Update.

core备份2/Inc/main.h → Core - 副本/Inc/main.h

@@ -16,6 +16,11 @@
   *
   ******************************************************************************
   */
+	
+extern int a;
+extern int b;
+extern int c;
+extern int t;
 /* USER CODE END Header */
 
 /* Define to prevent recursive inclusion -------------------------------------*/

core备份/Src/i2c.c → Core - 副本/Src/i2c.c

@@ -40,7 +40,7 @@ void MX_I2C1_Init(void)
 
   /* USER CODE END I2C1_Init 1 */
   hi2c1.Instance = I2C1;
-  hi2c1.Init.Timing = 0x00909FCE;
+  hi2c1.Init.Timing = 0x00401242;
   hi2c1.Init.OwnAddress1 = 0;
   hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
   hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
@@ -66,6 +66,10 @@ void MX_I2C1_Init(void)
   {
     Error_Handler();
   }
+
+  /** I2C Enable Fast Mode Plus
+  */
+  HAL_I2CEx_EnableFastModePlus(I2C_FASTMODEPLUS_I2C1);
   /* USER CODE BEGIN I2C1_Init 2 */
 
   /* USER CODE END I2C1_Init 2 */
@@ -83,7 +87,7 @@ void MX_I2C2_Init(void)
 
   /* USER CODE END I2C2_Init 1 */
   hi2c2.Instance = I2C2;
-  hi2c2.Init.Timing = 0x00909FCE;
+  hi2c2.Init.Timing = 0x00401242;
   hi2c2.Init.OwnAddress1 = 0;
   hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
   hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
@@ -109,6 +113,10 @@ void MX_I2C2_Init(void)
   {
     Error_Handler();
   }
+
+  /** I2C Enable Fast Mode Plus
+  */
+  HAL_I2CEx_EnableFastModePlus(I2C_FASTMODEPLUS_I2C2);
   /* USER CODE BEGIN I2C2_Init 2 */
 
   /* USER CODE END I2C2_Init 2 */
@@ -126,7 +134,7 @@ void MX_I2C3_Init(void)
 
   /* USER CODE END I2C3_Init 1 */
   hi2c3.Instance = I2C3;
-  hi2c3.Init.Timing = 0x00909FCE;
+  hi2c3.Init.Timing = 0x00401242;
   hi2c3.Init.OwnAddress1 = 0;
   hi2c3.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
   hi2c3.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
@@ -152,6 +160,10 @@ void MX_I2C3_Init(void)
   {
     Error_Handler();
   }
+
+  /** I2C Enable Fast Mode Plus
+  */
+  HAL_I2CEx_EnableFastModePlus(I2C_FASTMODEPLUS_I2C3);
   /* USER CODE BEGIN I2C3_Init 2 */
 
   /* USER CODE END I2C3_Init 2 */

Core备份3/Src/main.c → Core - 副本/Src/main.c

@@ -1,20 +1,20 @@
 /* USER CODE BEGIN Header */
 /**
-  ******************************************************************************
-  * @file           : main.c
-  * @brief          : Main program body
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2024 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
+ ******************************************************************************
+ * @file           : main.c
+ * @brief          : Main program body
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2024 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
 /* USER CODE END Header */
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
@@ -27,12 +27,8 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-#include "MPU60501.h"
-#include "MPU60502.h"
-#include "MPU60503.h"
-#include "MPU60504.h"
-#include "MPU60505.h"
-#include "MPU60506.h"
+#include "MPU6050.h"
+
 #include <stdio.h>
 /* USER CODE END Includes */
 
@@ -55,6 +51,14 @@
 
 /* USER CODE BEGIN PV */
 
+
+ int a=0x68;
+ int b=0xD1;
+ int c=0xD0;
+int t = 1;
+//int a = 0x69;
+//int b = 0xD3;
+//int c = 0xD2;
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -66,17 +70,16 @@ void SystemClock_Config(void);
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
 
-
 int fputc(int ch, FILE *f)
 {
-  HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, 0xffff);//�����ض���
+  HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, 0xffff); // �����ض���
   return ch;
 }
 
 int fgetc(FILE *f)
 {
   uint8_t ch = 0;
-  HAL_UART_Receive(&huart2, &ch, 1, 0xffff);//�����ض���
+  HAL_UART_Receive(&huart2, &ch, 1, 0xffff); // �����ض���
   return ch;
 }
 
@@ -120,11 +123,45 @@ int main(void)
   MX_I2C2_Init();
   MX_I2C3_Init();
   /* USER CODE BEGIN 2 */
-
-DMP_Init();
-
-HAL_QSPI_Init(&hqspi);
-
+				a=0x69;
+    		b=0xD3;
+    		c=0XD2;
+    		t=1;
+				DMP_Init();
+				a=0x68;
+    		b=0xD1;
+    		c=0XD0;
+    		t=1;
+				DMP_Init();
+				a=0x68;
+    		b=0xD1;
+    		c=0XD0;
+    		t=2;
+				DMP_Init();
+				a=0x69;
+    		b=0xD3;
+    		c=0XD2;
+    		t=2;
+				DMP_Init();
+				a=0x69;
+    		b=0xD3;
+    		c=0XD2;
+    		t=3;
+				DMP_Init();
+				a=0x68;
+    		b=0xD1;
+    		c=0XD0;
+    		t=3;
+				DMP_Init();
+
+  HAL_QSPI_Init(&hqspi);
+  int g = 1;
+  float Pitch1, Roll1, Yaw1;
+  float Pitch2, Roll2, Yaw2;
+	float Pitch3, Roll3, Yaw3;
+	float Pitch4, Roll4, Yaw4;
+  float Pitch5, Roll5, Yaw5;
+	float Pitch6, Roll6, Yaw6;
   /* USER CODE END 2 */
 
   /* Infinite loop */
@@ -132,17 +169,120 @@ HAL_QSPI_Init(&hqspi);
   while (1)
   {
 
-		float Pitch, Roll, Yaw;
-
-  	  uint8_t ret = Read_DMP(&Pitch, &Roll, &Yaw);
 		
-  	  printf("%f,%f,%f\r\n", Pitch, Roll, Yaw);
-//		HAL_GPIO_WritePin(GPIOC,GPIO_PIN_13,0);
-//		HAL_Delay(10);
-		HAL_GPIO_WritePin(GPIOC,GPIO_PIN_13,1);
-//		HAL_Delay(10);
-//		
+		//测试
+//			a=0x68;
+//			b=0xD1;
+//			c=0XD0;
+				a=0x69;
+    		b=0xD3;
+    		c=0XD2;
+    		t=3;
+    
+    
+    uint8_t ret = Read_DMP(&Pitch1, &Roll1, &Yaw1);
+		a=0x68;
+    		b=0xD1;
+    		c=0XD0;
+    		t=1;
+    
+    
+    uint8_t ret1 = Read_DMP(&Pitch2, &Roll2, &Yaw2);
+    printf("%f,%f,%f,%f,%f,%f\r\n",Pitch1,Roll1,Yaw1,Pitch2,Roll2,Yaw2);
 		
+		
+//		
+//		
+//  	if(g==1){ //15
+//    		
+//			
+//			a=0x69;
+//    		b=0xD3;
+//    		c=0XD2;
+//    		t=1;
+//    
+//    // char buff[100]={0};
+//       	  uint8_t ret = Read_DMP(&Pitch1, &Roll1, &Yaw1);
+//    ////printf("%d,%f,%f,%f\r\n", g,Pitch1, Roll1, Yaw1);
+//    ////printf("com:imu:%d:ang:%f:%f:%f\r\n", g,Pitch1, Roll1, Yaw1);
+//    ////		sprintf(buff,"16:%f,%f,%f\r\n", Pitch, Roll, Yaw);
+//    ////		HAL_QSPI_Transmit(&hqspi, buff, 100);
+//    		g=2;
+//    	}
+//     else if(g==2){  //18
+//    			 a=0x68;
+//			b=0xD1;
+//			c=0XD0;
+//			t=1;
+//	
+
+//    // float Pitch2, Roll2, Yaw2;
+
+//      	  uint8_t ret = Read_DMP(&Pitch2, &Roll2, &Yaw2);
+//			
+//    // printf("com:imu:%d:ang:%f:%f:%f\r\n", g,Pitch2, Roll2, Yaw2);
+//    	g=3;
+//    }
+//     else if(g==3){ //16
+//    		
+//		
+//		    a=0x68;
+//    		b=0xD1;
+//    		c=0XD0;
+//    		t=2;
+//    // float Pitch, Roll, Yaw;
+
+//      	  uint8_t ret = Read_DMP(&Pitch3, &Roll3, &Yaw3);
+//			 //printf("%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n",Pitch1, Roll1, Yaw1,Pitch2, Roll2, Yaw2,Pitch3, Roll3, Yaw3);
+//    // printf("com:imu:%d:ang:%f:%f:%f\r\n", g,Pitch3, Roll3, Yaw3);
+//    		g=4;
+//    	}
+
+//     else if(g==4){ //13
+//    a = 0x69;
+//    b = 0xD3;
+//    c = 0XD2;
+//    t = 2;
+
+
+//   uint8_t ret = Read_DMP(&Pitch4, &Roll4, &Yaw4);
+//			//printf("%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n",Pitch1, Roll1, Yaw1,Pitch2, Roll2, Yaw2,Pitch3, Roll3, Yaw3,Pitch4, Roll4, Yaw4,Pitch5, Roll5, Yaw5,Pitch6, Roll6, Yaw6);
+//		 //printf("%d,%f,%f,%f\r\n", g, Pitch4, Roll4, Yaw4);
+//    ////printf("com:imu:%d:ang:%f:%f:%f\r\n", g,Pitch4, Roll4, Yaw4);
+//    		g=5;
+//    	}
+//    	else if(g==5){ //17
+//    		a=0x68;
+//    		b=0xD1;
+//    		c=0XD0;
+//    		t=3;
+//    ////float Pitch5, Roll5, Yaw5;
+
+//      	  uint8_t ret = Read_DMP(&Pitch5, &Roll5, &Yaw5);
+//    ////		printf("%d,%f,%f,%f\r\n", g,Pitch5, Roll5, Yaw5);
+//    //printf("com:imu:%d:ang:%f:%f:%f\r\n", g,Pitch5, Roll5, Yaw5);
+//    		g=6;
+//    	}
+//    	else if(g==6){ //14
+//    		a=0x69;
+//    		b=0xD3;
+//    		c=0XD2;
+//    	t=3;
+//     
+//      uint8_t ret = Read_DMP(&Pitch6, &Roll6, &Yaw6);
+//    		//printf("%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n",Pitch1, Roll1, Yaw1,Pitch2, Roll2, Yaw2,Pitch3, Roll3, Yaw3,Pitch4, Roll4, Yaw4,Pitch5, Roll5, Yaw5,Pitch6, Roll6, Yaw6);
+//      	 
+//     //printf("com:imu:%d:ang:%f:%f:%f\r\n", g,Pitch, Roll, Yaw);
+//    		g=1;
+//    	}
+    //
+	//printf("%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n",Pitch1, Roll1, Yaw1,Pitch2, Roll2, Yaw2,Pitch3, Roll3, Yaw3,Pitch4, Roll4, Yaw4,Pitch5, Roll5, Yaw5,Pitch6, Roll6, Yaw6);
+    //		HAL_GPIO_WritePin(GPIOC,GPIO_PIN_13,0);
+    //		HAL_Delay(10);
+    HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, 1);
+    //		HAL_Delay(10);
+    //
+
     /* USER CODE END WHILE */
 
