MotionDriver_6_1 - It is modified accordingly to work with sparkfun …

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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@0:5fa30cf392c3, 2014-08-24 (annotated)

Committer:: oprospero
Date:: Sun Aug 24 00:52:07 2014 +0000
Revision:: 0:5fa30cf392c3
Child:: 1:a6c3f8680fe0

Initial commit, copied from Motion Driver 6.1 no edits

Who changed what in which revision?

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

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Type:	Library
Created:	07 Aug 2017
Imports:	15
Forks:	0
Commits:	7
Dependents:	2
Dependencies:	0
Followers:	2

The code in this repository is Apache licensed.

inv_mpu_dmp_motion_driver.c@0:5fa30cf392c3, 2014-08-24 (annotated)

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