 0x8c, 0xdf, 0xf9, 0xd8, 0xb0, 0x87, 0xa8, 0xc1, 0xc1, 0xb1, 0x88, 0xa8, 0xc6,
oprospero 0:5fa30cf392c3 405 0xf9, 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xa8,
oprospero 0:5fa30cf392c3 406 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xf7, 0x8d, 0x9d, 0xad, 0xf8, 0x18, 0xda,
oprospero 0:5fa30cf392c3 407 0xf2, 0xae, 0xdf, 0xd8, 0xf7, 0xad, 0xfa, 0x30, 0xd9, 0xa4, 0xde, 0xf9, 0xd8, 0xf2, 0xae, 0xde,
oprospero 0:5fa30cf392c3 408 0xfa, 0xf9, 0x83, 0xa7, 0xd9, 0xc3, 0xc5, 0xc7, 0xf1, 0x88, 0x9b, 0xa7, 0x7a, 0xad, 0xf7, 0xde,
oprospero 0:5fa30cf392c3 409 0xdf, 0xa4, 0xf8, 0x84, 0x94, 0x08, 0xa7, 0x97, 0xf3, 0x00, 0xae, 0xf2, 0x98, 0x19, 0xa4, 0x88,
oprospero 0:5fa30cf392c3 410 0xc6, 0xa3, 0x94, 0x88, 0xf6, 0x32, 0xdf, 0xf2, 0x83, 0x93, 0xdb, 0x09, 0xd9, 0xf2, 0xaa, 0xdf,
oprospero 0:5fa30cf392c3 411 0xd8, 0xd8, 0xae, 0xf8, 0xf9, 0xd1, 0xda, 0xf3, 0xa4, 0xde, 0xa7, 0xf1, 0x88, 0x9b, 0x7a, 0xd8,
oprospero 0:5fa30cf392c3 412 0xf3, 0x84, 0x94, 0xae, 0x19, 0xf9, 0xda, 0xaa, 0xf1, 0xdf, 0xd8, 0xa8, 0x81, 0xc0, 0xc3, 0xc5,
oprospero 0:5fa30cf392c3 413 0xc7, 0xa3, 0x92, 0x83, 0xf6, 0x28, 0xad, 0xde, 0xd9, 0xf8, 0xd8, 0xa3, 0x50, 0xad, 0xd9, 0xf8,
oprospero 0:5fa30cf392c3 414 0xd8, 0xa3, 0x78, 0xad, 0xd9, 0xf8, 0xd8, 0xf8, 0xf9, 0xd1, 0xa1, 0xda, 0xde, 0xc3, 0xc5, 0xc7,
oprospero 0:5fa30cf392c3 415 0xd8, 0xa1, 0x81, 0x94, 0xf8, 0x18, 0xf2, 0xb0, 0x89, 0xac, 0xc3, 0xc5, 0xc7, 0xf1, 0xd8, 0xb8,
oprospero 0:5fa30cf392c3 416 /* bank # 9 */
oprospero 0:5fa30cf392c3 417 0xb4, 0xb0, 0x97, 0x86, 0xa8, 0x31, 0x9b, 0x06, 0x99, 0x07, 0xab, 0x97, 0x28, 0x88, 0x9b, 0xf0,
oprospero 0:5fa30cf392c3 418 0x0c, 0x20, 0x14, 0x40, 0xb0, 0xb4, 0xb8, 0xf0, 0xa8, 0x8a, 0x9a, 0x28, 0x50, 0x78, 0xb7, 0x9b,
oprospero 0:5fa30cf392c3 419 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xf1, 0xbb, 0xab,
oprospero 0:5fa30cf392c3 420 0x88, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0xb3, 0x8b, 0xb8, 0xa8, 0x04, 0x28, 0x50, 0x78, 0xf1, 0xb0,
oprospero 0:5fa30cf392c3 421 0x88, 0xb4, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xbb, 0xab, 0xb3, 0x8b, 0x02, 0x26, 0x46, 0x66, 0xb0,
oprospero 0:5fa30cf392c3 422 0xb8, 0xf0, 0x8a, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x8b, 0x29, 0x51, 0x79, 0x8a, 0x24, 0x70, 0x59,
oprospero 0:5fa30cf392c3 423 0x8b, 0x20, 0x58, 0x71, 0x8a, 0x44, 0x69, 0x38, 0x8b, 0x39, 0x40, 0x68, 0x8a, 0x64, 0x48, 0x31,
oprospero 0:5fa30cf392c3 424 0x8b, 0x30, 0x49, 0x60, 0x88, 0xf1, 0xac, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0x8c, 0xa8, 0x04, 0x28,
oprospero 0:5fa30cf392c3 425 0x50, 0x78, 0xf1, 0x88, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xac, 0x8c, 0x02, 0x26, 0x46, 0x66, 0xf0,
oprospero 0:5fa30cf392c3 426 0x89, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xa9,
oprospero 0:5fa30cf392c3 427 0x88, 0x09, 0x20, 0x59, 0x70, 0xab, 0x11, 0x38, 0x40, 0x69, 0xa8, 0x19, 0x31, 0x48, 0x60, 0x8c,
oprospero 0:5fa30cf392c3 428 0xa8, 0x3c, 0x41, 0x5c, 0x20, 0x7c, 0x00, 0xf1, 0x87, 0x98, 0x19, 0x86, 0xa8, 0x6e, 0x76, 0x7e,
oprospero 0:5fa30cf392c3 429 0xa9, 0x99, 0x88, 0x2d, 0x55, 0x7d, 0xd8, 0xb1, 0xb5, 0xb9, 0xa3, 0xdf, 0xdf, 0xdf, 0xae, 0xd0,
oprospero 0:5fa30cf392c3 430 0xdf, 0xaa, 0xd0, 0xde, 0xf2, 0xab, 0xf8, 0xf9, 0xd9, 0xb0, 0x87, 0xc4, 0xaa, 0xf1, 0xdf, 0xdf,
oprospero 0:5fa30cf392c3 431 0xbb, 0xaf, 0xdf, 0xdf, 0xb9, 0xd8, 0xb1, 0xf1, 0xa3, 0x97, 0x8e, 0x60, 0xdf, 0xb0, 0x84, 0xf2,
oprospero 0:5fa30cf392c3 432 0xc8, 0xf8, 0xf9, 0xd9, 0xde, 0xd8, 0x93, 0x85, 0xf1, 0x4a, 0xb1, 0x83, 0xa3, 0x08, 0xb5, 0x83,
oprospero 0:5fa30cf392c3 433 /* bank # 10 */
oprospero 0:5fa30cf392c3 434 0x9a, 0x08, 0x10, 0xb7, 0x9f, 0x10, 0xd8, 0xf1, 0xb0, 0xba, 0xae, 0xb0, 0x8a, 0xc2, 0xb2, 0xb6,
oprospero 0:5fa30cf392c3 435 0x8e, 0x9e, 0xf1, 0xfb, 0xd9, 0xf4, 0x1d, 0xd8, 0xf9, 0xd9, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad,
oprospero 0:5fa30cf392c3 436 0x61, 0xd9, 0xae, 0xfb, 0xd8, 0xf4, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad, 0x19, 0xd9, 0xae, 0xfb,
oprospero 0:5fa30cf392c3 437 0xdf, 0xd8, 0xf4, 0x16, 0xf1, 0xd8, 0xf8, 0xad, 0x8d, 0x61, 0xd9, 0xf4, 0xf4, 0xac, 0xf5, 0x9c,
oprospero 0:5fa30cf392c3 438 0x9c, 0x8d, 0xdf, 0x2b, 0xba, 0xb6, 0xae, 0xfa, 0xf8, 0xf4, 0x0b, 0xd8, 0xf1, 0xae, 0xd0, 0xf8,
oprospero 0:5fa30cf392c3 439 0xad, 0x51, 0xda, 0xae, 0xfa, 0xf8, 0xf1, 0xd8, 0xb9, 0xb1, 0xb6, 0xa3, 0x83, 0x9c, 0x08, 0xb9,
oprospero 0:5fa30cf392c3 440 0xb1, 0x83, 0x9a, 0xb5, 0xaa, 0xc0, 0xfd, 0x30, 0x83, 0xb7, 0x9f, 0x10, 0xb5, 0x8b, 0x93, 0xf2,
oprospero 0:5fa30cf392c3 441 0x02, 0x02, 0xd1, 0xab, 0xda, 0xde, 0xd8, 0xf1, 0xb0, 0x80, 0xba, 0xab, 0xc0, 0xc3, 0xb2, 0x84,
oprospero 0:5fa30cf392c3 442 0xc1, 0xc3, 0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9, 0xab, 0xde, 0xb0,
oprospero 0:5fa30cf392c3 443 0x87, 0x9c, 0xb9, 0xa3, 0xdd, 0xf1, 0xb3, 0x8b, 0x8b, 0x8b, 0x8b, 0x8b, 0xb0, 0x87, 0xa3, 0xa3,
oprospero 0:5fa30cf392c3 444 0xa3, 0xa3, 0xb2, 0x8b, 0xb6, 0x9b, 0xf2, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3,
oprospero 0:5fa30cf392c3 445 0xa3, 0xf1, 0xb0, 0x87, 0xb5, 0x9a, 0xa3, 0xf3, 0x9b, 0xa3, 0xa3, 0xdc, 0xba, 0xac, 0xdf, 0xb9,
oprospero 0:5fa30cf392c3 446 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3,
oprospero 0:5fa30cf392c3 447 0xd8, 0xd8, 0xd8, 0xbb, 0xb3, 0xb7, 0xf1, 0xaa, 0xf9, 0xda, 0xff, 0xd9, 0x80, 0x9a, 0xaa, 0x28,
oprospero 0:5fa30cf392c3 448 0xb4, 0x80, 0x98, 0xa7, 0x20, 0xb7, 0x97, 0x87, 0xa8, 0x66, 0x88, 0xf0, 0x79, 0x51, 0xf1, 0x90,
oprospero 0:5fa30cf392c3 449 0x2c, 0x87, 0x0c, 0xa7, 0x81, 0x97, 0x62, 0x93, 0xf0, 0x71, 0x71, 0x60, 0x85, 0x94, 0x01, 0x29,
oprospero 0:5fa30cf392c3 450 /* bank # 11 */
oprospero 0:5fa30cf392c3 451 0x51, 0x79, 0x90, 0xa5, 0xf1, 0x28, 0x4c, 0x6c, 0x87, 0x0c, 0x95, 0x18, 0x85, 0x78, 0xa3, 0x83,
oprospero 0:5fa30cf392c3 452 0x90, 0x28, 0x4c, 0x6c, 0x88, 0x6c, 0xd8, 0xf3, 0xa2, 0x82, 0x00, 0xf2, 0x10, 0xa8, 0x92, 0x19,
oprospero 0:5fa30cf392c3 453 0x80, 0xa2, 0xf2, 0xd9, 0x26, 0xd8, 0xf1, 0x88, 0xa8, 0x4d, 0xd9, 0x48, 0xd8, 0x96, 0xa8, 0x39,
oprospero 0:5fa30cf392c3 454 0x80, 0xd9, 0x3c, 0xd8, 0x95, 0x80, 0xa8, 0x39, 0xa6, 0x86, 0x98, 0xd9, 0x2c, 0xda, 0x87, 0xa7,
oprospero 0:5fa30cf392c3 455 0x2c, 0xd8, 0xa8, 0x89, 0x95, 0x19, 0xa9, 0x80, 0xd9, 0x38, 0xd8, 0xa8, 0x89, 0x39, 0xa9, 0x80,
oprospero 0:5fa30cf392c3 456 0xda, 0x3c, 0xd8, 0xa8, 0x2e, 0xa8, 0x39, 0x90, 0xd9, 0x0c, 0xd8, 0xa8, 0x95, 0x31, 0x98, 0xd9,
oprospero 0:5fa30cf392c3 457 0x0c, 0xd8, 0xa8, 0x09, 0xd9, 0xff, 0xd8, 0x01, 0xda, 0xff, 0xd8, 0x95, 0x39, 0xa9, 0xda, 0x26,
oprospero 0:5fa30cf392c3 458 0xff, 0xd8, 0x90, 0xa8, 0x0d, 0x89, 0x99, 0xa8, 0x10, 0x80, 0x98, 0x21, 0xda, 0x2e, 0xd8, 0x89,
oprospero 0:5fa30cf392c3 459 0x99, 0xa8, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x86, 0x96, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8,