     /* USER CODE BEGIN 3 */

Core - 副本/imu/MPU6050.c

@@ -0,0 +1,710 @@
+/*
+ * MPU6050.c
+ *
+ *  Created on: Oct 26, 2021
+ *      Author: Administrator
+ */
+
+#include "MPU6050.h"
+#include "main.h"
+#include <stdio.h>
+
+extern int t;
+extern int a;
+extern int b;
+extern int c;
+
+//void addr_check_point(u8 addr){
+//    if (addr != 0x69)
+//    {
+//        printf("checkpoint error addr");
+//    }
+//}
+
+//void common_check_point(u8 value){
+//printf("<checkpoint> value => %x\n", value);
+//}
+
+
+u8 IIC_Write_Byte(u8 reg, u8 value)
+{
+
+	
+
+    return IIC_Write_Len(a, reg, 1, &value);
+}
+
+
+u8 IIC_Read_Byte(u8 reg)
+{
+    u8 value = 0;
+
+
+  	IIC_Read_Len(a, reg, 1, &value);
+
+    return value;
+}
+
+
+
+
+u8 IIC_Write_Len1(u8 addr, u8 reg, u8 len, u8 *buf)
+{
+	
+	addr=a;
+	addr = (addr << 1) | 0;
+
+        u8 data[10] = {0};
+        data[0] = reg;
+        for (int i = 0; i < len; i++)
+        {
+            data[1 + i] = buf[i];
+        }
+
+        if (HAL_I2C_Master_Transmit(&hi2c1, (uint16_t)addr, (uint8_t *)data, len + 1, 10000) != HAL_OK
+        ||HAL_I2C_Master_Transmit(&hi2c2, (uint16_t)addr, (uint8_t *)data, len + 1, 10000) != HAL_OK
+        ||HAL_I2C_Master_Transmit(&hi2c3, (uint16_t)addr, (uint8_t *)data, len + 1, 10000) != HAL_OK)
+        {
+            printf("++write len byte fail\r\n");
+            return 1;
+					
+        }
+	return 0;
+}
+// IIC连续写
+u8 IIC_Write_Len(u8 addr, u8 reg, u8 len, u8 *buf)
+{
+	
+	addr=a;
+  		
+
+    if (t == 1)
+    {
+        addr = (addr << 1) | 0;
+
+        u8 data[10] = {0};
+        data[0] = reg;
+        for (int i = 0; i < len; i++)
+        {
+            data[1 + i] = buf[i];
+        }
+
+        if (HAL_I2C_Master_Transmit(&hi2c1, (uint16_t)addr, (uint8_t *)data, len + 1, 10000) != HAL_OK)
+        {
+            printf("++write len byte fail\r\n");
+            return 1;
+        }
+    }
+    else if (t == 2)
+    {
+        addr = (addr << 1) | 0;
+
+        u8 data[10] = {0};
+        data[0] = reg;
+        for (int i = 0; i < len; i++)
+        {
+            data[1 + i] = buf[i];
+        }
+
+        if (HAL_I2C_Master_Transmit(&hi2c2, (uint16_t)addr, (uint8_t *)data, len + 1, 10000) != HAL_OK)
+        {
+            printf("++write len byte fail\r\n");
+            return 1;
+        }
+    }
+    else if (t == 3)
+    {
+        addr = (addr << 1) | 0;
+
+        u8 data[10] = {0};
+        data[0] = reg;
+        for (int i = 0; i < len; i++)
+        {
+            data[1 + i] = buf[i];
+        }
+
+        if (HAL_I2C_Master_Transmit(&hi2c3, (uint16_t)addr, (uint8_t *)data, len + 1, 10000) != HAL_OK)
+        {
+            printf("++write len byte fail\r\n");
+            return 1;
+        }
+    }
+    return 0;
+}
+
+u8 IIC_Read_Len1(u8 addr, u8 reg, u8 len, u8 *buf)
+{addr=a;
+	u8 tmp = (addr << 1) | 0;
+        if (HAL_I2C_Master_Transmit(&hi2c1, (uint16_t)tmp, (uint8_t *)&reg, 1, 10000) != HAL_OK
+        ||HAL_I2C_Master_Transmit(&hi2c2, (uint16_t)tmp, (uint8_t *)&reg, 1, 10000) != HAL_OK
+        ||HAL_I2C_Master_Transmit(&hi2c3, (uint16_t)tmp, (uint8_t *)&reg, 1, 10000) != HAL_OK)
+        {
+            printf("++write byte fail\r\n");
+            return 1;
+				
+			  
+				//	return addr_test;
+        }
+
+        tmp = (addr << 1) | 1;
+        if (HAL_I2C_Master_Receive(&hi2c1, (uint16_t)tmp, (uint8_t *)buf, len, 10000) != HAL_OK
+        ||HAL_I2C_Master_Receive(&hi2c2, (uint16_t)tmp, (uint8_t *)buf, len, 10000) != HAL_OK
+        ||HAL_I2C_Master_Receive(&hi2c3, (uint16_t)tmp, (uint8_t *)buf, len, 10000) != HAL_OK)
+        {
+					
+            printf("--read byte fail\r\n");
+				
+			  
+        }
+	
+}
+
+// IIC连续读
+u8 IIC_Read_Len(u8 addr, u8 reg, u8 len, u8 *buf)
+{
+	
+	addr=a;
+
+
+    if (t == 1)
+    {
+        u8 tmp = (addr << 1) | 0;
+        if (HAL_I2C_Master_Transmit(&hi2c1, (uint16_t)tmp, (uint8_t *)&reg, 1, 10000) != HAL_OK)
+        {
+            printf("++write byte fail\r\n");
+            return 1;
+				//	return addr_test;
+        }
+
+        tmp = (addr << 1) | 1;
+        if (HAL_I2C_Master_Receive(&hi2c1, (uint16_t)tmp, (uint8_t *)buf, len, 10000) != HAL_OK)
+        {
+            printf("--read byte fail\r\n");
+        }
+    }
+    else if (t == 2)
+    {
+        u8 tmp = (addr << 1) | 0;
+        if (HAL_I2C_Master_Transmit(&hi2c2, (uint16_t)tmp, (uint8_t *)&reg, 1, 10000) != HAL_OK)
+        {
+            printf("++write byte fail\r\n");
+            return 1;
+				//	return addr_test;
+        }
+
+        tmp = (addr << 1) | 1;
+        if (HAL_I2C_Master_Receive(&hi2c2, (uint16_t)tmp, (uint8_t *)buf, len, 10000) != HAL_OK)
+        {
+            printf("--read byte fail\r\n");
+        }
+    }
+    else if (t == 3)
+    {
+        u8 tmp = (addr << 1) | 0;
+        if (HAL_I2C_Master_Transmit(&hi2c3, (uint16_t)tmp, (uint8_t *)&reg, 1, 10000) != HAL_OK)
+        {
+            printf("++write byte fail\r\n");
+             return 1;
+				//	return addr_test;
+        }
+
+        tmp = (addr << 1) | 1;
+        if (HAL_I2C_Master_Receive(&hi2c3, (uint16_t)tmp, (uint8_t *)buf, len, 10000) != HAL_OK)
+        {
+            printf("--read byte fail\r\n");
+        }
+    }
+		
+	//	return -1;
+}
+
+// 初始化MPU6050
+// 返回值: 0,成功
+//         其他,错误代码
+u8 MPU_Init(void)
+{
+    u8 res = 0;
+
+    IIC_Write_Byte(MPU_PWR_MGMT1_REG, 0X80); // 复位MPU6050
+
+    HAL_Delay(100);
+
+    IIC_Write_Byte(MPU_PWR_MGMT1_REG, 0X00); // 唤醒MPU6050
+
+    MPU_Set_Gyro_Fsr(3);                     // 陀螺仪传感器,±2000dps
+    MPU_Set_Accel_Fsr(0);                    // 加速度传感器 ±2g
+    MPU_Set_Rate(50);                        // 设置采样率50HZ
+    IIC_Write_Byte(MPU_INT_EN_REG, 0X00);    // 关闭所有中断
+    IIC_Write_Byte(MPU_USER_CTRL_REG, 0X00); // I2C主模式关闭
+    IIC_Write_Byte(MPU_FIFO_EN_REG, 0X00);   // 关闭FIFO
+    IIC_Write_Byte(MPU_INTBP_CFG_REG, 0X80); // INT引脚低电平有效
+
+    res = IIC_Read_Byte(MPU_DEVICE_ID_REG);
+
+    printf("the addr is:%d\r\n", res);
+
+    //    if(res==a)//器件ID正确
+    //    {
+    IIC_Write_Byte(MPU_PWR_MGMT1_REG, 0X01); // 设置CLKSEL,PLL X 轴为参考
+    IIC_Write_Byte(MPU_PWR_MGMT2_REG, 0X00); // 加速度陀螺仪都工作
+    MPU_Set_Rate(50);                        // 设置采样率为50HZ
+    //    }
+    //    else
+    //    {
+    //    	return 1;
+    //    }
+
+    return 0;
+}
+
+// 设置MPU6050陀螺仪传感器满量程范围
+// fsr:0,±250dps;1,±500dps;2,±1000dps;3,±2000dps
+// 返回值:0,设置成功
+//     其他,设置失败
+u8 MPU_Set_Gyro_Fsr(u8 fsr)
+{
+    return IIC_Write_Byte(MPU_GYRO_CFG_REG, fsr << 3); // 设置陀螺仪满量程范围
+}
+
+// 设置MPU6050加速度传感器满量程范围
+// fsr:0,±2g;1,±4g;2,±8g;3,±16g
+// 返回值:0,设置成功
+//     其他,设置失败
+u8 MPU_Set_Accel_Fsr(u8 fsr)
+{
+    return IIC_Write_Byte(MPU_ACCEL_CFG_REG, fsr << 3); // 设置加速度传感器满量程范围
+}
+
+// 设置MPU6050的数字低通滤波器
+// lpf:数字低通滤波频率(Hz)
+// 返回值:0,设置成功
+//     其他,设置失败
+u8 MPU_Set_LPF(u16 lpf)
+{
+    u8 data = 0;
+    if (lpf >= 188)
+        data = 1;
+    else if (lpf >= 98)
+        data = 2;
+    else if (lpf >= 42)
+        data = 2;
+    else if (lpf >= 42)
+        data = 3;
+    else if (lpf >= 20)
+        data = 4;
+    else if (lpf >= 10)
+        data = 5;
+    else
+        data = 6;
+    return IIC_Write_Byte(MPU_CFG_REG, data); // 设置数字低通滤波器
+}
+
+// 设置MPU6050的采样率(假定Fs=1KHz)
+// rate:4~1000(Hz)
+// 返回值:0,设置成功
+//     其他,设置失败
+u8 MPU_Set_Rate(u16 rate)
+{
+    u8 data;
+    if (rate > 1000)
+        rate = 1000;
+    if (rate < 4)
+        rate = 4;
+    data = 1000 / rate - 1;
+    data = IIC_Write_Byte(MPU_SAMPLE_RATE_REG, data); // 设置数字低通滤波器
+    return MPU_Set_LPF(rate / 2);                     // 自动设置LPF为采样率的一半
+}
+
+// 得到温度值
+// 返回值:温度值(扩大了100倍)
+short MPU_Get_Temperature(void)
+{
+    u8 buf[2];
+    short raw;
+    float temp;
+    IIC_Read_Len(a, MPU_TEMP_OUTH_REG, 2, buf);
+    raw = ((u16)buf[0] << 8) | buf[1];
+    temp = 36.53 + ((double)raw) / 340;
+
+    return temp * 100;
+    ;
+}
+
+// 得到陀螺仪值(原始值)
+// gx,gy,gz:陀螺仪x,y,z轴的原始读数(带符号)
+// 返回值:0,成功
+//  其他,错误代码
+u8 MPU_Get_Gyroscope(short *gx, short *gy, short *gz)
+{
+    u8 buf[6], res;
+    res = IIC_Read_Len(a, MPU_GYRO_XOUTH_REG, 6, buf);
+    if (res == 0)
+    {
+        *gx = ((u16)buf[0] << 8) | buf[1];
+        *gy = ((u16)buf[2] << 8) | buf[3];
+        *gz = ((u16)buf[4] << 8) | buf[5];
+    }
+    return res;
+}
+
+// 得到加速度值(原始值)
+// ax,ay,az:陀螺仪x,y,z轴的原始读数(带符号)
+// 返回值:0,成功
+//     其他,错误代码
+u8 MPU_Get_Accelerometer(short *ax, short *ay, short *az)
+{
+    u8 buf[6], res;
+    res = IIC_Read_Len(a, MPU_ACCEL_XOUTH_REG, 6, buf);
+    if (res == 0)
+    {
+        *ax = ((u16)buf[0] << 8) | buf[1];
+        *ay = ((u16)buf[2] << 8) | buf[3];
+        *az = ((u16)buf[4] << 8) | buf[5];
+    }
+    return res;
+    ;
+}
+
+/*--------------------以下为使用板载固件DMP的相关代码，这个融合得到的姿态角效果很好*/
+
+/**
+ * @brief  获取当前毫秒值
+ * @param  存储最新毫秒值的变量
+ * @retval 无
+ */
+int get_tick_count(unsigned long *count)
+{
+    count[0] = HAL_GetTick();
+    return 0;
+}
+
+#include "inv_mpu.h"
+#include "inv_mpu_dmp_motion_driver.h"
+
+/* Data requested by client. */
+#define PRINT_ACCEL (0x01)
+#define PRINT_GYRO (0x02)
+#define PRINT_QUAT (0x04)
+
+#define ACCEL_ON (0x01)
+#define GYRO_ON (0x02)
+
+#define MOTION (0)
+#define NO_MOTION (1)
+
+/* Starting sampling rate. */ // 100
+#define DEFAULT_MPU_HZ (50)
+
+struct rx_s
+{
+    unsigned char header[3];
+    unsigned char cmd;
+};
+struct hal_s
+{
+    unsigned char sensors;
+    unsigned char dmp_on;
+    unsigned char wait_for_tap;
+    volatile unsigned char new_gyro;
+    unsigned short report;
+    unsigned short dmp_features;
+    unsigned char motion_int_mode;
+    struct rx_s rx;
+};
+static struct hal_s hal = {0};
+
+/* USB RX binary semaphore. Actually, it's just a flag. Not included in struct
+ * because it's declared extern elsewhere.
+ */
+volatile unsigned char rx_new;
+
+/* The sensors can be mounted onto the board in any orientation. The mounting
+ * matrix seen below tells the MPL how to rotate the raw data from thei
+ * driver(s).
+ * TODO: The following matrices refer to the configuration on an internal test
+ * board at Invensense. If needed, please modify the matrices to match the
+ * chip-to-body matrix for your particular set up.
+ */
+static signed char gyro_orientation[9] = {-1, 0, 0,
+                                          0, -1, 0,
+                                          0, 0, 1};
+
+/* Every time new gyro data is available, this function is called in an
+ * ISR context. In this example, it sets a flag protecting the FIFO read
+ * function.
+ */
+static void gyro_data_ready_cb(void)
+{
+    hal.new_gyro = 1;
+}
+
+enum packet_type_e
+{
+    PACKET_TYPE_ACCEL,
+    PACKET_TYPE_GYRO,
+    PACKET_TYPE_QUAT,
+    PACKET_TYPE_TAP,
+    PACKET_TYPE_ANDROID_ORIENT,
+    PACKET_TYPE_PEDO,
+    PACKET_TYPE_MISC
+};
+
+#define BYTE u_char
+/* Send data to the Python client application.
+ * Data is formatted as follows:
+ * packet[0]    = $
+ * packet[1]    = packet type (see packet_type_e)
+ * packet[2+]   = data
+ */
+void send_packet(char packet_type, void *data)
+{
+
+#define MAX_BUF_LENGTH (18)
+    char buf[MAX_BUF_LENGTH], length;
+
+    memset(buf, 0, MAX_BUF_LENGTH);
+    buf[0] = '$';
+    buf[1] = packet_type;
+
+    if (packet_type == PACKET_TYPE_ACCEL || packet_type == PACKET_TYPE_GYRO)
+    {
+        short *sdata = (short *)data;
+        buf[2] = (char)(sdata[0] >> 8);
+        buf[3] = (char)sdata[0];
+        buf[4] = (char)(sdata[1] >> 8);
+        buf[5] = (char)sdata[1];
+        buf[6] = (char)(sdata[2] >> 8);
+        buf[7] = (char)sdata[2];
+        length = 8;
+    }
+    else if (packet_type == PACKET_TYPE_QUAT)
+    {
+        long *ldata = (long *)data;
+        buf[2] = (char)(ldata[0] >> 24);
+        buf[3] = (char)(ldata[0] >> 16);
+        buf[4] = (char)(ldata[0] >> 8);
+        buf[5] = (char)ldata[0];
+        buf[6] = (char)(ldata[1] >> 24);
+        buf[7] = (char)(ldata[1] >> 16);
+        buf[8] = (char)(ldata[1] >> 8);
+        buf[9] = (char)ldata[1];
+        buf[10] = (char)(ldata[2] >> 24);
+        buf[11] = (char)(ldata[2] >> 16);
+        buf[12] = (char)(ldata[2] >> 8);
+        buf[13] = (char)ldata[2];
+        buf[14] = (char)(ldata[3] >> 24);
+        buf[15] = (char)(ldata[3] >> 16);
+        buf[16] = (char)(ldata[3] >> 8);
+        buf[17] = (char)ldata[3];
+        length = 18;
+    }
+    else if (packet_type == PACKET_TYPE_TAP)
+    {
+        buf[2] = ((char *)data)[0];
+        buf[3] = ((char *)data)[1];
+        length = 4;
+    }
+    else if (packet_type == PACKET_TYPE_ANDROID_ORIENT)
+    {
+        buf[2] = ((char *)data)[0];
+        length = 3;
+    }
+    else if (packet_type == PACKET_TYPE_PEDO)
+    {
+        long *ldata = (long *)data;
+        buf[2] = (char)(ldata[0] >> 24);
+        buf[3] = (char)(ldata[0] >> 16);
+        buf[4] = (char)(ldata[0] >> 8);
+        buf[5] = (char)ldata[0];
+        buf[6] = (char)(ldata[1] >> 24);
+        buf[7] = (char)(ldata[1] >> 16);
+        buf[8] = (char)(ldata[1] >> 8);
+        buf[9] = (char)ldata[1];
+        length = 10;
+    }
+    else if (packet_type == PACKET_TYPE_MISC)
+    {
+        buf[2] = ((char *)data)[0];
+        buf[3] = ((char *)data)[1];
+        buf[4] = ((char *)data)[2];
+        buf[5] = ((char *)data)[3];
+        length = 6;
+    }
+
+    //    cdcSendDataWaitTilDone((BYTE*)buf, length, CDC0_INTFNUM, 100);
+}
+
+/* These next two functions converts the orientation matrix (see
+ * gyro_orientation) to a scalar representation for use by the DMP.
+ * NOTE: These functions are borrowed from Invensense's MPL.
+ */
+static inline unsigned short inv_row_2_scale(const signed char *row)
+{
+    unsigned short b;
+
+    if (row[0] > 0)
+        b = 0;
+    else if (row[0] < 0)
+        b = 4;
+    else if (row[1] > 0)
+        b = 1;
+    else if (row[1] < 0)
+        b = 5;
+    else if (row[2] > 0)
+        b = 2;
+    else if (row[2] < 0)
+        b = 6;
+    else
+        b = 7; // error
+    return b;
+}
+static inline unsigned short inv_orientation_matrix_to_scalar(
+    const signed char *mtx)
+{
+    unsigned short scalar;
+
+    /*
+       XYZ  010_001_000 Identity Matrix
+       XZY  001_010_000
+       YXZ  010_000_001
+       YZX  000_010_001
+       ZXY  001_000_010
+       ZYX  000_001_010
+     */
+
+    scalar = inv_row_2_scale(mtx);
+    scalar |= inv_row_2_scale(mtx + 3) << 3;
+    scalar |= inv_row_2_scale(mtx + 6) << 6;
+
+    return scalar;
+}
+
+static inline void run_self_test(void)
+{
+    int result;
+    char test_packet[4] = {0};
+    long gyro[3], accel[3];
+
+    result = mpu_run_self_test(gyro, accel);
+    if (result == 0x7)
+    {
+        /* Test passed. We can trust the gyro data here, so let's push it down
+         * to the DMP.
+         */
+        float sens;
+        unsigned short accel_sens;
+        mpu_get_gyro_sens(&sens);
+        gyro[0] = (long)(gyro[0] * sens);
+        gyro[1] = (long)(gyro[1] * sens);
+        gyro[2] = (long)(gyro[2] * sens);
+        dmp_set_gyro_bias(gyro);
+        mpu_get_accel_sens(&accel_sens);
+        accel[0] *= accel_sens;
+        accel[1] *= accel_sens;
+        accel[2] *= accel_sens;
+        dmp_set_accel_bias(accel);
+    }
+
+    /* Report results. */
+    test_packet[0] = 't';
+    test_packet[1] = result;
+    send_packet(PACKET_TYPE_MISC, test_packet);
+}
+
+#define INT_EXIT_LPM0 12
+
+void DMP_Init(void)
+{
+      	        printf("checkpoint Func DMP_Init\n");
+struct int_param_s int_param;
+
+    /* Set up gyro.
+     * Every function preceded by mpu_ is a driver function and can be found
+     * in inv_mpu.h.
+     */
+    int_param.cb = gyro_data_ready_cb;
+    int_param.pin = 16;
+    int_param.lp_exit = INT_EXIT_LPM0;
+    int_param.active_low = 1;
+
+    int result = mpu_init(&int_param);
+
+    printf("mpu_init, %d\r\n", result);
+
+    if (result == 0) // mpu初始化
+    {
+  if (!mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL)) // 设置需要的传感器
+            printf("mpu_set_sensor complete ......\r\n");
+
+        if (!mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL)) // 设置fifo
+            printf("mpu_configure_fifo complete ......\r\n");
+
+        if (!mpu_set_sample_rate(DEFAULT_MPU_HZ)) // 设置采集样率
+            printf("mpu_set_sample_rate complete ......\r\n");
+
+        unsigned short gyro_rate = 0, gyro_fsr = 0;
+        unsigned char accel_fsr = 0;
+
+        mpu_get_sample_rate(&gyro_rate);
+        mpu_get_gyro_fsr(&gyro_fsr);
+        mpu_get_accel_fsr(&accel_fsr);
+
+        printf("gyro_rate %d, gyro_fsr %d, accel_fsr %d\r\n", gyro_rate, gyro_fsr, accel_fsr);
+
+        if (!dmp_load_motion_driver_firmware()) // 加载dmp固件
+            printf("dmp_load_motion_driver_firmware complete ......\r\n");
+
+        if (!dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation)))
+            printf("dmp_set_orientation complete ......\r\n"); // 设置陀螺仪方向
+
+        if (!dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP |
+                                DMP_FEATURE_ANDROID_ORIENT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO |
+                                DMP_FEATURE_GYRO_CAL))
+            printf("dmp_enable_feature complete ......\r\n");
+
+        if (!dmp_set_fifo_rate(DEFAULT_MPU_HZ)) // 设置速率
+            printf("dmp_set_fifo_rate complete ......\r\n");
+
+        run_self_test(); // 自检(非必要)
+
+        if (!mpu_set_dmp_state(1)) // 使能
+            printf("mpu_set_dmp_state complete ......\r\n");
+    }
+}
+
+#define q30 1073741824.0
+
+uint8_t Read_DMP(float *Pitch, float *Roll, float *Yaw)
+{
+
+    short gyro[3], accel[3], sensors;
+    float q0 = 1.0f, q1 = 0.0f, q2 = 0.0f, q3 = 0.0f;
+    unsigned long sensor_timestamp;
+    unsigned char more;
+    long quat[4];
+
+    int ret = dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors, &more);
+
+    //	printf("dmp_read_fifo, %d\r\n", ret);
+
+    if (ret)
+    {
+        return 1;
+    }
+
+    if (sensors & INV_WXYZ_QUAT)
+    {
+        q0 = quat[0] / q30;
+        q1 = quat[1] / q30;
+        q2 = quat[2] / q30;
+        q3 = quat[3] / q30;
+        *Pitch = (float)asin(-2 * q1 * q3 + 2 * q0 * q2) * 57.3;
+        *Roll = (float)atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2 * q2 + 1) * 57.3; // roll
+        *Yaw = (float)atan2(2 * (q1 * q2 + q0 * q3), q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3) * 57.3;
+        return 0;
+    }
+    else
+    {
+        return 2;
+    }
+}