oprospero 0:5fa30cf392c3 460 0x87, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x82, 0x92, 0xf3, 0x41, 0x80, 0xf1, 0xd9, 0x2e, 0xd8,
oprospero 0:5fa30cf392c3 461 0xa8, 0x82, 0xf3, 0x19, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, 0x82, 0xac, 0xf3, 0xc0, 0xa2, 0x80, 0x22,
oprospero 0:5fa30cf392c3 462 0xf1, 0xa6, 0x2e, 0xa7, 0x2e, 0xa9, 0x22, 0x98, 0xa8, 0x29, 0xda, 0xac, 0xde, 0xff, 0xd8, 0xa2,
oprospero 0:5fa30cf392c3 463 0xf2, 0x2a, 0xf1, 0xa9, 0x2e, 0x82, 0x92, 0xa8, 0xf2, 0x31, 0x80, 0xa6, 0x96, 0xf1, 0xd9, 0x00,
oprospero 0:5fa30cf392c3 464 0xac, 0x8c, 0x9c, 0x0c, 0x30, 0xac, 0xde, 0xd0, 0xde, 0xff, 0xd8, 0x8c, 0x9c, 0xac, 0xd0, 0x10,
oprospero 0:5fa30cf392c3 465 0xac, 0xde, 0x80, 0x92, 0xa2, 0xf2, 0x4c, 0x82, 0xa8, 0xf1, 0xca, 0xf2, 0x35, 0xf1, 0x96, 0x88,
oprospero 0:5fa30cf392c3 466 0xa6, 0xd9, 0x00, 0xd8, 0xf1, 0xff
oprospero 0:5fa30cf392c3 467 };
oprospero 0:5fa30cf392c3 468
oprospero 0:5fa30cf392c3 469 static const unsigned short sStartAddress = 0x0400;
oprospero 0:5fa30cf392c3 470
oprospero 0:5fa30cf392c3 471 /* END OF SECTION COPIED FROM dmpDefaultMPU6050.c */
oprospero 0:5fa30cf392c3 472
oprospero 0:5fa30cf392c3 473 #define INT_SRC_TAP (0x01)
oprospero 0:5fa30cf392c3 474 #define INT_SRC_ANDROID_ORIENT (0x08)
oprospero 0:5fa30cf392c3 475
oprospero 0:5fa30cf392c3 476 #define DMP_FEATURE_SEND_ANY_GYRO (DMP_FEATURE_SEND_RAW_GYRO | \
oprospero 0:5fa30cf392c3 477 DMP_FEATURE_SEND_CAL_GYRO)
oprospero 0:5fa30cf392c3 478
oprospero 0:5fa30cf392c3 479 #define MAX_PACKET_LENGTH (32)
oprospero 0:5fa30cf392c3 480
oprospero 0:5fa30cf392c3 481 #define DMP_SAMPLE_RATE (200)
oprospero 0:5fa30cf392c3 482 #define GYRO_SF (46850825LL * 200 / DMP_SAMPLE_RATE)
oprospero 0:5fa30cf392c3 483
oprospero 0:5fa30cf392c3 484 #define FIFO_CORRUPTION_CHECK
oprospero 0:5fa30cf392c3 485 #ifdef FIFO_CORRUPTION_CHECK
oprospero 0:5fa30cf392c3 486 #define QUAT_ERROR_THRESH (1L<<24)
oprospero 0:5fa30cf392c3 487 #define QUAT_MAG_SQ_NORMALIZED (1L<<28)
oprospero 0:5fa30cf392c3 488 #define QUAT_MAG_SQ_MIN (QUAT_MAG_SQ_NORMALIZED - QUAT_ERROR_THRESH)
oprospero 0:5fa30cf392c3 489 #define QUAT_MAG_SQ_MAX (QUAT_MAG_SQ_NORMALIZED + QUAT_ERROR_THRESH)
oprospero 0:5fa30cf392c3 490 #endif
oprospero 0:5fa30cf392c3 491
oprospero 0:5fa30cf392c3 492 struct dmp_s {
oprospero 0:5fa30cf392c3 493 void (*tap_cb)(unsigned char count, unsigned char direction);
oprospero 0:5fa30cf392c3 494 void (*android_orient_cb)(unsigned char orientation);
oprospero 0:5fa30cf392c3 495 unsigned short orient;
oprospero 0:5fa30cf392c3 496 unsigned short feature_mask;
oprospero 0:5fa30cf392c3 497 unsigned short fifo_rate;
oprospero 0:5fa30cf392c3 498 unsigned char packet_length;
oprospero 0:5fa30cf392c3 499 };
oprospero 0:5fa30cf392c3 500
oprospero 0:5fa30cf392c3 501 static struct dmp_s dmp = {
oprospero 0:5fa30cf392c3 502 .tap_cb = NULL,
oprospero 0:5fa30cf392c3 503 .android_orient_cb = NULL,
oprospero 0:5fa30cf392c3 504 .orient = 0,
oprospero 0:5fa30cf392c3 505 .feature_mask = 0,
oprospero 0:5fa30cf392c3 506 .fifo_rate = 0,
oprospero 0:5fa30cf392c3 507 .packet_length = 0
oprospero 0:5fa30cf392c3 508 };
oprospero 0:5fa30cf392c3 509
oprospero 0:5fa30cf392c3 510 /**
oprospero 0:5fa30cf392c3 511 * @brief Load the DMP with this image.
oprospero 0:5fa30cf392c3 512 * @return 0 if successful.
oprospero 0:5fa30cf392c3 513 */
oprospero 0:5fa30cf392c3 514 int dmp_load_motion_driver_firmware(void)
oprospero 0:5fa30cf392c3 515 {
oprospero 0:5fa30cf392c3 516 return mpu_load_firmware(DMP_CODE_SIZE, dmp_memory, sStartAddress,
oprospero 0:5fa30cf392c3 517 DMP_SAMPLE_RATE);
oprospero 0:5fa30cf392c3 518 }
oprospero 0:5fa30cf392c3 519
oprospero 0:5fa30cf392c3 520 /**
oprospero 0:5fa30cf392c3 521 * @brief Push gyro and accel orientation to the DMP.
oprospero 0:5fa30cf392c3 522 * The orientation is represented here as the output of
oprospero 0:5fa30cf392c3 523 * @e inv_orientation_matrix_to_scalar.
oprospero 0:5fa30cf392c3 524 * @param[in] orient Gyro and accel orientation in body frame.
oprospero 0:5fa30cf392c3 525 * @return 0 if successful.
oprospero 0:5fa30cf392c3 526 */
oprospero 0:5fa30cf392c3 527 int dmp_set_orientation(unsigned short orient)
oprospero 0:5fa30cf392c3 528 {
oprospero 0:5fa30cf392c3 529 unsigned char gyro_regs[3], accel_regs[3];
oprospero 0:5fa30cf392c3 530 const unsigned char gyro_axes[3] = {DINA4C, DINACD, DINA6C};
oprospero 0:5fa30cf392c3 531 const unsigned char accel_axes[3] = {DINA0C, DINAC9, DINA2C};
oprospero 0:5fa30cf392c3 532 const unsigned char gyro_sign[3] = {DINA36, DINA56, DINA76};
oprospero 0:5fa30cf392c3 533 const unsigned char accel_sign[3] = {DINA26, DINA46, DINA66};
oprospero 0:5fa30cf392c3 534
oprospero 0:5fa30cf392c3 535 gyro_regs[0] = gyro_axes[orient & 3];
oprospero 0:5fa30cf392c3 536 gyro_regs[1] = gyro_axes[(orient >> 3) & 3];
oprospero 0:5fa30cf392c3 537 gyro_regs[2] = gyro_axes[(orient >> 6) & 3];
oprospero 0:5fa30cf392c3 538 accel_regs[0] = accel_axes[orient & 3];
oprospero 0:5fa30cf392c3 539 accel_regs[1] = accel_axes[(orient >> 3) & 3];
oprospero 0:5fa30cf392c3 540 accel_regs[2] = accel_axes[(orient >> 6) & 3];
oprospero 0:5fa30cf392c3 541
oprospero 0:5fa30cf392c3 542 /* Chip-to-body, axes only. */
oprospero 0:5fa30cf392c3 543 if (mpu_write_mem(FCFG_1, 3, gyro_regs))
oprospero 0:5fa30cf392c3 544 return -1;
oprospero 0:5fa30cf392c3 545 if (mpu_write_mem(FCFG_2, 3, accel_regs))
oprospero 0:5fa30cf392c3 546 return -1;
oprospero 0:5fa30cf392c3 547
oprospero 0:5fa30cf392c3 548 memcpy(gyro_regs, gyro_sign, 3);
oprospero 0:5fa30cf392c3 549 memcpy(accel_regs, accel_sign, 3);
oprospero 0:5fa30cf392c3 550 if (orient & 4) {
oprospero 0:5fa30cf392c3 551 gyro_regs[0] |= 1;
oprospero 0:5fa30cf392c3 552 accel_regs[0] |= 1;
oprospero 0:5fa30cf392c3 553 }
oprospero 0:5fa30cf392c3 554 if (orient & 0x20) {
oprospero 0:5fa30cf392c3 555 gyro_regs[1] |= 1;
oprospero 0:5fa30cf392c3 556 accel_regs[1] |= 1;
oprospero 0:5fa30cf392c3 557 }
oprospero 0:5fa30cf392c3 558 if (orient & 0x100) {
oprospero 0:5fa30cf392c3 559 gyro_regs[2] |= 1;
oprospero 0:5fa30cf392c3 560 accel_regs[2] |= 1;
oprospero 0:5fa30cf392c3 561 }
oprospero 0:5fa30cf392c3 562
oprospero 0:5fa30cf392c3 563 /* Chip-to-body, sign only. */
oprospero 0:5fa30cf392c3 564 if (mpu_write_mem(FCFG_3, 3, gyro_regs))
oprospero 0:5fa30cf392c3 565 return -1;
oprospero 0:5fa30cf392c3 566 if (mpu_write_mem(FCFG_7, 3, accel_regs))
oprospero 0:5fa30cf392c3 567 return -1;
oprospero 0:5fa30cf392c3 568 dmp.orient = orient;
oprospero 0:5fa30cf392c3 569 return 0;
oprospero 0:5fa30cf392c3 570 }
oprospero 0:5fa30cf392c3 571
oprospero 0:5fa30cf392c3 572 /**
oprospero 0:5fa30cf392c3 573 * @brief Push gyro biases to the DMP.