Core - 副本/imu/MPU6050.h

@@ -0,0 +1,124 @@
+/*
+ * MPU6050.h
+ *
+ *  Created on: Oct 26, 2021
+ *      Author: Administrator
+ */
+
+#ifndef INC_MPU6050_H_
+#define INC_MPU6050_H_
+
+#include "i2c.h"
+#include "inv_mpu.h"
+#include "main.h"
+
+extern int a;
+extern int b;
+extern int c;
+
+// #define MPU_ACCEL_OFFS_REG		0X06	//accel_offs寄存器,可读取版本号,寄存器手册未提到
+// #define MPU_PROD_ID_REG			0X0C	//prod id寄存器,在寄存器手册未提到
+#define MPU_SELF_TESTX_REG 0X0D   // 自检寄存器X
+#define MPU_SELF_TESTY_REG 0X0E   // 自检寄存器Y
+#define MPU_SELF_TESTZ_REG 0X0F   // 自检寄存器Z
+#define MPU_SELF_TESTA_REG 0X10   // 自检寄存器A
+#define MPU_SAMPLE_RATE_REG 0X19  // 采样频率分频器
+#define MPU_CFG_REG 0X1A          // 配置寄存器
+#define MPU_GYRO_CFG_REG 0X1B     // 陀螺仪配置寄存器
+#define MPU_ACCEL_CFG_REG 0X1C    // 加速度计配置寄存器
+#define MPU_MOTION_DET_REG 0X1F   // 运动检测阀值设置寄存器
+#define MPU_FIFO_EN_REG 0X23      // FIFO使能寄存器
+#define MPU_I2CMST_CTRL_REG 0X24  // IIC主机控制寄存器
+#define MPU_I2CSLV0_ADDR_REG 0X25 // IIC从机0器件地址寄存器
+#define MPU_I2CSLV0_REG 0X26      // IIC从机0数据地址寄存器
+#define MPU_I2CSLV0_CTRL_REG 0X27 // IIC从机0控制寄存器
+#define MPU_I2CSLV1_ADDR_REG 0X28 // IIC从机1器件地址寄存器
+#define MPU_I2CSLV1_REG 0X29      // IIC从机1数据地址寄存器
+#define MPU_I2CSLV1_CTRL_REG 0X2A // IIC从机1控制寄存器
+#define MPU_I2CSLV2_ADDR_REG 0X2B // IIC从机2器件地址寄存器
+#define MPU_I2CSLV2_REG 0X2C      // IIC从机2数据地址寄存器
+#define MPU_I2CSLV2_CTRL_REG 0X2D // IIC从机2控制寄存器
+#define MPU_I2CSLV3_ADDR_REG 0X2E // IIC从机3器件地址寄存器
+#define MPU_I2CSLV3_REG 0X2F      // IIC从机3数据地址寄存器
+#define MPU_I2CSLV3_CTRL_REG 0X30 // IIC从机3控制寄存器
+#define MPU_I2CSLV4_ADDR_REG 0X31 // IIC从机4器件地址寄存器
+#define MPU_I2CSLV4_REG 0X32      // IIC从机4数据地址寄存器
+#define MPU_I2CSLV4_DO_REG 0X33   // IIC从机4写数据寄存器
+#define MPU_I2CSLV4_CTRL_REG 0X34 // IIC从机4控制寄存器
+#define MPU_I2CSLV4_DI_REG 0X35   // IIC从机4读数据寄存器
+
+#define MPU_I2CMST_STA_REG 0X36 // IIC主机状态寄存器
+#define MPU_INTBP_CFG_REG 0X37  // 中断/旁路设置寄存器
+#define MPU_INT_EN_REG 0X38     // 中断使能寄存器
+#define MPU_INT_STA_REG 0X3A    // 中断状态寄存器
+
+#define MPU_ACCEL_XOUTH_REG 0X3B // 加速度值,X轴高8位寄存器
+#define MPU_ACCEL_XOUTL_REG 0X3C // 加速度值,X轴低8位寄存器
+#define MPU_ACCEL_YOUTH_REG 0X3D // 加速度值,Y轴高8位寄存器
+#define MPU_ACCEL_YOUTL_REG 0X3E // 加速度值,Y轴低8位寄存器
+#define MPU_ACCEL_ZOUTH_REG 0X3F // 加速度值,Z轴高8位寄存器
+#define MPU_ACCEL_ZOUTL_REG 0X40 // 加速度值,Z轴低8位寄存器
+
+#define MPU_TEMP_OUTH_REG 0X41 // 温度值高八位寄存器
+#define MPU_TEMP_OUTL_REG 0X42 // 温度值低8位寄存器
+
+#define MPU_GYRO_XOUTH_REG 0X43 // 陀螺仪值,X轴高8位寄存器
+#define MPU_GYRO_XOUTL_REG 0X44 // 陀螺仪值,X轴低8位寄存器
+#define MPU_GYRO_YOUTH_REG 0X45 // 陀螺仪值,Y轴高8位寄存器
+#define MPU_GYRO_YOUTL_REG 0X46 // 陀螺仪值,Y轴低8位寄存器
+#define MPU_GYRO_ZOUTH_REG 0X47 // 陀螺仪值,Z轴高8位寄存器
+#define MPU_GYRO_ZOUTL_REG 0X48 // 陀螺仪值,Z轴低8位寄存器
+
+#define MPU_I2CSLV0_DO_REG 0X63 // IIC从机0数据寄存器
+#define MPU_I2CSLV1_DO_REG 0X64 // IIC从机1数据寄存器
+#define MPU_I2CSLV2_DO_REG 0X65 // IIC从机2数据寄存器
+#define MPU_I2CSLV3_DO_REG 0X66 // IIC从机3数据寄存器
+
+#define MPU_I2CMST_DELAY_REG 0X67 // IIC主机延时管理寄存器
+#define MPU_SIGPATH_RST_REG 0X68  // 信号通道复位寄存器
+#define MPU_MDETECT_CTRL_REG 0X69 // 运动检测控制寄存器
+#define MPU_USER_CTRL_REG 0X6A    // 用户控制寄存器
+#define MPU_PWR_MGMT1_REG 0X6B    // 电源管理寄存器1
+#define MPU_PWR_MGMT2_REG 0X6C    // 电源管理寄存器2
+#define MPU_FIFO_CNTH_REG 0X72    // FIFO计数寄存器高八位
+#define MPU_FIFO_CNTL_REG 0X73    // FIFO计数寄存器低八位
+#define MPU_FIFO_RW_REG 0X74      // FIFO读写寄存器
+#define MPU_DEVICE_ID_REG 0X75    // 器件ID寄存器
+
+// 如果AD0脚接地,IIC地址为0X68(不包含最低位).
+// 如果接V3.3,则IIC地址为0X69(不包含最低位).
+
+// 因为模块AD0默认接GND,所以转为读写地址后,为0XD1和0XD0(如果接VCC,则为0XD3和0XD2)
+// #define MPU_ADDR		a
+// #define MPU_READ    b
+// #define MPU_WRITE   c
+
+#define u8 uint8_t
+#define u16 uint16_t
+
+u8 MPU_Init(void);                                  // 初始化MPU6050
+u8 IIC_Write_Len(u8 addr, u8 reg, u8 len, u8 *buf); // IIC连续写
+u8 IIC_Read_Len(u8 addr, u8 reg, u8 len, u8 *buf);  // IIC连续读
+u8 IIC_Write_Byte(u8 reg, u8 data);                 // IIC写一个字节
+u8 IIC_Read_Byte(u8 reg);                           // IIC读一个字节
+
+u8 IIC_Write_Len1(u8 addr, u8 reg, u8 len, u8 *buf);
+u8 IIC_Read_Len1(u8 addr, u8 reg, u8 len, u8 *buf);
+
+
+u8 MPU_Set_Gyro_Fsr(u8 fsr);
+u8 MPU_Set_Accel_Fsr(u8 fsr);
+u8 MPU_Set_LPF(u16 lpf);
+u8 MPU_Set_Rate(u16 rate);
+u8 MPU_Set_Fifo(u8 sens);
+
+short MPU_Get_Temperature(void);
+u8 MPU_Get_Gyroscope(short *gx, short *gy, short *gz);
+u8 MPU_Get_Accelerometer(short *ax, short *ay, short *az);
+
+//----------------------DMP-------------------------------
+void DMP_Init(void);
+uint8_t Read_DMP(float *Pitch, float *Roll, float *Yaw);
+int get_tick_count(unsigned long *count);
+
+#endif /* INC_MPU6050_H_ */

core备份2/mpu6050/inv_mpu.h → Core - 副本/imu/inv_mpu.h

@@ -23,17 +23,18 @@
 
 #define MOTION_DRIVER_TARGET_STM32
 #define MPU6050
-//#define EMPL
-//#define USE_DMP
-
-#define INV_X_GYRO      (0x40)
-#define INV_Y_GYRO      (0x20)
-#define INV_Z_GYRO      (0x10)
-#define INV_XYZ_GYRO    (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO)
-#define INV_XYZ_ACCEL   (0x08)
+// #define EMPL
+// #define USE_DMP
+
+#define INV_X_GYRO (0x40)
+#define INV_Y_GYRO (0x20)
+#define INV_Z_GYRO (0x10)
+#define INV_XYZ_GYRO (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO)
+#define INV_XYZ_ACCEL (0x08)
 #define INV_XYZ_COMPASS (0x01)
 
-struct int_param_s {
+struct int_param_s
+{
 #if defined EMPL_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_STM32
     void (*cb)(void);
     unsigned short pin;
@@ -41,25 +42,25 @@ struct int_param_s {
     unsigned char active_low;
 #elif defined EMPL_TARGET_UC3L0
     unsigned long pin;
-    void (*cb)(volatile void*);
+    void (*cb)(volatile void *);
     void *arg;
 #endif
 };
 
-#define MPU_INT_STATUS_DATA_READY       (0x0001)
-#define MPU_INT_STATUS_DMP              (0x0002)
-#define MPU_INT_STATUS_PLL_READY        (0x0004)
-#define MPU_INT_STATUS_I2C_MST          (0x0008)
-#define MPU_INT_STATUS_FIFO_OVERFLOW    (0x0010)
-#define MPU_INT_STATUS_ZMOT             (0x0020)
-#define MPU_INT_STATUS_MOT              (0x0040)
-#define MPU_INT_STATUS_FREE_FALL        (0x0080)
-#define MPU_INT_STATUS_DMP_0            (0x0100)
-#define MPU_INT_STATUS_DMP_1            (0x0200)
-#define MPU_INT_STATUS_DMP_2            (0x0400)
-#define MPU_INT_STATUS_DMP_3            (0x0800)
-#define MPU_INT_STATUS_DMP_4            (0x1000)
-#define MPU_INT_STATUS_DMP_5            (0x2000)
+#define MPU_INT_STATUS_DATA_READY (0x0001)
+#define MPU_INT_STATUS_DMP (0x0002)
+#define MPU_INT_STATUS_PLL_READY (0x0004)
+#define MPU_INT_STATUS_I2C_MST (0x0008)
+#define MPU_INT_STATUS_FIFO_OVERFLOW (0x0010)
+#define MPU_INT_STATUS_ZMOT (0x0020)
+#define MPU_INT_STATUS_MOT (0x0040)
+#define MPU_INT_STATUS_FREE_FALL (0x0080)
+#define MPU_INT_STATUS_DMP_0 (0x0100)
+#define MPU_INT_STATUS_DMP_1 (0x0200)
+#define MPU_INT_STATUS_DMP_2 (0x0400)
+#define MPU_INT_STATUS_DMP_3 (0x0800)
+#define MPU_INT_STATUS_DMP_4 (0x1000)
+#define MPU_INT_STATUS_DMP_5 (0x2000)
 
 /* Set up APIs */
 int mpu_init(struct int_param_s *int_param);
@@ -69,7 +70,7 @@ int mpu_set_bypass(unsigned char bypass_on);
 /* Configuration APIs */
 int mpu_lp_accel_mode(unsigned char rate);
 int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time,
-    unsigned char lpa_freq);
+                            unsigned char lpa_freq);
 int mpu_set_int_level(unsigned char active_low);
 int mpu_set_int_latched(unsigned char enable);
 
@@ -111,22 +112,25 @@ int mpu_get_temperature(long *data, unsigned long *timestamp);
 
 int mpu_get_int_status(short *status);
 int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
-    unsigned char *sensors, unsigned char *more);
+                  unsigned char *sensors, unsigned char *more);
 int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
-    unsigned char *more);
+                         unsigned char *more);
 int mpu_reset_fifo(void);
 
 int mpu_write_mem(unsigned short mem_addr, unsigned short length,
-    unsigned char *data);
+                  unsigned char *data);
+int mpu_write_mem1(unsigned short mem_addr, unsigned short length,
+                  unsigned char *data);
 int mpu_read_mem(unsigned short mem_addr, unsigned short length,
-    unsigned char *data);
+                 unsigned char *data);
+int mpu_read_mem1(unsigned short mem_addr, unsigned short length,
+                 unsigned char *data);
 int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
-    unsigned short start_addr, unsigned short sample_rate);
+                      unsigned short start_addr, unsigned short sample_rate);
 
 int mpu_reg_dump(void);
 int mpu_read_reg(unsigned char reg, unsigned char *data);
 int mpu_run_self_test(long *gyro, long *accel);
 int mpu_register_tap_cb(void (*func)(unsigned char, unsigned char));
 
-#endif  /* #ifndef _INV_MPU_H_ */
-
+#endif /* #ifndef _INV_MPU_H_ */

core备份2/mpu6050/inv_mpu_dmp_motion_driver.c → Core - 副本/imu/inv_mpu_dmp_motion_driver.c

@@ -536,9 +536,9 @@ int dmp_set_orientation(unsigned short orient)
     accel_regs[2] = accel_axes[(orient >> 6) & 3];
 
     /* Chip-to-body, axes only. */
-    if (mpu_write_mem(FCFG_1, 3, gyro_regs))
+    if (mpu_write_mem1(FCFG_1, 3, gyro_regs))
         return -1;
-    if (mpu_write_mem(FCFG_2, 3, accel_regs))
+    if (mpu_write_mem1(FCFG_2, 3, accel_regs))
         return -1;
 
     memcpy(gyro_regs, gyro_sign, 3);
@@ -557,9 +557,9 @@ int dmp_set_orientation(unsigned short orient)
     }
 
     /* Chip-to-body, sign only. */
-    if (mpu_write_mem(FCFG_3, 3, gyro_regs))
+    if (mpu_write_mem1(FCFG_3, 3, gyro_regs))
         return -1;
-    if (mpu_write_mem(FCFG_7, 3, accel_regs))
+    if (mpu_write_mem1(FCFG_7, 3, accel_regs))
         return -1;
     dmp.orient = orient;
     return 0;
@@ -604,21 +604,21 @@ int dmp_set_gyro_bias(long *bias)
     regs[1] = (unsigned char)((gyro_bias_body[0] >> 16) & 0xFF);
     regs[2] = (unsigned char)((gyro_bias_body[0] >> 8) & 0xFF);
     regs[3] = (unsigned char)(gyro_bias_body[0] & 0xFF);
-    if (mpu_write_mem(D_EXT_GYRO_BIAS_X, 4, regs))
+    if (mpu_write_mem1(D_EXT_GYRO_BIAS_X, 4, regs))
         return -1;
 
     regs[0] = (unsigned char)((gyro_bias_body[1] >> 24) & 0xFF);
     regs[1] = (unsigned char)((gyro_bias_body[1] >> 16) & 0xFF);
     regs[2] = (unsigned char)((gyro_bias_body[1] >> 8) & 0xFF);
     regs[3] = (unsigned char)(gyro_bias_body[1] & 0xFF);
-    if (mpu_write_mem(D_EXT_GYRO_BIAS_Y, 4, regs))
+    if (mpu_write_mem1(D_EXT_GYRO_BIAS_Y, 4, regs))
         return -1;
 
     regs[0] = (unsigned char)((gyro_bias_body[2] >> 24) & 0xFF);
     regs[1] = (unsigned char)((gyro_bias_body[2] >> 16) & 0xFF);
     regs[2] = (unsigned char)((gyro_bias_body[2] >> 8) & 0xFF);
     regs[3] = (unsigned char)(gyro_bias_body[2] & 0xFF);
-    return mpu_write_mem(D_EXT_GYRO_BIAS_Z, 4, regs);
+    return mpu_write_mem1(D_EXT_GYRO_BIAS_Z, 4, regs);
 }
 