oprospero 0:5fa30cf392c3 574 * Because the gyro integration is handled in the DMP, any gyro biases
oprospero 0:5fa30cf392c3 575 * calculated by the MPL should be pushed down to DMP memory to remove
oprospero 0:5fa30cf392c3 576 * 3-axis quaternion drift.
oprospero 0:5fa30cf392c3 577 * \n NOTE: If the DMP-based gyro calibration is enabled, the DMP will
oprospero 0:5fa30cf392c3 578 * overwrite the biases written to this location once a new one is computed.
oprospero 0:5fa30cf392c3 579 * @param[in] bias Gyro biases in q16.
oprospero 0:5fa30cf392c3 580 * @return 0 if successful.
oprospero 0:5fa30cf392c3 581 */
oprospero 0:5fa30cf392c3 582 int dmp_set_gyro_bias(long *bias)
oprospero 0:5fa30cf392c3 583 {
oprospero 0:5fa30cf392c3 584 long gyro_bias_body[3];
oprospero 0:5fa30cf392c3 585 unsigned char regs[4];
oprospero 0:5fa30cf392c3 586
oprospero 0:5fa30cf392c3 587 gyro_bias_body[0] = bias[dmp.orient & 3];
oprospero 0:5fa30cf392c3 588 if (dmp.orient & 4)
oprospero 0:5fa30cf392c3 589 gyro_bias_body[0] *= -1;
oprospero 0:5fa30cf392c3 590 gyro_bias_body[1] = bias[(dmp.orient >> 3) & 3];
oprospero 0:5fa30cf392c3 591 if (dmp.orient & 0x20)
oprospero 0:5fa30cf392c3 592 gyro_bias_body[1] *= -1;
oprospero 0:5fa30cf392c3 593 gyro_bias_body[2] = bias[(dmp.orient >> 6) & 3];
oprospero 0:5fa30cf392c3 594 if (dmp.orient & 0x100)
oprospero 0:5fa30cf392c3 595 gyro_bias_body[2] *= -1;
oprospero 0:5fa30cf392c3 596
oprospero 0:5fa30cf392c3 597 #ifdef EMPL_NO_64BIT
oprospero 0:5fa30cf392c3 598 gyro_bias_body[0] = (long)(((float)gyro_bias_body[0] * GYRO_SF) / 1073741824.f);
oprospero 0:5fa30cf392c3 599 gyro_bias_body[1] = (long)(((float)gyro_bias_body[1] * GYRO_SF) / 1073741824.f);
oprospero 0:5fa30cf392c3 600 gyro_bias_body[2] = (long)(((float)gyro_bias_body[2] * GYRO_SF) / 1073741824.f);
oprospero 0:5fa30cf392c3 601 #else
oprospero 0:5fa30cf392c3 602 gyro_bias_body[0] = (long)(((long long)gyro_bias_body[0] * GYRO_SF) >> 30);
oprospero 0:5fa30cf392c3 603 gyro_bias_body[1] = (long)(((long long)gyro_bias_body[1] * GYRO_SF) >> 30);
oprospero 0:5fa30cf392c3 604 gyro_bias_body[2] = (long)(((long long)gyro_bias_body[2] * GYRO_SF) >> 30);
oprospero 0:5fa30cf392c3 605 #endif
oprospero 0:5fa30cf392c3 606
oprospero 0:5fa30cf392c3 607 regs[0] = (unsigned char)((gyro_bias_body[0] >> 24) & 0xFF);
oprospero 0:5fa30cf392c3 608 regs[1] = (unsigned char)((gyro_bias_body[0] >> 16) & 0xFF);
oprospero 0:5fa30cf392c3 609 regs[2] = (unsigned char)((gyro_bias_body[0] >> 8) & 0xFF);
oprospero 0:5fa30cf392c3 610 regs[3] = (unsigned char)(gyro_bias_body[0] & 0xFF);
oprospero 0:5fa30cf392c3 611 if (mpu_write_mem(D_EXT_GYRO_BIAS_X, 4, regs))
oprospero 0:5fa30cf392c3 612 return -1;
oprospero 0:5fa30cf392c3 613
oprospero 0:5fa30cf392c3 614 regs[0] = (unsigned char)((gyro_bias_body[1] >> 24) & 0xFF);
oprospero 0:5fa30cf392c3 615 regs[1] = (unsigned char)((gyro_bias_body[1] >> 16) & 0xFF);
oprospero 0:5fa30cf392c3 616 regs[2] = (unsigned char)((gyro_bias_body[1] >> 8) & 0xFF);
oprospero 0:5fa30cf392c3 617 regs[3] = (unsigned char)(gyro_bias_body[1] & 0xFF);
oprospero 0:5fa30cf392c3 618 if (mpu_write_mem(D_EXT_GYRO_BIAS_Y, 4, regs))
oprospero 0:5fa30cf392c3 619 return -1;
oprospero 0:5fa30cf392c3 620
oprospero 0:5fa30cf392c3 621 regs[0] = (unsigned char)((gyro_bias_body[2] >> 24) & 0xFF);
oprospero 0:5fa30cf392c3 622 regs[1] = (unsigned char)((gyro_bias_body[2] >> 16) & 0xFF);
oprospero 0:5fa30cf392c3 623 regs[2] = (unsigned char)((gyro_bias_body[2] >> 8) & 0xFF);
oprospero 0:5fa30cf392c3 624 regs[3] = (unsigned char)(gyro_bias_body[2] & 0xFF);
oprospero 0:5fa30cf392c3 625 return mpu_write_mem(D_EXT_GYRO_BIAS_Z, 4, regs);
oprospero 0:5fa30cf392c3 626 }
oprospero 0:5fa30cf392c3 627
oprospero 0:5fa30cf392c3 628 /**
oprospero 0:5fa30cf392c3 629 * @brief Push accel biases to the DMP.
oprospero 0:5fa30cf392c3 630 * These biases will be removed from the DMP 6-axis quaternion.
oprospero 0:5fa30cf392c3 631 * @param[in] bias Accel biases in q16.
oprospero 0:5fa30cf392c3 632 * @return 0 if successful.
oprospero 0:5fa30cf392c3 633 */
oprospero 0:5fa30cf392c3 634 int dmp_set_accel_bias(long *bias)
oprospero 0:5fa30cf392c3 635 {
oprospero 0:5fa30cf392c3 636 long accel_bias_body[3];
oprospero 0:5fa30cf392c3 637 unsigned char regs[12];
oprospero 0:5fa30cf392c3 638 long long accel_sf;
oprospero 0:5fa30cf392c3 639 unsigned short accel_sens;
oprospero 0:5fa30cf392c3 640
oprospero 0:5fa30cf392c3 641 mpu_get_accel_sens(&accel_sens);
oprospero 0:5fa30cf392c3 642 accel_sf = (long long)accel_sens << 15;
mbedoguz 1:a6c3f8680fe0 643 //nsol __no_operation();
oprospero 0:5fa30cf392c3 644
oprospero 0:5fa30cf392c3 645 accel_bias_body[0] = bias[dmp.orient & 3];
oprospero 0:5fa30cf392c3 646 if (dmp.orient & 4)
oprospero 0:5fa30cf392c3 647 accel_bias_body[0] *= -1;
oprospero 0:5fa30cf392c3 648 accel_bias_body[1] = bias[(dmp.orient >> 3) & 3];
oprospero 0:5fa30cf392c3 649 if (dmp.orient & 0x20)
oprospero 0:5fa30cf392c3 650 accel_bias_body[1] *= -1;
oprospero 0:5fa30cf392c3 651 accel_bias_body[2] = bias[(dmp.orient >> 6) & 3];
oprospero 0:5fa30cf392c3 652 if (dmp.orient & 0x100)
oprospero 0:5fa30cf392c3 653 accel_bias_body[2] *= -1;
oprospero 0:5fa30cf392c3 654
oprospero 0:5fa30cf392c3 655 #ifdef EMPL_NO_64BIT
oprospero 0:5fa30cf392c3 656 accel_bias_body[0] = (long)(((float)accel_bias_body[0] * accel_sf) / 1073741824.f);
oprospero 0:5fa30cf392c3 657 accel_bias_body[1] = (long)(((float)accel_bias_body[1] * accel_sf) / 1073741824.f);
oprospero 0:5fa30cf392c3 658 accel_bias_body[2] = (long)(((float)accel_bias_body[2] * accel_sf) / 1073741824.f);
oprospero 0:5fa30cf392c3 659 #else
oprospero 0:5fa30cf392c3 660 accel_bias_body[0] = (long)(((long long)accel_bias_body[0] * accel_sf) >> 30);
oprospero 0:5fa30cf392c3 661 accel_bias_body[1] = (long)(((long long)accel_bias_body[1] * accel_sf) >> 30);
oprospero 0:5fa30cf392c3 662 accel_bias_body[2] = (long)(((long long)accel_bias_body[2] * accel_sf) >> 30);
oprospero 0:5fa30cf392c3 663 #endif
oprospero 0:5fa30cf392c3 664
oprospero 0:5fa30cf392c3 665 regs[0] = (unsigned char)((accel_bias_body[0] >> 24) & 0xFF);
oprospero 0:5fa30cf392c3 666 regs[1] = (unsigned char)((accel_bias_body[0] >> 16) & 0xFF);
oprospero 0:5fa30cf392c3 667 regs[2] = (unsigned char)((accel_bias_body[0] >> 8) & 0xFF);
oprospero 0:5fa30cf392c3 668 regs[3] = (unsigned char)(accel_bias_body[0] & 0xFF);
oprospero 0:5fa30cf392c3 669 regs[4] = (unsigned char)((accel_bias_body[1] >> 24) & 0xFF);
oprospero 0:5fa30cf392c3 670 regs[5] = (unsigned char)((accel_bias_body[1] >> 16) & 0xFF);
oprospero 0:5fa30cf392c3 671 regs[6] = (unsigned char)((accel_bias_body[1] >> 8) & 0xFF);
oprospero 0:5fa30cf392c3 672 regs[7] = (unsigned char)(accel_bias_body[1] & 0xFF);
oprospero 0:5fa30cf392c3 673 regs[8] = (unsigned char)((accel_bias_body[2] >> 24) & 0xFF);
oprospero 0:5fa30cf392c3 674 regs[9] = (unsigned char)((accel_bias_body[2] >> 16) & 0xFF);
oprospero 0:5fa30cf392c3 675 regs[10] = (unsigned char)((accel_bias_body[2] >> 8) & 0xFF);
oprospero 0:5fa30cf392c3 676 regs[11] = (unsigned char)(accel_bias_body[2] & 0xFF);
oprospero 0:5fa30cf392c3 677 return mpu_write_mem(D_ACCEL_BIAS, 12, regs);
oprospero 0:5fa30cf392c3 678 }
oprospero 0:5fa30cf392c3 679
oprospero 0:5fa30cf392c3 680 /**
oprospero 0:5fa30cf392c3 681 * @brief Set DMP output rate.
oprospero 0:5fa30cf392c3 682 * Only used when DMP is on.
oprospero 0:5fa30cf392c3 683 * @param[in] rate Desired fifo rate (Hz).
oprospero 0:5fa30cf392c3 684 * @return 0 if successful.
oprospero 0:5fa30cf392c3 685 */
oprospero 0:5fa30cf392c3 686 int dmp_set_fifo_rate(unsigned short rate)
oprospero 0:5fa30cf392c3 687 {
oprospero 0:5fa30cf392c3 688 const unsigned char regs_end[12] = {DINAFE, DINAF2, DINAAB,
oprospero 0:5fa30cf392c3 689 0xc4, DINAAA, DINAF1, DINADF, DINADF, 0xBB, 0xAF, DINADF, DINADF};
oprospero 0:5fa30cf392c3 690 unsigned short div;
oprospero 0:5fa30cf392c3 691 unsigned char tmp[8];
oprospero 0:5fa30cf392c3 692
oprospero 0:5fa30cf392c3 693 if (rate > DMP_SAMPLE_RATE)
oprospero 0:5fa30cf392c3 694 return -1;
oprospero 0:5fa30cf392c3 695 div = DMP_SAMPLE_RATE / rate - 1;
oprospero 0:5fa30cf392c3 696 tmp[0] = (unsigned char)((div >> 8) & 0xFF);
oprospero 0:5fa30cf392c3 697 tmp[1] = (unsigned char)(div & 0xFF);
oprospero 0:5fa30cf392c3 698 if (mpu_write_mem(D_0_22, 2, tmp))
oprospero 0:5fa30cf392c3 699 return -1;
oprospero 0:5fa30cf392c3 700 if (mpu_write_mem(CFG_6, 12, (unsigned char*)regs_end))
oprospero 0:5fa30cf392c3 701 return -1;
oprospero 0:5fa30cf392c3 702
oprospero 0:5fa30cf392c3 703 dmp.fifo_rate = rate;
oprospero 0:5fa30cf392c3 704 return 0;
oprospero 0:5fa30cf392c3 705 }
oprospero 0:5fa30cf392c3 706
oprospero 0:5fa30cf392c3 707 /**
oprospero 0:5fa30cf392c3 708 * @brief Get DMP output rate.
oprospero 0:5fa30cf392c3 709 * @param[out] rate Current fifo rate (Hz).
oprospero 0:5fa30cf392c3 710 * @return 0 if successful.
oprospero 0:5fa30cf392c3 711 */
oprospero 0:5fa30cf392c3 712 int dmp_get_fifo_rate(unsigned short *rate)
oprospero 0:5fa30cf392c3 713 {
oprospero 0:5fa30cf392c3 714 rate[0] = dmp.fifo_rate;
oprospero 0:5fa30cf392c3 715 return 0;
oprospero 0:5fa30cf392c3 716 }
oprospero 0:5fa30cf392c3 717
oprospero 0:5fa30cf392c3 718 /**
oprospero 0:5fa30cf392c3 719 * @brief Set tap threshold for a specific axis.
oprospero 0:5fa30cf392c3 720 * @param[in] axis 1, 2, and 4 for XYZ accel, respectively.
oprospero 0:5fa30cf392c3 721 * @param[in] thresh Tap threshold, in mg/ms.
oprospero 0:5fa30cf392c3 722 * @return 0 if successful.
oprospero 0:5fa30cf392c3 723 */
oprospero 0:5fa30cf392c3 724 int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh)
oprospero 0:5fa30cf392c3 725 {
oprospero 0:5fa30cf392c3 726 unsigned char tmp[4], accel_fsr;
oprospero 0:5fa30cf392c3 727 float scaled_thresh;
oprospero 0:5fa30cf392c3 728 unsigned short dmp_thresh, dmp_thresh_2;
oprospero 0:5fa30cf392c3 729 if (!(axis & TAP_XYZ) || thresh > 1600)
oprospero 0:5fa30cf392c3 730 return -1;
oprospero 0:5fa30cf392c3 731
oprospero 0:5fa30cf392c3 732 scaled_thresh = (float)thresh / DMP_SAMPLE_RATE;
oprospero 0:5fa30cf392c3 733
oprospero 0:5fa30cf392c3 734 mpu_get_accel_fsr(&accel_fsr);
oprospero 0:5fa30cf392c3 735 switch (accel_fsr) {
oprospero 0:5fa30cf392c3 736 case 2:
oprospero 0:5fa30cf392c3 737 dmp_thresh = (unsigned short)(scaled_thresh * 16384);
oprospero 0:5fa30cf392c3 738 /* dmp_thresh * 0.75 */
oprospero 0:5fa30cf392c3 739 dmp_thresh_2 = (unsigned short)(scaled_thresh * 12288);
oprospero 0:5fa30cf392c3 740 break;
oprospero 0:5fa30cf392c3 741 case 4:
oprospero 0:5fa30cf392c3 742 dmp_thresh = (unsigned short)(scaled_thresh * 8192);
oprospero 0:5fa30cf392c3 743 /* dmp_thresh * 0.75 */
oprospero 0:5fa30cf392c3 744 dmp_thresh_2 = (unsigned short)(scaled_thresh * 6144);
oprospero 0:5fa30cf392c3 745 break;
oprospero 0:5fa30cf392c3 746 case 8:
oprospero 0:5fa30cf392c3 747 dmp_thresh = (unsigned short)(scaled_thresh * 4096);
oprospero 0:5fa30cf392c3 748 /* dmp_thresh * 0.75 */
oprospero 0:5fa30cf392c3 749 dmp_thresh_2 = (unsigned short)(scaled_thresh * 3072);
oprospero 0:5fa30cf392c3 750 break;
oprospero 0:5fa30cf392c3 751 case 16:
oprospero 0:5fa30cf392c3 752 dmp_thresh = (unsigned short)(scaled_thresh * 2048);
oprospero 0:5fa30cf392c3 753 /* dmp_thresh * 0.75 */
oprospero 0:5fa30cf392c3 754 dmp_thresh_2 = (unsigned short)(scaled_thresh * 1536);
oprospero 0:5fa30cf392c3 755 break;
oprospero 0:5fa30cf392c3 756 default:
oprospero 0:5fa30cf392c3 757 return -1;
oprospero 0:5fa30cf392c3 758 }
oprospero 0:5fa30cf392c3 759 tmp[0] = (unsigned char)(dmp_thresh >> 8);
oprospero 0:5fa30cf392c3 760 tmp[1] = (unsigned char)(dmp_thresh & 0xFF);
oprospero 0:5fa30cf392c3 761 tmp[2] = (unsigned char)(dmp_thresh_2 >> 8);
oprospero 0:5fa30cf392c3 762 tmp[3] = (unsigned char)(dmp_thresh_2 & 0xFF);
oprospero 0:5fa30cf392c3 763
oprospero 0:5fa30cf392c3 764 if (axis & TAP_X) {
oprospero 0:5fa30cf392c3 765 if (mpu_write_mem(DMP_TAP_THX, 2, tmp))
oprospero 0:5fa30cf392c3 766 return -1;
oprospero 0:5fa30cf392c3 767 if (mpu_write_mem(D_1_36, 2, tmp+2))
oprospero 0:5fa30cf392c3 768 return -1;
oprospero 0:5fa30cf392c3 769 }
oprospero 0:5fa30cf392c3 770 if (axis & TAP_Y) {
oprospero 0:5fa30cf392c3 771 if (mpu_write_mem(DMP_TAP_THY, 2, tmp))
oprospero 0:5fa30cf392c3 772 return -1;
oprospero 0:5fa30cf392c3 773 if (mpu_write_mem(D_1_40, 2, tmp+2))
oprospero 0:5fa30cf392c3 774 return -1;
oprospero 0:5fa30cf392c3 775 }
oprospero 0:5fa30cf392c3 776 if (axis & TAP_Z) {
oprospero 0:5fa30cf392c3 777 if (mpu_write_mem(DMP_TAP_THZ, 2, tmp))
oprospero 0:5fa30cf392c3 778 return -1;
oprospero 0:5fa30cf392c3 779 if (mpu_write_mem(D_1_44, 2, tmp+2))
oprospero 0:5fa30cf392c3 780 return -1;
oprospero 0:5fa30cf392c3 781 }
oprospero 0:5fa30cf392c3 782 return 0;
oprospero 0:5fa30cf392c3 783 }
oprospero 0:5fa30cf392c3 784
oprospero 0:5fa30cf392c3 785 /**
oprospero 0:5fa30cf392c3 786 * @brief Set which axes will register a tap.
oprospero 0:5fa30cf392c3 787 * @param[in] axis 1, 2, and 4 for XYZ, respectively.
oprospero 0:5fa30cf392c3 788 * @return 0 if successful.
oprospero 0:5fa30cf392c3 789 */
oprospero 0:5fa30cf392c3 790 int dmp_set_tap_axes(unsigned char axis)
oprospero 0:5fa30cf392c3 791 {
oprospero 0:5fa30cf392c3 792 unsigned char tmp = 0;
oprospero 0:5fa30cf392c3 793
oprospero 0:5fa30cf392c3 794 if (axis & TAP_X)
oprospero 0:5fa30cf392c3 795 tmp |= 0x30;
oprospero 0:5fa30cf392c3 796 if (axis & TAP_Y)
oprospero 0:5fa30cf392c3 797 tmp |= 0x0C;
oprospero 0:5fa30cf392c3 798 if (axis & TAP_Z)
oprospero 0:5fa30cf392c3 799 tmp |= 0x03;
oprospero 0:5fa30cf392c3 800 return mpu_write_mem(D_1_72, 1, &tmp);
oprospero 0:5fa30cf392c3 801 }
oprospero 0:5fa30cf392c3 802
oprospero 0:5fa30cf392c3 803 /**
oprospero 0:5fa30cf392c3 804 * @brief Set minimum number of taps needed for an interrupt.
oprospero 0:5fa30cf392c3 805 * @param[in] min_taps Minimum consecutive taps (1-4).
oprospero 0:5fa30cf392c3 806 * @return 0 if successful.
oprospero 0:5fa30cf392c3 807 */
oprospero 0:5fa30cf392c3 808 int dmp_set_tap_count(unsigned char min_taps)
oprospero 0:5fa30cf392c3 809 {
oprospero 0:5fa30cf392c3 810 unsigned char tmp;
oprospero 0:5fa30cf392c3 811
oprospero 0:5fa30cf392c3 812 if (min_taps < 1)
oprospero 0:5fa30cf392c3 813 min_taps = 1;
oprospero 0:5fa30cf392c3 814 else if (min_taps > 4)
oprospero 0:5fa30cf392c3 815 min_taps = 4;
oprospero 0:5fa30cf392c3 816
oprospero 0:5fa30cf392c3 817 tmp = min_taps - 1;
oprospero 0:5fa30cf392c3 818 return mpu_write_mem(D_1_79, 1, &tmp);
oprospero 0:5fa30cf392c3 819 }
oprospero 0:5fa30cf392c3 820
oprospero 0:5fa30cf392c3 821 /**
oprospero 0:5fa30cf392c3 822 * @brief Set length between valid taps.
oprospero 0:5fa30cf392c3 823 * @param[in] time Milliseconds between taps.
oprospero 0:5fa30cf392c3 824 * @return 0 if successful.
oprospero 0:5fa30cf392c3 825 */
oprospero 0:5fa30cf392c3 826 int dmp_set_tap_time(unsigned short time)
oprospero 0:5fa30cf392c3 827 {
oprospero 0:5fa30cf392c3 828 unsigned short dmp_time;
oprospero 0:5fa30cf392c3 829 unsigned char tmp[2];
oprospero 0:5fa30cf392c3 830
oprospero 0:5fa30cf392c3 831 dmp_time = time / (1000 / DMP_SAMPLE_RATE);
oprospero 0:5fa30cf392c3 832 tmp[0] = (unsigned char)(dmp_time >> 8);
oprospero 0:5fa30cf392c3 833 tmp[1] = (unsigned char)(dmp_time & 0xFF);
oprospero 0:5fa30cf392c3 834 return mpu_write_mem(DMP_TAPW_MIN, 2, tmp);
oprospero 0:5fa30cf392c3 835 }
oprospero 0:5fa30cf392c3 836
oprospero 0:5fa30cf392c3 837 /**
oprospero 0:5fa30cf392c3 838 * @brief Set max time between taps to register as a multi-tap.