 /**
@@ -692,9 +692,9 @@ int dmp_set_fifo_rate(unsigned short rate)
     div = DMP_SAMPLE_RATE / rate - 1;
     tmp[0] = (unsigned char)((div >> 8) & 0xFF);
     tmp[1] = (unsigned char)(div & 0xFF);
-    if (mpu_write_mem(D_0_22, 2, tmp))
+    if (mpu_write_mem1(D_0_22, 2, tmp))
         return -1;
-    if (mpu_write_mem(CFG_6, 12, (unsigned char*)regs_end))
+    if (mpu_write_mem1(CFG_6, 12, (unsigned char*)regs_end))
         return -1;
 
     dmp.fifo_rate = rate;
@@ -706,7 +706,7 @@ int dmp_set_fifo_rate(unsigned short rate)
  *  @param[out] rate    Current fifo rate (Hz).
  *  @return     0 if successful.
  */
-int dmp_get_fifo_rate(unsigned short *rate)
+int dmp_get_fifo_rate1(unsigned short *rate)
 {
     rate[0] = dmp.fifo_rate;
     return 0;
@@ -759,21 +759,21 @@ int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh)
     tmp[3] = (unsigned char)(dmp_thresh_2 & 0xFF);
 
     if (axis & TAP_X) {
-        if (mpu_write_mem(DMP_TAP_THX, 2, tmp))
+        if (mpu_write_mem1(DMP_TAP_THX, 2, tmp))
             return -1;
-        if (mpu_write_mem(D_1_36, 2, tmp+2))
+        if (mpu_write_mem1(D_1_36, 2, tmp+2))
             return -1;
     }
     if (axis & TAP_Y) {
-        if (mpu_write_mem(DMP_TAP_THY, 2, tmp))
+        if (mpu_write_mem1(DMP_TAP_THY, 2, tmp))
             return -1;
-        if (mpu_write_mem(D_1_40, 2, tmp+2))
+        if (mpu_write_mem1(D_1_40, 2, tmp+2))
             return -1;
     }
     if (axis & TAP_Z) {
-        if (mpu_write_mem(DMP_TAP_THZ, 2, tmp))
+        if (mpu_write_mem1(DMP_TAP_THZ, 2, tmp))
             return -1;
-        if (mpu_write_mem(D_1_44, 2, tmp+2))
+        if (mpu_write_mem1(D_1_44, 2, tmp+2))
             return -1;
     }
     return 0;
@@ -1037,7 +1037,7 @@ int dmp_enable_feature(unsigned short mask)
         tmp[0] = DINA20;
     else
         tmp[0] = 0xD8;
-    mpu_write_mem(CFG_27,1,tmp);
+    mpu_write_mem1(CFG_27,1,tmp);
 
     if (mask & DMP_FEATURE_GYRO_CAL)
         dmp_enable_gyro_cal(1);
@@ -1056,13 +1056,13 @@ int dmp_enable_feature(unsigned short mask)
             tmp[2] = DINAC2;
             tmp[3] = DINA90;
         }
-        mpu_write_mem(CFG_GYRO_RAW_DATA, 4, tmp);
+        mpu_write_mem1(CFG_GYRO_RAW_DATA, 4, tmp);
     }
 
     if (mask & DMP_FEATURE_TAP) {
         /* Enable tap. */
         tmp[0] = 0xF8;
-        mpu_write_mem(CFG_20, 1, tmp);
+        mpu_write_mem1(CFG_20, 1, tmp);
         dmp_set_tap_thresh(TAP_XYZ, 250);
         dmp_set_tap_axes(TAP_XYZ);
         dmp_set_tap_count(1);
@@ -1074,14 +1074,14 @@ int dmp_enable_feature(unsigned short mask)
         dmp_set_shake_reject_timeout(10);
     } else {
         tmp[0] = 0xD8;
-        mpu_write_mem(CFG_20, 1, tmp);
+        mpu_write_mem1(CFG_20, 1, tmp);
     }
 
     if (mask & DMP_FEATURE_ANDROID_ORIENT) {
         tmp[0] = 0xD9;
     } else
         tmp[0] = 0xD8;
-    mpu_write_mem(CFG_ANDROID_ORIENT_INT, 1, tmp);
+    mpu_write_mem1(CFG_ANDROID_ORIENT_INT, 1, tmp);
 
     if (mask & DMP_FEATURE_LP_QUAT)
         dmp_enable_lp_quat(1);

Core/Src/i2c.c

@@ -40,7 +40,7 @@ void MX_I2C1_Init(void)
 
   /* USER CODE END I2C1_Init 1 */
   hi2c1.Instance = I2C1;
-  hi2c1.Init.Timing = 0x10C0ECFF;
+  hi2c1.Init.Timing = 0x00401242;
   hi2c1.Init.OwnAddress1 = 0;
   hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
   hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
@@ -66,6 +66,10 @@ void MX_I2C1_Init(void)
   {
     Error_Handler();
   }
+
+  /** I2C Enable Fast Mode Plus
+  */
+  HAL_I2CEx_EnableFastModePlus(I2C_FASTMODEPLUS_I2C1);
   /* USER CODE BEGIN I2C1_Init 2 */
 
   /* USER CODE END I2C1_Init 2 */
@@ -83,7 +87,7 @@ void MX_I2C2_Init(void)
 
   /* USER CODE END I2C2_Init 1 */
   hi2c2.Instance = I2C2;
-  hi2c2.Init.Timing = 0x10C0ECFF;
+  hi2c2.Init.Timing = 0x00401242;
   hi2c2.Init.OwnAddress1 = 0;
   hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
   hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
@@ -109,6 +113,10 @@ void MX_I2C2_Init(void)
   {
     Error_Handler();
   }
+
+  /** I2C Enable Fast Mode Plus
+  */
+  HAL_I2CEx_EnableFastModePlus(I2C_FASTMODEPLUS_I2C2);
   /* USER CODE BEGIN I2C2_Init 2 */
 
   /* USER CODE END I2C2_Init 2 */
@@ -126,7 +134,7 @@ void MX_I2C3_Init(void)
 
   /* USER CODE END I2C3_Init 1 */
   hi2c3.Instance = I2C3;
-  hi2c3.Init.Timing = 0x10C0ECFF;
+  hi2c3.Init.Timing = 0x00401242;
   hi2c3.Init.OwnAddress1 = 0;
   hi2c3.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
   hi2c3.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
@@ -152,6 +160,10 @@ void MX_I2C3_Init(void)
   {
     Error_Handler();
   }
+
+  /** I2C Enable Fast Mode Plus
+  */
+  HAL_I2CEx_EnableFastModePlus(I2C_FASTMODEPLUS_I2C3);
   /* USER CODE BEGIN I2C3_Init 2 */
 
   /* USER CODE END I2C3_Init 2 */

Core/Src/main.c

@@ -1,20 +1,20 @@
 /* USER CODE BEGIN Header */
 /**
-  ******************************************************************************
-  * @file           : main.c
-  * @brief          : Main program body
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2024 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
+ ******************************************************************************
+ * @file           : main.c
+ * @brief          : Main program body
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2024 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
 /* USER CODE END Header */
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
@@ -51,36 +51,35 @@
 
 /* USER CODE BEGIN PV */
 
-int t=2;
-int a=0x68;
-int b=0xD1;
-int c=0xD0;
-//int t=2;
-//int a=0x69;
-//int b=0xD3;
-//int c=0xD2;
+
+ int a=0x68;
+ int b=0xD1;
+ int c=0xD0;
+int t = 1;
+//int a = 0x69;
+//int b = 0xD3;
+//int c = 0xD2;
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
 void SystemClock_Config(void);
-/* USER CODE BEGIN PFP 	*/
+/* USER CODE BEGIN PFP */
 
 /* USER CODE END PFP */
 
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
 
-
 int fputc(int ch, FILE *f)
 {
-  HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, 0xffff);//�����ض���
+  HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, 0xffff); // �����ض���
   return ch;
 }
 
 int fgetc(FILE *f)
 {
   uint8_t ch = 0;
-  HAL_UART_Receive(&huart2, &ch, 1, 0xffff);//�����ض���
+  HAL_UART_Receive(&huart2, &ch, 1, 0xffff); // �����ض���
   return ch;
 }
 
@@ -124,14 +123,52 @@ int main(void)
   MX_I2C2_Init();
   MX_I2C3_Init();
   /* USER CODE BEGIN 2 */
-
-DMP_Init();
-
-HAL_QSPI_Init(&hqspi);
-int g=1;
-float Pitch1, Roll1, Yaw1;	
-float Pitch2, Roll2, Yaw2;	
-float Pitch5, Roll5, Yaw5;	
+				a=0x69;
+    		b=0xD3;
+    		c=0XD2;
+    		t=1;
+				DMP_Init();
+				a=0x68;
+    		b=0xD1;
+    		c=0XD0;
+    		t=1;
+				DMP_Init();
+				a=0x68;
+    		b=0xD1;
+    		c=0XD0;
+    		t=2;
+				DMP_Init();
+				a=0x69;
+    		b=0xD3;
+    		c=0XD2;
+    		t=2;
+				DMP_Init();
+				a=0x69;
+    		b=0xD3;
+    		c=0XD2;
+    		t=3;
+				DMP_Init();
+				a=0x68;
+    		b=0xD1;
+    		c=0XD0;
+    		t=3;
+				DMP_Init();
+
+  HAL_QSPI_Init(&hqspi);
+  int g = 1;
+  float Pitch1, Roll1, Yaw1;
+  float Pitch2, Roll2, Yaw2;
+	float Pitch3, Roll3, Yaw3;
+	float Pitch4, Roll4, Yaw4;
+  float Pitch5, Roll5, Yaw5;
+	float Pitch6, Roll6, Yaw6;
+	
+	int gx1,gy1,gz1;
+	short gx2,gy2,gz2;
+	short gx3,gy3,gz3;
+	short gx4,gy4,gz4;
+	short gx5,gy5,gz5;
+	short gx6,gy6,gz6;
   /* USER CODE END 2 */
 
   /* Infinite loop */
@@ -139,86 +176,126 @@ float Pitch5, Roll5, Yaw5;
   while (1)
   {
 