oprospero 0:5fa30cf392c3 839 * @param[in] time Max milliseconds between taps.
oprospero 0:5fa30cf392c3 840 * @return 0 if successful.
oprospero 0:5fa30cf392c3 841 */
oprospero 0:5fa30cf392c3 842 int dmp_set_tap_time_multi(unsigned short time)
oprospero 0:5fa30cf392c3 843 {
oprospero 0:5fa30cf392c3 844 unsigned short dmp_time;
oprospero 0:5fa30cf392c3 845 unsigned char tmp[2];
oprospero 0:5fa30cf392c3 846
oprospero 0:5fa30cf392c3 847 dmp_time = time / (1000 / DMP_SAMPLE_RATE);
oprospero 0:5fa30cf392c3 848 tmp[0] = (unsigned char)(dmp_time >> 8);
oprospero 0:5fa30cf392c3 849 tmp[1] = (unsigned char)(dmp_time & 0xFF);
oprospero 0:5fa30cf392c3 850 return mpu_write_mem(D_1_218, 2, tmp);
oprospero 0:5fa30cf392c3 851 }
oprospero 0:5fa30cf392c3 852
oprospero 0:5fa30cf392c3 853 /**
oprospero 0:5fa30cf392c3 854 * @brief Set shake rejection threshold.
oprospero 0:5fa30cf392c3 855 * If the DMP detects a gyro sample larger than @e thresh, taps are rejected.
oprospero 0:5fa30cf392c3 856 * @param[in] sf Gyro scale factor.
oprospero 0:5fa30cf392c3 857 * @param[in] thresh Gyro threshold in dps.
oprospero 0:5fa30cf392c3 858 * @return 0 if successful.
oprospero 0:5fa30cf392c3 859 */
oprospero 0:5fa30cf392c3 860 int dmp_set_shake_reject_thresh(long sf, unsigned short thresh)
oprospero 0:5fa30cf392c3 861 {
oprospero 0:5fa30cf392c3 862 unsigned char tmp[4];
oprospero 0:5fa30cf392c3 863 long thresh_scaled = sf / 1000 * thresh;
oprospero 0:5fa30cf392c3 864 tmp[0] = (unsigned char)(((long)thresh_scaled >> 24) & 0xFF);
oprospero 0:5fa30cf392c3 865 tmp[1] = (unsigned char)(((long)thresh_scaled >> 16) & 0xFF);
oprospero 0:5fa30cf392c3 866 tmp[2] = (unsigned char)(((long)thresh_scaled >> 8) & 0xFF);
oprospero 0:5fa30cf392c3 867 tmp[3] = (unsigned char)((long)thresh_scaled & 0xFF);
oprospero 0:5fa30cf392c3 868 return mpu_write_mem(D_1_92, 4, tmp);
oprospero 0:5fa30cf392c3 869 }
oprospero 0:5fa30cf392c3 870
oprospero 0:5fa30cf392c3 871 /**
oprospero 0:5fa30cf392c3 872 * @brief Set shake rejection time.
oprospero 0:5fa30cf392c3 873 * Sets the length of time that the gyro must be outside of the threshold set
oprospero 0:5fa30cf392c3 874 * by @e gyro_set_shake_reject_thresh before taps are rejected. A mandatory
oprospero 0:5fa30cf392c3 875 * 60 ms is added to this parameter.
oprospero 0:5fa30cf392c3 876 * @param[in] time Time in milliseconds.
oprospero 0:5fa30cf392c3 877 * @return 0 if successful.
oprospero 0:5fa30cf392c3 878 */
oprospero 0:5fa30cf392c3 879 int dmp_set_shake_reject_time(unsigned short time)
oprospero 0:5fa30cf392c3 880 {
oprospero 0:5fa30cf392c3 881 unsigned char tmp[2];
oprospero 0:5fa30cf392c3 882
oprospero 0:5fa30cf392c3 883 time /= (1000 / DMP_SAMPLE_RATE);
oprospero 0:5fa30cf392c3 884 tmp[0] = time >> 8;
oprospero 0:5fa30cf392c3 885 tmp[1] = time & 0xFF;
oprospero 0:5fa30cf392c3 886 return mpu_write_mem(D_1_90,2,tmp);
oprospero 0:5fa30cf392c3 887 }
oprospero 0:5fa30cf392c3 888
oprospero 0:5fa30cf392c3 889 /**
oprospero 0:5fa30cf392c3 890 * @brief Set shake rejection timeout.
oprospero 0:5fa30cf392c3 891 * Sets the length of time after a shake rejection that the gyro must stay
oprospero 0:5fa30cf392c3 892 * inside of the threshold before taps can be detected again. A mandatory
oprospero 0:5fa30cf392c3 893 * 60 ms is added to this parameter.
oprospero 0:5fa30cf392c3 894 * @param[in] time Time in milliseconds.
oprospero 0:5fa30cf392c3 895 * @return 0 if successful.
oprospero 0:5fa30cf392c3 896 */
oprospero 0:5fa30cf392c3 897 int dmp_set_shake_reject_timeout(unsigned short time)
oprospero 0:5fa30cf392c3 898 {
oprospero 0:5fa30cf392c3 899 unsigned char tmp[2];
oprospero 0:5fa30cf392c3 900
oprospero 0:5fa30cf392c3 901 time /= (1000 / DMP_SAMPLE_RATE);
oprospero 0:5fa30cf392c3 902 tmp[0] = time >> 8;
oprospero 0:5fa30cf392c3 903 tmp[1] = time & 0xFF;
oprospero 0:5fa30cf392c3 904 return mpu_write_mem(D_1_88,2,tmp);
oprospero 0:5fa30cf392c3 905 }
oprospero 0:5fa30cf392c3 906
oprospero 0:5fa30cf392c3 907 /**
oprospero 0:5fa30cf392c3 908 * @brief Get current step count.
oprospero 0:5fa30cf392c3 909 * @param[out] count Number of steps detected.
oprospero 0:5fa30cf392c3 910 * @return 0 if successful.
oprospero 0:5fa30cf392c3 911 */
oprospero 0:5fa30cf392c3 912 int dmp_get_pedometer_step_count(unsigned long *count)
oprospero 0:5fa30cf392c3 913 {
oprospero 0:5fa30cf392c3 914 unsigned char tmp[4];
oprospero 0:5fa30cf392c3 915 if (!count)
oprospero 0:5fa30cf392c3 916 return -1;
oprospero 0:5fa30cf392c3 917
oprospero 0:5fa30cf392c3 918 if (mpu_read_mem(D_PEDSTD_STEPCTR, 4, tmp))
oprospero 0:5fa30cf392c3 919 return -1;
oprospero 0:5fa30cf392c3 920
oprospero 0:5fa30cf392c3 921 count[0] = ((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) |
oprospero 0:5fa30cf392c3 922 ((unsigned long)tmp[2] << 8) | tmp[3];
oprospero 0:5fa30cf392c3 923 return 0;
oprospero 0:5fa30cf392c3 924 }
oprospero 0:5fa30cf392c3 925
oprospero 0:5fa30cf392c3 926 /**
oprospero 0:5fa30cf392c3 927 * @brief Overwrite current step count.
oprospero 0:5fa30cf392c3 928 * WARNING: This function writes to DMP memory and could potentially encounter
oprospero 0:5fa30cf392c3 929 * a race condition if called while the pedometer is enabled.
oprospero 0:5fa30cf392c3 930 * @param[in] count New step count.
oprospero 0:5fa30cf392c3 931 * @return 0 if successful.
oprospero 0:5fa30cf392c3 932 */
oprospero 0:5fa30cf392c3 933 int dmp_set_pedometer_step_count(unsigned long count)
oprospero 0:5fa30cf392c3 934 {
oprospero 0:5fa30cf392c3 935 unsigned char tmp[4];
oprospero 0:5fa30cf392c3 936
oprospero 0:5fa30cf392c3 937 tmp[0] = (unsigned char)((count >> 24) & 0xFF);
oprospero 0:5fa30cf392c3 938 tmp[1] = (unsigned char)((count >> 16) & 0xFF);
oprospero 0:5fa30cf392c3 939 tmp[2] = (unsigned char)((count >> 8) & 0xFF);
oprospero 0:5fa30cf392c3 940 tmp[3] = (unsigned char)(count & 0xFF);
oprospero 0:5fa30cf392c3 941 return mpu_write_mem(D_PEDSTD_STEPCTR, 4, tmp);
oprospero 0:5fa30cf392c3 942 }
oprospero 0:5fa30cf392c3 943
oprospero 0:5fa30cf392c3 944 /**
oprospero 0:5fa30cf392c3 945 * @brief Get duration of walking time.
oprospero 0:5fa30cf392c3 946 * @param[in] time Walk time in milliseconds.
oprospero 0:5fa30cf392c3 947 * @return 0 if successful.
oprospero 0:5fa30cf392c3 948 */
oprospero 0:5fa30cf392c3 949 int dmp_get_pedometer_walk_time(unsigned long *time)
oprospero 0:5fa30cf392c3 950 {
oprospero 0:5fa30cf392c3 951 unsigned char tmp[4];
oprospero 0:5fa30cf392c3 952 if (!time)
oprospero 0:5fa30cf392c3 953 return -1;
oprospero 0:5fa30cf392c3 954
oprospero 0:5fa30cf392c3 955 if (mpu_read_mem(D_PEDSTD_TIMECTR, 4, tmp))
oprospero 0:5fa30cf392c3 956 return -1;
oprospero 0:5fa30cf392c3 957
oprospero 0:5fa30cf392c3 958 time[0] = (((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) |
oprospero 0:5fa30cf392c3 959 ((unsigned long)tmp[2] << 8) | tmp[3]) * 20;
oprospero 0:5fa30cf392c3 960 return 0;
oprospero 0:5fa30cf392c3 961 }
oprospero 0:5fa30cf392c3 962
oprospero 0:5fa30cf392c3 963 /**
oprospero 0:5fa30cf392c3 964 * @brief Overwrite current walk time.
oprospero 0:5fa30cf392c3 965 * WARNING: This function writes to DMP memory and could potentially encounter
oprospero 0:5fa30cf392c3 966 * a race condition if called while the pedometer is enabled.
oprospero 0:5fa30cf392c3 967 * @param[in] time New walk time in milliseconds.
oprospero 0:5fa30cf392c3 968 */
oprospero 0:5fa30cf392c3 969 int dmp_set_pedometer_walk_time(unsigned long time)
oprospero 0:5fa30cf392c3 970 {
oprospero 0:5fa30cf392c3 971 unsigned char tmp[4];
oprospero 0:5fa30cf392c3 972
oprospero 0:5fa30cf392c3 973 time /= 20;
oprospero 0:5fa30cf392c3 974
oprospero 0:5fa30cf392c3 975 tmp[0] = (unsigned char)((time >> 24) & 0xFF);
oprospero 0:5fa30cf392c3 976 tmp[1] = (unsigned char)((time >> 16) & 0xFF);
oprospero 0:5fa30cf392c3 977 tmp[2] = (unsigned char)((time >> 8) & 0xFF);
oprospero 0:5fa30cf392c3 978 tmp[3] = (unsigned char)(time & 0xFF);
oprospero 0:5fa30cf392c3 979 return mpu_write_mem(D_PEDSTD_TIMECTR, 4, tmp);
oprospero 0:5fa30cf392c3 980 }
oprospero 0:5fa30cf392c3 981
oprospero 0:5fa30cf392c3 982 /**
oprospero 0:5fa30cf392c3 983 * @brief Enable DMP features.
oprospero 0:5fa30cf392c3 984 * The following \#define's are used in the input mask:
oprospero 0:5fa30cf392c3 985 * \n DMP_FEATURE_TAP
oprospero 0:5fa30cf392c3 986 * \n DMP_FEATURE_ANDROID_ORIENT
oprospero 0:5fa30cf392c3 987 * \n DMP_FEATURE_LP_QUAT
oprospero 0:5fa30cf392c3 988 * \n DMP_FEATURE_6X_LP_QUAT
oprospero 0:5fa30cf392c3 989 * \n DMP_FEATURE_GYRO_CAL
oprospero 0:5fa30cf392c3 990 * \n DMP_FEATURE_SEND_RAW_ACCEL
oprospero 0:5fa30cf392c3 991 * \n DMP_FEATURE_SEND_RAW_GYRO
oprospero 0:5fa30cf392c3 992 * \n NOTE: DMP_FEATURE_LP_QUAT and DMP_FEATURE_6X_LP_QUAT are mutually
oprospero 0:5fa30cf392c3 993 * exclusive.
oprospero 0:5fa30cf392c3 994 * \n NOTE: DMP_FEATURE_SEND_RAW_GYRO and DMP_FEATURE_SEND_CAL_GYRO are also
oprospero 0:5fa30cf392c3 995 * mutually exclusive.
oprospero 0:5fa30cf392c3 996 * @param[in] mask Mask of features to enable.
oprospero 0:5fa30cf392c3 997 * @return 0 if successful.
oprospero 0:5fa30cf392c3 998 */
oprospero 0:5fa30cf392c3 999 int dmp_enable_feature(unsigned short mask)
oprospero 0:5fa30cf392c3 1000 {
oprospero 0:5fa30cf392c3 1001 unsigned char tmp[10];
oprospero 0:5fa30cf392c3 1002
oprospero 0:5fa30cf392c3 1003 /* TODO: All of these settings can probably be integrated into the default
oprospero 0:5fa30cf392c3 1004 * DMP image.
oprospero 0:5fa30cf392c3 1005 */
oprospero 0:5fa30cf392c3 1006 /* Set integration scale factor. */
oprospero 0:5fa30cf392c3 1007 tmp[0] = (unsigned char)((GYRO_SF >> 24) & 0xFF);
oprospero 0:5fa30cf392c3 1008 tmp[1] = (unsigned char)((GYRO_SF >> 16) & 0xFF);
oprospero 0:5fa30cf392c3 1009 tmp[2] = (unsigned char)((GYRO_SF >> 8) & 0xFF);
oprospero 0:5fa30cf392c3 1010 tmp[3] = (unsigned char)(GYRO_SF & 0xFF);
oprospero 0:5fa30cf392c3 1011 mpu_write_mem(D_0_104, 4, tmp);
oprospero 0:5fa30cf392c3 1012
oprospero 0:5fa30cf392c3 1013 /* Send sensor data to the FIFO. */
oprospero 0:5fa30cf392c3 1014 tmp[0] = 0xA3;
oprospero 0:5fa30cf392c3 1015 if (mask & DMP_FEATURE_SEND_RAW_ACCEL) {
oprospero 0:5fa30cf392c3 1016 tmp[1] = 0xC0;
oprospero 0:5fa30cf392c3 1017 tmp[2] = 0xC8;
oprospero 0:5fa30cf392c3 1018 tmp[3] = 0xC2;
oprospero 0:5fa30cf392c3 1019 } else {
oprospero 0:5fa30cf392c3 1020 tmp[1] = 0xA3;
oprospero 0:5fa30cf392c3 1021 tmp[2] = 0xA3;
oprospero 0:5fa30cf392c3 1022 tmp[3] = 0xA3;
oprospero 0:5fa30cf392c3 1023 }
oprospero 0:5fa30cf392c3 1024 if (mask & DMP_FEATURE_SEND_ANY_GYRO) {
oprospero 0:5fa30cf392c3 1025 tmp[4] = 0xC4;
oprospero 0:5fa30cf392c3 1026 tmp[5] = 0xCC;
oprospero 0:5fa30cf392c3 1027 tmp[6] = 0xC6;
oprospero 0:5fa30cf392c3 1028 } else {
oprospero 0:5fa30cf392c3 1029 tmp[4] = 0xA3;
oprospero 0:5fa30cf392c3 1030 tmp[5] = 0xA3;
oprospero 0:5fa30cf392c3 1031 tmp[6] = 0xA3;
oprospero 0:5fa30cf392c3 1032 }
oprospero 0:5fa30cf392c3 1033 tmp[7] = 0xA3;
oprospero 0:5fa30cf392c3 1034 tmp[8] = 0xA3;
oprospero 0:5fa30cf392c3 1035 tmp[9] = 0xA3;
oprospero 0:5fa30cf392c3 1036 mpu_write_mem(CFG_15,10,tmp);
oprospero 0:5fa30cf392c3 1037
oprospero 0:5fa30cf392c3 1038 /* Send gesture data to the FIFO. */
oprospero 0:5fa30cf392c3 1039 if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT))
oprospero 0:5fa30cf392c3 1040 tmp[0] = DINA20;
oprospero 0:5fa30cf392c3 1041 else
oprospero 0:5fa30cf392c3 1042 tmp[0] = 0xD8;
oprospero 0:5fa30cf392c3 1043 mpu_write_mem(CFG_27,1,tmp);
oprospero 0:5fa30cf392c3 1044
oprospero 0:5fa30cf392c3 1045 if (mask & DMP_FEATURE_GYRO_CAL)
oprospero 0:5fa30cf392c3 1046 dmp_enable_gyro_cal(1);
oprospero 0:5fa30cf392c3 1047 else
oprospero 0:5fa30cf392c3 1048 dmp_enable_gyro_cal(0);
oprospero 0:5fa30cf392c3 1049
oprospero 0:5fa30cf392c3 1050 if (mask & DMP_FEATURE_SEND_ANY_GYRO) {
oprospero 0:5fa30cf392c3 1051 if (mask & DMP_FEATURE_SEND_CAL_GYRO) {
oprospero 0:5fa30cf392c3 1052 tmp[0] = 0xB2;
oprospero 0:5fa30cf392c3 1053 tmp[1] = 0x8B;
oprospero 0:5fa30cf392c3 1054 tmp[2] = 0xB6;
oprospero 0:5fa30cf392c3 1055 tmp[3] = 0x9B;
oprospero 0:5fa30cf392c3 1056 } else {
oprospero 0:5fa30cf392c3 1057 tmp[0] = DINAC0;
oprospero 0:5fa30cf392c3 1058 tmp[1] = DINA80;
oprospero 0:5fa30cf392c3 1059 tmp[2] = DINAC2;
oprospero 0:5fa30cf392c3 1060 tmp[3] = DINA90;
oprospero 0:5fa30cf392c3 1061 }
oprospero 0:5fa30cf392c3 1062 mpu_write_mem(CFG_GYRO_RAW_DATA, 4, tmp);
oprospero 0:5fa30cf392c3 1063 }
oprospero 0:5fa30cf392c3 1064
oprospero 0:5fa30cf392c3 1065 if (mask & DMP_FEATURE_TAP) {
oprospero 0:5fa30cf392c3 1066 /* Enable tap. */
oprospero 0:5fa30cf392c3 1067 tmp[0] = 0xF8;
oprospero 0:5fa30cf392c3 1068 mpu_write_mem(CFG_20, 1, tmp);
oprospero 0:5fa30cf392c3 1069 dmp_set_tap_thresh(TAP_XYZ, 250);
oprospero 0:5fa30cf392c3 1070 dmp_set_tap_axes(TAP_XYZ);
oprospero 0:5fa30cf392c3 1071 dmp_set_tap_count(1);
oprospero 0:5fa30cf392c3 1072 dmp_set_tap_time(100);
oprospero 0:5fa30cf392c3 1073 dmp_set_tap_time_multi(500);
oprospero 0:5fa30cf392c3 1074
oprospero 0:5fa30cf392c3 1075 dmp_set_shake_reject_thresh(GYRO_SF, 200);
oprospero 0:5fa30cf392c3 1076 dmp_set_shake_reject_time(40);
oprospero 0:5fa30cf392c3 1077 dmp_set_shake_reject_timeout(10);
oprospero 0:5fa30cf392c3 1078 } else {
oprospero 0:5fa30cf392c3 1079 tmp[0] = 0xD8;
oprospero 0:5fa30cf392c3 1080 mpu_write_mem(CFG_20, 1, tmp);
oprospero 0:5fa30cf392c3 1081 }
oprospero 0:5fa30cf392c3 1082
oprospero 0:5fa30cf392c3 1083 if (mask & DMP_FEATURE_ANDROID_ORIENT) {
oprospero 0:5fa30cf392c3 1084 tmp[0] = 0xD9;
oprospero 0:5fa30cf392c3 1085 } else
oprospero 0:5fa30cf392c3 1086 tmp[0] = 0xD8;
oprospero 0:5fa30cf392c3 1087 mpu_write_mem(CFG_ANDROID_ORIENT_INT, 1, tmp);
oprospero 0:5fa30cf392c3 1088
oprospero 0:5fa30cf392c3 1089 if (mask & DMP_FEATURE_LP_QUAT)
oprospero 0:5fa30cf392c3 1090 dmp_enable_lp_quat(1);
oprospero 0:5fa30cf392c3 1091 else
oprospero 0:5fa30cf392c3 1092 dmp_enable_lp_quat(0);
oprospero 0:5fa30cf392c3 1093
oprospero 0:5fa30cf392c3 1094 if (mask & DMP_FEATURE_6X_LP_QUAT)
oprospero 0:5fa30cf392c3 1095 dmp_enable_6x_lp_quat(1);
oprospero 0:5fa30cf392c3 1096 else
oprospero 0:5fa30cf392c3 1097 dmp_enable_6x_lp_quat(0);
oprospero 0:5fa30cf392c3 1098
oprospero 0:5fa30cf392c3 1099 /* Pedometer is always enabled. */
oprospero 0:5fa30cf392c3 1100 dmp.feature_mask = mask | DMP_FEATURE_PEDOMETER;
oprospero 0:5fa30cf392c3 1101 mpu_reset_fifo();
oprospero 0:5fa30cf392c3 1102
oprospero 0:5fa30cf392c3 1103 dmp.packet_length = 0;
oprospero 0:5fa30cf392c3 1104 if (mask & DMP_FEATURE_SEND_RAW_ACCEL)
oprospero 0:5fa30cf392c3 1105 dmp.packet_length += 6;
oprospero 0:5fa30cf392c3 1106 if (mask & DMP_FEATURE_SEND_ANY_GYRO)
oprospero 0:5fa30cf392c3 1107 dmp.packet_length += 6;
oprospero 0:5fa30cf392c3 1108 if (mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT))
oprospero 0:5fa30cf392c3 1109 dmp.packet_length += 16;
oprospero 0:5fa30cf392c3 1110 if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT))
oprospero 0:5fa30cf392c3 1111 dmp.packet_length += 4;
oprospero 0:5fa30cf392c3 1112
oprospero 0:5fa30cf392c3 1113 return 0;
oprospero 0:5fa30cf392c3 1114 }
oprospero 0:5fa30cf392c3 1115
oprospero 0:5fa30cf392c3 1116 /**
oprospero 0:5fa30cf392c3 1117 * @brief Get list of currently enabled DMP features.