-	if(g==1){ //16
-		a=0x68;
-		b=0xD1;
-		c=0XD0;
-		t=2;
-//float Pitch1, Roll1, Yaw1;		
-char buff[100]={0};
-  	  uint8_t ret = Read_DMP(&Pitch1, &Roll1, &Yaw1);
-//printf("%d,%f,%f,%f\r\n", g,Pitch1, Roll1, Yaw1);
-//printf("com:imu:%d:ang:%f:%f:%f\r\n", g,Pitch1, Roll1, Yaw1);
-//		sprintf(buff,"16:%f,%f,%f\r\n", Pitch, Roll, Yaw);
-//		HAL_QSPI_Transmit(&hqspi, buff, 100);
-		g=5;
-	}
-//else if(g==2){  //13
-//		a=0x69;
-//		b=0xD3;
-//		c=0XD2;
-//		t=2;
-////float Pitch2, Roll2, Yaw2;		
-
-//  	  uint8_t ret = Read_DMP(&Pitch2, &Roll2, &Yaw2);
-////printf("com:imu:%d:ang:%f:%f:%f\r\n", g,Pitch2, Roll2, Yaw2);
-//	g=5;
-//}
-//else if(g==3){ //14
-//		a=0x69;
-//		b=0xD3;
-//		c=0XD2;
-//		t=3;
-//float Pitch, Roll, Yaw;		
-
-//  	  uint8_t ret = Read_DMP(&Pitch, &Roll, &Yaw);
-//printf("com:imu:%d:ang:%f:%f:%f\r\n", g,Pitch, Roll, Yaw);
-//		g=4;
-//	}
-
-//else if(g==4){ //15
-//		a=0x69;
-//		b=0xD3;
-//		c=0XD2;
-//		t=1;
-//float Pitch4, Roll4, Yaw4;		
-
-//  	  uint8_t ret = Read_DMP(&Pitch4, &Roll4, &Yaw4);
-//	printf("%d,%f,%f,%f\r\n", g,Pitch4, Roll4, Yaw4);
-////printf("com:imu:%d:ang:%f:%f:%f\r\n", g,Pitch4, Roll4, Yaw4);
-//		g=5;
-//	}
-	else if(g==5){ //18
-		a=0x68;
-		b=0xD1;
-		c=0XD0;
-		t=1;
-//float Pitch5, Roll5, Yaw5;		
-
-  	  uint8_t ret = Read_DMP(&Pitch5, &Roll5, &Yaw5);
-//		printf("%d,%f,%f,%f\r\n", g,Pitch5, Roll5, Yaw5);
-//printf("com:imu:%d:ang:%f:%f:%f\r\n", g,Pitch5, Roll5, Yaw5);
-		printf("%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n",Pitch1, Roll1, Yaw1,Pitch2, Roll2, Yaw2,Pitch5, Roll5, Yaw5);
-		g=1;
-	}
-//	else if(g==6){ //17
+		
+		//测试
+//			a=0x68;
+//			b=0xD1;
+//			c=0XD0;
+//				a=0x69;
+//    		b=0xD3;
+//    		c=0XD2;
+//    		t=3;
+//    
+//    
+//    uint8_t ret = Read_DMP(&Pitch1, &Roll1, &Yaw1);
 //		a=0x68;
-//		b=0xD1;
-//		c=0XD0;
-//		t=3;
-//float Pitch, Roll, Yaw;		
-
-//  	  uint8_t ret = Read_DMP(&Pitch, &Roll, &Yaw);
-//printf("com:imu:%d:ang:%f:%f:%f\r\n", g,Pitch, Roll, Yaw);
-//		g=1;
-//	}
-//	
-//		HAL_GPIO_WritePin(GPIOC,GPIO_PIN_13,0);
-//		HAL_Delay(10);
-		HAL_GPIO_WritePin(GPIOC,GPIO_PIN_13,1);
-//		HAL_Delay(10);
+//    		b=0xD1;
+//    		c=0XD0;
+//    		t=1;
+//    
+//    
+//    uint8_t ret1 = Read_DMP(&Pitch2, &Roll2, &Yaw2);
+//    printf("%f,%f,%f,%f,%f,%f\r\n",Pitch1,Roll1,Yaw1,Pitch2,Roll2,Yaw2);
 //		
 		
+//		
+//		
+  	if(g==1){ //15
+    		
+			
+			a=0x69;
+    		b=0xD3;
+    		c=0XD2;
+    		t=1;
+    
+    // char buff[100]={0};
+       	  uint8_t ret = Read_DMP(&Pitch1, &Roll1, &Yaw1);
+			    MPU_Get_Gyroscope(&gx1,&gy1,&gz1);
+			printf("%d,%d,%d",gx1,gy1,gz1);
+			printf("%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n",Pitch1, Roll1, Yaw1,Pitch2, Roll2, Yaw2,Pitch3, Roll3, Yaw3,Pitch4, Roll4, Yaw4,Pitch5, Roll5, Yaw5,Pitch6, Roll6, Yaw6);
+    ////printf("%d,%f,%f,%f\r\n", g,Pitch1, Roll1, Yaw1);
+    ////printf("com:imu:%d:ang:%f:%f:%f\r\n", g,Pitch1, Roll1, Yaw1);
+    ////		sprintf(buff,"16:%f,%f,%f\r\n", Pitch, Roll, Yaw);
+    ////		HAL_QSPI_Transmit(&hqspi, buff, 100);
+    		g=2;
+    	}
+     else if(g==2){  //18
+    			 a=0x68;
+			b=0xD1;
+			c=0XD0;
+			t=1;
+	
+
+    // float Pitch2, Roll2, Yaw2;
+
+      	  uint8_t ret = Read_DMP(&Pitch2, &Roll2, &Yaw2);
+			//printf("%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n",Pitch1, Roll1, Yaw1,Pitch2, Roll2, Yaw2,Pitch3, Roll3, Yaw3,Pitch4, Roll4, Yaw4,Pitch5, Roll5, Yaw5,Pitch6, Roll6, Yaw6);
+    // printf("com:imu:%d:ang:%f:%f:%f\r\n", g,Pitch2, Roll2, Yaw2);
+    	g=3;
+    }
+     else if(g==3){ //16
+    		
+		
+		    a=0x68;
+    		b=0xD1;
+    		c=0XD0;
+    		t=2;
+    // float Pitch, Roll, Yaw;
+
+      	  uint8_t ret = Read_DMP(&Pitch3, &Roll3, &Yaw3);
+			 //printf("%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n",Pitch1, Roll1, Yaw1,Pitch2, Roll2, Yaw2,Pitch3, Roll3, Yaw3,Pitch4, Roll4, Yaw4,Pitch5, Roll5, Yaw5,Pitch6, Roll6, Yaw6);
+			 //printf("%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n",Pitch1, Roll1, Yaw1,Pitch2, Roll2, Yaw2,Pitch3, Roll3, Yaw3);
+    // printf("com:imu:%d:ang:%f:%f:%f\r\n", g,Pitch3, Roll3, Yaw3);
+    		g=4;
+    	}
+
+     else if(g==4){ //13
+    a = 0x69;
+    b = 0xD3;
+    c = 0XD2;
+    t = 2;
+
+
+   uint8_t ret = Read_DMP(&Pitch4, &Roll4, &Yaw4);
+//printf("%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n",Pitch1, Roll1, Yaw1,Pitch2, Roll2, Yaw2,Pitch3, Roll3, Yaw3,Pitch4, Roll4, Yaw4,Pitch5, Roll5, Yaw5,Pitch6, Roll6, Yaw6);
+			//printf("%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n",Pitch1, Roll1, Yaw1,Pitch2, Roll2, Yaw2,Pitch3, Roll3, Yaw3,Pitch4, Roll4, Yaw4,Pitch5, Roll5, Yaw5,Pitch6, Roll6, Yaw6);
+		 //printf("%d,%f,%f,%f\r\n", g, Pitch4, Roll4, Yaw4);
+    ////printf("com:imu:%d:ang:%f:%f:%f\r\n", g,Pitch4, Roll4, Yaw4);
+    		g=5;
+    	}
+    	else if(g==5){ //17
+    		a=0x68;
+    		b=0xD1;
+    		c=0XD0;
+    		t=3;
+    ////float Pitch5, Roll5, Yaw5;
+
+      	  uint8_t ret = Read_DMP(&Pitch5, &Roll5, &Yaw5);
+				//printf("%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n",Pitch1, Roll1, Yaw1,Pitch2, Roll2, Yaw2,Pitch3, Roll3, Yaw3,Pitch4, Roll4, Yaw4,Pitch5, Roll5, Yaw5,Pitch6, Roll6, Yaw6);
+    ////		printf("%d,%f,%f,%f\r\n", g,Pitch5, Roll5, Yaw5);
+    //printf("com:imu:%d:ang:%f:%f:%f\r\n", g,Pitch5, Roll5, Yaw5);
+    		g=6;
+    	}
+    	else if(g==6){ //14
+    		a=0x69;
+    		b=0xD3;
+    		c=0XD2;
+    	t=3;
+     
+      uint8_t ret = Read_DMP(&Pitch6, &Roll6, &Yaw6);
+    		//printf("%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n",Pitch1, Roll1, Yaw1,Pitch2, Roll2, Yaw2,Pitch3, Roll3, Yaw3,Pitch4, Roll4, Yaw4,Pitch5, Roll5, Yaw5,Pitch6, Roll6, Yaw6);
+      	 //printf("%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n",Pitch1, Roll1, Yaw1,Pitch2, Roll2, Yaw2,Pitch3, Roll3, Yaw3,Pitch4, Roll4, Yaw4,Pitch5, Roll5, Yaw5,Pitch6, Roll6, Yaw6);
+     //printf("com:imu:%d:ang:%f:%f:%f\r\n", g,Pitch, Roll, Yaw);
+    		g=1;
+    	}
+    //
+	//printf("%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n",Pitch1, Roll1, Yaw1,Pitch2, Roll2, Yaw2,Pitch3, Roll3, Yaw3,Pitch4, Roll4, Yaw4,Pitch5, Roll5, Yaw5,Pitch6, Roll6, Yaw6);
+    //		HAL_GPIO_WritePin(GPIOC,GPIO_PIN_13,0);
+    //		HAL_Delay(10);
+    HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, 1);
+    //		HAL_Delay(10);
+    //
+
     /* USER CODE END WHILE */
 
     /* USER CODE BEGIN 3 */

Core/Src/usart.c

@@ -39,7 +39,7 @@ void MX_USART2_UART_Init(void)
 
   /* USER CODE END USART2_Init 1 */
   huart2.Instance = USART2;
-  huart2.Init.BaudRate = 115200;
+  huart2.Init.BaudRate = 921600;
   huart2.Init.WordLength = UART_WORDLENGTH_8B;
   huart2.Init.StopBits = UART_STOPBITS_1;
   huart2.Init.Parity = UART_PARITY_NONE;

Core/imu/MPU6050.c

@@ -6,13 +6,12 @@
  */
 
 #include "MPU6050.h"
-#include "main.h"
+
 #include <stdio.h>
 
-extern int t;
 extern int a;
-extern int b;
-extern int c;
+
+extern int t;
 
  u8 IIC_Write_Byte(u8 reg, u8 value)
  {
@@ -30,7 +29,10 @@ extern int c;
 