oprospero 0:5fa30cf392c3 1118 * @param[out] Mask of enabled features.
oprospero 0:5fa30cf392c3 1119 * @return 0 if successful.
oprospero 0:5fa30cf392c3 1120 */
oprospero 0:5fa30cf392c3 1121 int dmp_get_enabled_features(unsigned short *mask)
oprospero 0:5fa30cf392c3 1122 {
oprospero 0:5fa30cf392c3 1123 mask[0] = dmp.feature_mask;
oprospero 0:5fa30cf392c3 1124 return 0;
oprospero 0:5fa30cf392c3 1125 }
oprospero 0:5fa30cf392c3 1126
oprospero 0:5fa30cf392c3 1127 /**
oprospero 0:5fa30cf392c3 1128 * @brief Calibrate the gyro data in the DMP.
oprospero 0:5fa30cf392c3 1129 * After eight seconds of no motion, the DMP will compute gyro biases and
oprospero 0:5fa30cf392c3 1130 * subtract them from the quaternion output. If @e dmp_enable_feature is
oprospero 0:5fa30cf392c3 1131 * called with @e DMP_FEATURE_SEND_CAL_GYRO, the biases will also be
oprospero 0:5fa30cf392c3 1132 * subtracted from the gyro output.
oprospero 0:5fa30cf392c3 1133 * @param[in] enable 1 to enable gyro calibration.
oprospero 0:5fa30cf392c3 1134 * @return 0 if successful.
oprospero 0:5fa30cf392c3 1135 */
oprospero 0:5fa30cf392c3 1136 int dmp_enable_gyro_cal(unsigned char enable)
oprospero 0:5fa30cf392c3 1137 {
oprospero 0:5fa30cf392c3 1138 if (enable) {
oprospero 0:5fa30cf392c3 1139 unsigned char regs[9] = {0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35, 0x5d};
oprospero 0:5fa30cf392c3 1140 return mpu_write_mem(CFG_MOTION_BIAS, 9, regs);
oprospero 0:5fa30cf392c3 1141 } else {
oprospero 0:5fa30cf392c3 1142 unsigned char regs[9] = {0xb8, 0xaa, 0xaa, 0xaa, 0xb0, 0x88, 0xc3, 0xc5, 0xc7};
oprospero 0:5fa30cf392c3 1143 return mpu_write_mem(CFG_MOTION_BIAS, 9, regs);
oprospero 0:5fa30cf392c3 1144 }
oprospero 0:5fa30cf392c3 1145 }
oprospero 0:5fa30cf392c3 1146
oprospero 0:5fa30cf392c3 1147 /**
oprospero 0:5fa30cf392c3 1148 * @brief Generate 3-axis quaternions from the DMP.
oprospero 0:5fa30cf392c3 1149 * In this driver, the 3-axis and 6-axis DMP quaternion features are mutually
oprospero 0:5fa30cf392c3 1150 * exclusive.
oprospero 0:5fa30cf392c3 1151 * @param[in] enable 1 to enable 3-axis quaternion.
oprospero 0:5fa30cf392c3 1152 * @return 0 if successful.
oprospero 0:5fa30cf392c3 1153 */
oprospero 0:5fa30cf392c3 1154 int dmp_enable_lp_quat(unsigned char enable)
oprospero 0:5fa30cf392c3 1155 {
oprospero 0:5fa30cf392c3 1156 unsigned char regs[4];
oprospero 0:5fa30cf392c3 1157 if (enable) {
oprospero 0:5fa30cf392c3 1158 regs[0] = DINBC0;
oprospero 0:5fa30cf392c3 1159 regs[1] = DINBC2;
oprospero 0:5fa30cf392c3 1160 regs[2] = DINBC4;
oprospero 0:5fa30cf392c3 1161 regs[3] = DINBC6;
oprospero 0:5fa30cf392c3 1162 }
oprospero 0:5fa30cf392c3 1163 else
oprospero 0:5fa30cf392c3 1164 memset(regs, 0x8B, 4);
oprospero 0:5fa30cf392c3 1165
oprospero 0:5fa30cf392c3 1166 mpu_write_mem(CFG_LP_QUAT, 4, regs);
oprospero 0:5fa30cf392c3 1167
oprospero 0:5fa30cf392c3 1168 return mpu_reset_fifo();
oprospero 0:5fa30cf392c3 1169 }
oprospero 0:5fa30cf392c3 1170
oprospero 0:5fa30cf392c3 1171 /**
oprospero 0:5fa30cf392c3 1172 * @brief Generate 6-axis quaternions from the DMP.
oprospero 0:5fa30cf392c3 1173 * In this driver, the 3-axis and 6-axis DMP quaternion features are mutually
oprospero 0:5fa30cf392c3 1174 * exclusive.
oprospero 0:5fa30cf392c3 1175 * @param[in] enable 1 to enable 6-axis quaternion.
oprospero 0:5fa30cf392c3 1176 * @return 0 if successful.
oprospero 0:5fa30cf392c3 1177 */
oprospero 0:5fa30cf392c3 1178 int dmp_enable_6x_lp_quat(unsigned char enable)
oprospero 0:5fa30cf392c3 1179 {
oprospero 0:5fa30cf392c3 1180 unsigned char regs[4];
oprospero 0:5fa30cf392c3 1181 if (enable) {
oprospero 0:5fa30cf392c3 1182 regs[0] = DINA20;
oprospero 0:5fa30cf392c3 1183 regs[1] = DINA28;
oprospero 0:5fa30cf392c3 1184 regs[2] = DINA30;
oprospero 0:5fa30cf392c3 1185 regs[3] = DINA38;
oprospero 0:5fa30cf392c3 1186 } else
oprospero 0:5fa30cf392c3 1187 memset(regs, 0xA3, 4);
oprospero 0:5fa30cf392c3 1188
oprospero 0:5fa30cf392c3 1189 mpu_write_mem(CFG_8, 4, regs);
oprospero 0:5fa30cf392c3 1190
oprospero 0:5fa30cf392c3 1191 return mpu_reset_fifo();
oprospero 0:5fa30cf392c3 1192 }
oprospero 0:5fa30cf392c3 1193
oprospero 0:5fa30cf392c3 1194 /**
oprospero 0:5fa30cf392c3 1195 * @brief Decode the four-byte gesture data and execute any callbacks.
oprospero 0:5fa30cf392c3 1196 * @param[in] gesture Gesture data from DMP packet.
oprospero 0:5fa30cf392c3 1197 * @return 0 if successful.
oprospero 0:5fa30cf392c3 1198 */
oprospero 0:5fa30cf392c3 1199 static int decode_gesture(unsigned char *gesture)
oprospero 0:5fa30cf392c3 1200 {
oprospero 0:5fa30cf392c3 1201 unsigned char tap, android_orient;
oprospero 0:5fa30cf392c3 1202
oprospero 0:5fa30cf392c3 1203 android_orient = gesture[3] & 0xC0;
oprospero 0:5fa30cf392c3 1204 tap = 0x3F & gesture[3];
oprospero 0:5fa30cf392c3 1205
oprospero 0:5fa30cf392c3 1206 if (gesture[1] & INT_SRC_TAP) {
oprospero 0:5fa30cf392c3 1207 unsigned char direction, count;
oprospero 0:5fa30cf392c3 1208 direction = tap >> 3;
oprospero 0:5fa30cf392c3 1209 count = (tap % 8) + 1;
oprospero 0:5fa30cf392c3 1210 if (dmp.tap_cb)
oprospero 0:5fa30cf392c3 1211 dmp.tap_cb(direction, count);
oprospero 0:5fa30cf392c3 1212 }
oprospero 0:5fa30cf392c3 1213
oprospero 0:5fa30cf392c3 1214 if (gesture[1] & INT_SRC_ANDROID_ORIENT) {
oprospero 0:5fa30cf392c3 1215 if (dmp.android_orient_cb)
oprospero 0:5fa30cf392c3 1216 dmp.android_orient_cb(android_orient >> 6);
oprospero 0:5fa30cf392c3 1217 }
oprospero 0:5fa30cf392c3 1218
oprospero 0:5fa30cf392c3 1219 return 0;
oprospero 0:5fa30cf392c3 1220 }
oprospero 0:5fa30cf392c3 1221
oprospero 0:5fa30cf392c3 1222 /**
oprospero 0:5fa30cf392c3 1223 * @brief Specify when a DMP interrupt should occur.
oprospero 0:5fa30cf392c3 1224 * A DMP interrupt can be configured to trigger on either of the two
oprospero 0:5fa30cf392c3 1225 * conditions below:
oprospero 0:5fa30cf392c3 1226 * \n a. One FIFO period has elapsed (set by @e mpu_set_sample_rate).
oprospero 0:5fa30cf392c3 1227 * \n b. A tap event has been detected.
oprospero 0:5fa30cf392c3 1228 * @param[in] mode DMP_INT_GESTURE or DMP_INT_CONTINUOUS.
oprospero 0:5fa30cf392c3 1229 * @return 0 if successful.
oprospero 0:5fa30cf392c3 1230 */
oprospero 0:5fa30cf392c3 1231 int dmp_set_interrupt_mode(unsigned char mode)
oprospero 0:5fa30cf392c3 1232 {
oprospero 0:5fa30cf392c3 1233 const unsigned char regs_continuous[11] =
oprospero 0:5fa30cf392c3 1234 {0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9};
oprospero 0:5fa30cf392c3 1235 const unsigned char regs_gesture[11] =
oprospero 0:5fa30cf392c3 1236 {0xda, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0xda, 0xb4, 0xda};
oprospero 0:5fa30cf392c3 1237
oprospero 0:5fa30cf392c3 1238 switch (mode) {
oprospero 0:5fa30cf392c3 1239 case DMP_INT_CONTINUOUS:
oprospero 0:5fa30cf392c3 1240 return mpu_write_mem(CFG_FIFO_ON_EVENT, 11,
oprospero 0:5fa30cf392c3 1241 (unsigned char*)regs_continuous);
oprospero 0:5fa30cf392c3 1242 case DMP_INT_GESTURE:
oprospero 0:5fa30cf392c3 1243 return mpu_write_mem(CFG_FIFO_ON_EVENT, 11,
oprospero 0:5fa30cf392c3 1244 (unsigned char*)regs_gesture);
oprospero 0:5fa30cf392c3 1245 default:
oprospero 0:5fa30cf392c3 1246 return -1;
oprospero 0:5fa30cf392c3 1247 }
oprospero 0:5fa30cf392c3 1248 }
oprospero 0:5fa30cf392c3 1249
oprospero 0:5fa30cf392c3 1250 /**
oprospero 0:5fa30cf392c3 1251 * @brief Get one packet from the FIFO.
oprospero 0:5fa30cf392c3 1252 * If @e sensors does not contain a particular sensor, disregard the data
oprospero 0:5fa30cf392c3 1253 * returned to that pointer.
oprospero 0:5fa30cf392c3 1254 * \n @e sensors can contain a combination of the following flags:
oprospero 0:5fa30cf392c3 1255 * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
oprospero 0:5fa30cf392c3 1256 * \n INV_XYZ_GYRO
oprospero 0:5fa30cf392c3 1257 * \n INV_XYZ_ACCEL
oprospero 0:5fa30cf392c3 1258 * \n INV_WXYZ_QUAT
oprospero 0:5fa30cf392c3 1259 * \n If the FIFO has no new data, @e sensors will be zero.
oprospero 0:5fa30cf392c3 1260 * \n If the FIFO is disabled, @e sensors will be zero and this function will
oprospero 0:5fa30cf392c3 1261 * return a non-zero error code.
oprospero 0:5fa30cf392c3 1262 * @param[out] gyro Gyro data in hardware units.
oprospero 0:5fa30cf392c3 1263 * @param[out] accel Accel data in hardware units.
oprospero 0:5fa30cf392c3 1264 * @param[out] quat 3-axis quaternion data in hardware units.
oprospero 0:5fa30cf392c3 1265 * @param[out] timestamp Timestamp in milliseconds.
oprospero 0:5fa30cf392c3 1266 * @param[out] sensors Mask of sensors read from FIFO.
oprospero 0:5fa30cf392c3 1267 * @param[out] more Number of remaining packets.
oprospero 0:5fa30cf392c3 1268 * @return 0 if successful.
oprospero 0:5fa30cf392c3 1269 */
oprospero 0:5fa30cf392c3 1270 int dmp_read_fifo(short *gyro, short *accel, long *quat,
oprospero 0:5fa30cf392c3 1271 unsigned long *timestamp, short *sensors, unsigned char *more)
oprospero 0:5fa30cf392c3 1272 {
oprospero 0:5fa30cf392c3 1273 unsigned char fifo_data[MAX_PACKET_LENGTH];
oprospero 0:5fa30cf392c3 1274 unsigned char ii = 0;
oprospero 0:5fa30cf392c3 1275
oprospero 0:5fa30cf392c3 1276 /* TODO: sensors[0] only changes when dmp_enable_feature is called. We can
oprospero 0:5fa30cf392c3 1277 * cache this value and save some cycles.
oprospero 0:5fa30cf392c3 1278 */
oprospero 0:5fa30cf392c3 1279 sensors[0] = 0;
oprospero 0:5fa30cf392c3 1280
oprospero 0:5fa30cf392c3 1281 /* Get a packet. */
oprospero 0:5fa30cf392c3 1282 if (mpu_read_fifo_stream(dmp.packet_length, fifo_data, more))
oprospero 0:5fa30cf392c3 1283 return -1;
oprospero 0:5fa30cf392c3 1284
oprospero 0:5fa30cf392c3 1285 /* Parse DMP packet. */
oprospero 0:5fa30cf392c3 1286 if (dmp.feature_mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT)) {
oprospero 0:5fa30cf392c3 1287 #ifdef FIFO_CORRUPTION_CHECK
oprospero 0:5fa30cf392c3 1288 long quat_q14[4], quat_mag_sq;
oprospero 0:5fa30cf392c3 1289 #endif
oprospero 0:5fa30cf392c3 1290 quat[0] = ((long)fifo_data[0] << 24) | ((long)fifo_data[1] << 16) |
oprospero 0:5fa30cf392c3 1291 ((long)fifo_data[2] << 8) | fifo_data[3];
oprospero 0:5fa30cf392c3 1292 quat[1] = ((long)fifo_data[4] << 24) | ((long)fifo_data[5] << 16) |
oprospero 0:5fa30cf392c3 1293 ((long)fifo_data[6] << 8) | fifo_data[7];
oprospero 0:5fa30cf392c3 1294 quat[2] = ((long)fifo_data[8] << 24) | ((long)fifo_data[9] << 16) |
oprospero 0:5fa30cf392c3 1295 ((long)fifo_data[10] << 8) | fifo_data[11];
oprospero 0:5fa30cf392c3 1296 quat[3] = ((long)fifo_data[12] << 24) | ((long)fifo_data[13] << 16) |
oprospero 0:5fa30cf392c3 1297 ((long)fifo_data[14] << 8) | fifo_data[15];
oprospero 0:5fa30cf392c3 1298 ii += 16;
oprospero 0:5fa30cf392c3 1299 #ifdef FIFO_CORRUPTION_CHECK
oprospero 0:5fa30cf392c3 1300 /* We can detect a corrupted FIFO by monitoring the quaternion data and
oprospero 0:5fa30cf392c3 1301 * ensuring that the magnitude is always normalized to one. This
oprospero 0:5fa30cf392c3 1302 * shouldn't happen in normal operation, but if an I2C error occurs,
oprospero 0:5fa30cf392c3 1303 * the FIFO reads might become misaligned.
oprospero 0:5fa30cf392c3 1304 *
oprospero 0:5fa30cf392c3 1305 * Let's start by scaling down the quaternion data to avoid long long
oprospero 0:5fa30cf392c3 1306 * math.
oprospero 0:5fa30cf392c3 1307 */
oprospero 0:5fa30cf392c3 1308 quat_q14[0] = quat[0] >> 16;
oprospero 0:5fa30cf392c3 1309 quat_q14[1] = quat[1] >> 16;
oprospero 0:5fa30cf392c3 1310 quat_q14[2] = quat[2] >> 16;
oprospero 0:5fa30cf392c3 1311 quat_q14[3] = quat[3] >> 16;
oprospero 0:5fa30cf392c3 1312 quat_mag_sq = quat_q14[0] * quat_q14[0] + quat_q14[1] * quat_q14[1] +
oprospero 0:5fa30cf392c3 1313 quat_q14[2] * quat_q14[2] + quat_q14[3] * quat_q14[3];
oprospero 0:5fa30cf392c3 1314 if ((quat_mag_sq < QUAT_MAG_SQ_MIN) ||
oprospero 0:5fa30cf392c3 1315 (quat_mag_sq > QUAT_MAG_SQ_MAX)) {
oprospero 0:5fa30cf392c3 1316 /* Quaternion is outside of the acceptable threshold. */
oprospero 0:5fa30cf392c3 1317 mpu_reset_fifo();
oprospero 0:5fa30cf392c3 1318 sensors[0] = 0;
oprospero 0:5fa30cf392c3 1319 return -1;
oprospero 0:5fa30cf392c3 1320 }
oprospero 0:5fa30cf392c3 1321 sensors[0] |= INV_WXYZ_QUAT;
oprospero 0:5fa30cf392c3 1322 #endif
oprospero 0:5fa30cf392c3 1323 }
oprospero 0:5fa30cf392c3 1324
oprospero 0:5fa30cf392c3 1325 if (dmp.feature_mask & DMP_FEATURE_SEND_RAW_ACCEL) {
oprospero 0:5fa30cf392c3 1326 accel[0] = ((short)fifo_data[ii+0] << 8) | fifo_data[ii+1];
oprospero 0:5fa30cf392c3 1327 accel[1] = ((short)fifo_data[ii+2] << 8) | fifo_data[ii+3];
oprospero 0:5fa30cf392c3 1328 accel[2] = ((short)fifo_data[ii+4] << 8) | fifo_data[ii+5];
oprospero 0:5fa30cf392c3 1329 ii += 6;
oprospero 0:5fa30cf392c3 1330 sensors[0] |= INV_XYZ_ACCEL;
oprospero 0:5fa30cf392c3 1331 }
oprospero 0:5fa30cf392c3 1332
oprospero 0:5fa30cf392c3 1333 if (dmp.feature_mask & DMP_FEATURE_SEND_ANY_GYRO) {
oprospero 0:5fa30cf392c3 1334 gyro[0] = ((short)fifo_data[ii+0] << 8) | fifo_data[ii+1];
oprospero 0:5fa30cf392c3 1335 gyro[1] = ((short)fifo_data[ii+2] << 8) | fifo_data[ii+3];
oprospero 0:5fa30cf392c3 1336 gyro[2] = ((short)fifo_data[ii+4] << 8) | fifo_data[ii+5];
oprospero 0:5fa30cf392c3 1337 ii += 6;
oprospero 0:5fa30cf392c3 1338 sensors[0] |= INV_XYZ_GYRO;
oprospero 0:5fa30cf392c3 1339 }
oprospero 0:5fa30cf392c3 1340
oprospero 0:5fa30cf392c3 1341 /* Gesture data is at the end of the DMP packet. Parse it and call
oprospero 0:5fa30cf392c3 1342 * the gesture callbacks (if registered).
oprospero 0:5fa30cf392c3 1343 */
oprospero 0:5fa30cf392c3 1344 if (dmp.feature_mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT))
oprospero 0:5fa30cf392c3 1345 decode_gesture(fifo_data + ii);
oprospero 0:5fa30cf392c3 1346
oprospero 0:5fa30cf392c3 1347 get_ms(timestamp);
oprospero 0:5fa30cf392c3 1348 return 0;
oprospero 0:5fa30cf392c3 1349 }
oprospero 0:5fa30cf392c3 1350
oprospero 0:5fa30cf392c3 1351 /**
oprospero 0:5fa30cf392c3 1352 * @brief Register a function to be executed on a tap event.
oprospero 0:5fa30cf392c3 1353 * The tap direction is represented by one of the following:
oprospero 0:5fa30cf392c3 1354 * \n TAP_X_UP
oprospero 0:5fa30cf392c3 1355 * \n TAP_X_DOWN
oprospero 0:5fa30cf392c3 1356 * \n TAP_Y_UP
oprospero 0:5fa30cf392c3 1357 * \n TAP_Y_DOWN
oprospero 0:5fa30cf392c3 1358 * \n TAP_Z_UP
oprospero 0:5fa30cf392c3 1359 * \n TAP_Z_DOWN
oprospero 0:5fa30cf392c3 1360 * @param[in] func Callback function.
oprospero 0:5fa30cf392c3 1361 * @return 0 if successful.
oprospero 0:5fa30cf392c3 1362 */
oprospero 0:5fa30cf392c3 1363 int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char))
oprospero 0:5fa30cf392c3 1364 {
oprospero 0:5fa30cf392c3 1365 dmp.tap_cb = func;
oprospero 0:5fa30cf392c3 1366 return 0;
oprospero 0:5fa30cf392c3 1367 }
oprospero 0:5fa30cf392c3 1368
oprospero 0:5fa30cf392c3 1369 /**
oprospero 0:5fa30cf392c3 1370 * @brief Register a function to be executed on a android orientation event.
oprospero 0:5fa30cf392c3 1371 * @param[in] func Callback function.
oprospero 0:5fa30cf392c3 1372 * @return 0 if successful.
oprospero 0:5fa30cf392c3 1373 */
oprospero 0:5fa30cf392c3 1374 int dmp_register_android_orient_cb(void (*func)(unsigned char))
oprospero 0:5fa30cf392c3 1375 {
oprospero 0:5fa30cf392c3 1376 dmp.android_orient_cb = func;
oprospero 0:5fa30cf392c3 1377 return 0;
oprospero 0:5fa30cf392c3 1378 }
oprospero 0:5fa30cf392c3 1379
oprospero 0:5fa30cf392c3 1380 /**
oprospero 0:5fa30cf392c3 1381 * @}
oprospero 0:5fa30cf392c3 1382 */
oprospero 0:5fa30cf392c3 1383
oprospero 0:5fa30cf392c3 1384