  //IIC连续写
  u8 IIC_Write_Len(u8 addr,u8 reg, u8 len, u8 *buf)
- {if(t==1){
+ {
+	 
+	 addr = a;
+	 
 	 addr = (addr << 1) | 0;
 
 	 u8 data[10] = {0};
@@ -39,39 +41,21 @@ extern int c;
 	 {
 		 data[1 + i] = buf[i];
 	 }
-
+if(t==1){
 	 if(HAL_I2C_Master_Transmit(&hi2c1, (uint16_t)addr, (uint8_t*)data, len + 1, 10000)!= HAL_OK)
 	 {
 		 printf("++write len byte fail\r\n");
 		 return 1;
 	 }
  }
- else if(t==2){
-	 addr = (addr << 1) | 0;
-
-	 u8 data[10] = {0};
-	 data[0] = reg;
-	 for(int i = 0; i < len; i++)
-	 {
-		 data[1 + i] = buf[i];
-	 }
-
+else if(t==2){
 	 if(HAL_I2C_Master_Transmit(&hi2c2, (uint16_t)addr, (uint8_t*)data, len + 1, 10000)!= HAL_OK)
 	 {
 		 printf("++write len byte fail\r\n");
 		 return 1;
 	 }
  }
- else if(t==3){
-	 addr = (addr << 1) | 0;
-
-	 u8 data[10] = {0};
-	 data[0] = reg;
-	 for(int i = 0; i < len; i++)
-	 {
-		 data[1 + i] = buf[i];
-	 }
-
+else if(t==3){
 	 if(HAL_I2C_Master_Transmit(&hi2c3, (uint16_t)addr, (uint8_t*)data, len + 1, 10000)!= HAL_OK)
 	 {
 		 printf("++write len byte fail\r\n");
@@ -84,6 +68,8 @@ extern int c;
  //IIC连续读
  u8 IIC_Read_Len(u8 addr,u8 reg,u8 len,u8 *buf)
  {
+	 
+	 	 addr = a;
 	 if(t==1){
 	 u8 tmp  = (addr << 1) | 0;
 	 if(HAL_I2C_Master_Transmit(&hi2c1, (uint16_t)tmp, (uint8_t*)&reg, 1, 10000)!= HAL_OK)
@@ -154,16 +140,16 @@ u8 MPU_Init(void)
 
     printf("the addr is:%d\r\n", res);
 
-//    if(res==a)//器件ID正确
-//    {
+    if(res==a)//器件ID正确
+    {
         IIC_Write_Byte(MPU_PWR_MGMT1_REG,0X01);//设置CLKSEL,PLL X 轴为参考
         IIC_Write_Byte(MPU_PWR_MGMT2_REG,0X00);//加速度陀螺仪都工作
         MPU_Set_Rate(50); //设置采样率为50HZ
-//    }
-//    else
-//    {
-//    	return 1;
-//    }
+    }
+    else
+    {
+    	return 1;
+    }
 
     return 0;
 }

Core/imu/MPU6050.h

@@ -10,11 +10,6 @@
 
 #include "i2c.h"
 #include "inv_mpu.h"
-#include "main.h"
-
-extern int a;
-extern int b;
-extern int c;
 
 //#define MPU_ACCEL_OFFS_REG		0X06	//accel_offs寄存器,可读取版本号,寄存器手册未提到
 //#define MPU_PROD_ID_REG			0X0C	//prod id寄存器,在寄存器手册未提到
@@ -87,15 +82,12 @@ extern int c;
 
 //如果AD0脚接地,IIC地址为0X68(不包含最低位).
 //如果接V3.3,则IIC地址为0X69(不包含最低位).
-
-//因为模块AD0默认接GND,所以转为读写地址后,为0XD1和0XD0(如果接VCC,则为0XD3和0XD2)
-//#define MPU_ADDR		a
-//#define MPU_READ    b
-//#define MPU_WRITE   c
-
-
+#define MPU_ADDR				0X68
 
 
+//因为模块AD0默认接GND,所以转为读写地址后,为0XD1和0XD0(如果接VCC,则为0XD3和0XD2)
+#define MPU_READ    0XD1
+#define MPU_WRITE   0XD0
 
 #define u8 uint8_t
 #define u16 uint16_t

Core/imu/inv_mpu.c

@@ -25,7 +25,7 @@
 #include "inv_mpu.h"
 
 #include "MPU6050.h"
-int a1=0x68,b1=0x69;
+
 
 /* The following functions must be defined for this platform:
  * i2c_write(unsigned char slave_addr, unsigned char reg_addr,
@@ -659,7 +659,7 @@ static int set_int_enable(unsigned char enable)
             tmp = BIT_DMP_INT_EN;
         else
             tmp = 0x00;
-        if (i2c_write(a1, st.reg->int_enable, 1, &tmp)&&i2c_write(b1, st.reg->int_enable, 1, &tmp))
+        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp))
             return -1;
         st.chip_cfg.int_enable = tmp;
     } else {
@@ -671,7 +671,7 @@ static int set_int_enable(unsigned char enable)
             tmp = BIT_DATA_RDY_EN;
         else
             tmp = 0x00;
-        if (i2c_write(a1, st.reg->int_enable, 1, &tmp)&&i2c_write(b1, st.reg->int_enable, 1, &tmp))
+        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp))
             return -1;
         st.chip_cfg.int_enable = tmp;
     }
@@ -690,7 +690,7 @@ int mpu_reg_dump(void)
     for (ii = 0; ii < st.hw->num_reg; ii++) {
         if (ii == st.reg->fifo_r_w || ii == st.reg->mem_r_w)
             continue;
-        if (i2c_read(a1, ii, 1, &data)&&i2c_write(b1, ii, 1, &data))
+        if (i2c_read(st.hw->addr, ii, 1, &data))
             return -1;
         log_i("%#5x: %#5x\r\n", ii, data);
     }
@@ -710,7 +710,7 @@ int mpu_read_reg(unsigned char reg, unsigned char *data)
         return -1;
     if (reg >= st.hw->num_reg)
         return -1;
-    return i2c_read(a, reg, 1, data);
+    return i2c_read(st.hw->addr, reg, 1, data);
 }
 
 /**
@@ -732,18 +732,18 @@ int mpu_init(struct int_param_s *int_param)
 
     /* Reset device. */
     data[0] = BIT_RESET;
-    if (i2c_write(a1, st.reg->pwr_mgmt_1, 1, data)&&i2c_write(b1, st.reg->pwr_mgmt_1, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
         return -1;
     delay_ms(100);
 
     /* Wake up chip. */
     data[0] = 0x00;
-    if (i2c_write(a1, st.reg->pwr_mgmt_1, 1, data)&&i2c_write(b1, st.reg->pwr_mgmt_1, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
         return -1;
 
 #if defined MPU6050
     /* Check product revision. */
-    if (i2c_read(a1, st.reg->pwr_mgmt_1, 1, data)&&i2c_write(b1, st.reg->pwr_mgmt_1, 1, data))
+    if (i2c_read(st.hw->addr, st.reg->accel_offs, 6, data))
         return -1;
     rev = ((data[5] & 0x01) << 2) | ((data[3] & 0x01) << 1) |
         (data[1] & 0x01);
@@ -759,7 +759,7 @@ int mpu_init(struct int_param_s *int_param)
             return -1;
         }
     } else {
-        if (i2c_read(a1, st.reg->prod_id, 1, data)&&i2c_read(b1, st.reg->prod_id, 1, data))
+        if (i2c_read(st.hw->addr, st.reg->prod_id, 1, data))
             return -1;
         rev = data[0] & 0x0F;
         if (!rev) {
@@ -787,7 +787,7 @@ int mpu_init(struct int_param_s *int_param)
      * first 3kB are needed by the DMP, we'll use the last 1kB for the FIFO.
      */
     data[0] = BIT_FIFO_SIZE_1024 | 0x8;
-    if (i2c_write(a, st.reg->accel_cfg2, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->accel_cfg2, 1, data))
         return -1;
 #endif
 
@@ -870,7 +870,7 @@ int mpu_lp_accel_mode(unsigned char rate)
         mpu_set_int_latched(0);
         tmp[0] = 0;
         tmp[1] = BIT_STBY_XYZG;
-        if (i2c_write(a1, st.reg->pwr_mgmt_1, 2, tmp)&&i2c_write(b1, st.reg->pwr_mgmt_1, 2, tmp))
+        if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp))
             return -1;
         st.chip_cfg.lp_accel_mode = 0;
         return 0;
@@ -899,7 +899,7 @@ int mpu_lp_accel_mode(unsigned char rate)
         mpu_set_lpf(20);
     }
     tmp[1] = (tmp[1] << 6) | BIT_STBY_XYZG;
-    if (i2c_write(a1, st.reg->pwr_mgmt_1, 2, tmp)&&i2c_write(b1, st.reg->pwr_mgmt_1, 2, tmp))
+    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp))
         return -1;
 #elif defined MPU6500
     /* Set wake frequency. */
@@ -923,10 +923,10 @@ int mpu_lp_accel_mode(unsigned char rate)
         tmp[0] = INV_LPA_320HZ;
     else
         tmp[0] = INV_LPA_640HZ;
-    if (i2c_write(a, st.reg->lp_accel_odr, 1, tmp))
+    if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, tmp))
         return -1;
     tmp[0] = BIT_LPA_CYCLE;
-    if (i2c_write(a, st.reg->pwr_mgmt_1, 1, tmp))
+    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, tmp))
         return -1;
 #endif
     st.chip_cfg.sensors = INV_XYZ_ACCEL;
@@ -950,7 +950,7 @@ int mpu_get_gyro_reg(short *data, unsigned long *timestamp)
     if (!(st.chip_cfg.sensors & INV_XYZ_GYRO))
         return -1;
 
-    if (i2c_read(a1, st.reg->raw_gyro, 6, tmp)&&i2c_read(b1, st.reg->raw_gyro, 6, tmp))
+    if (i2c_read(st.hw->addr, st.reg->raw_gyro, 6, tmp))
         return -1;
     data[0] = (tmp[0] << 8) | tmp[1];
     data[1] = (tmp[2] << 8) | tmp[3];
@@ -973,7 +973,7 @@ int mpu_get_accel_reg(short *data, unsigned long *timestamp)
     if (!(st.chip_cfg.sensors & INV_XYZ_ACCEL))
         return -1;
 
-    if (i2c_read(a1, st.reg->raw_accel, 6, tmp)&&i2c_read(b1, st.reg->raw_accel, 6, tmp))
+    if (i2c_read(st.hw->addr, st.reg->raw_accel, 6, tmp))
         return -1;
     data[0] = (tmp[0] << 8) | tmp[1];
     data[1] = (tmp[2] << 8) | tmp[3];
@@ -997,7 +997,7 @@ int mpu_get_temperature(long *data, unsigned long *timestamp)
     if (!(st.chip_cfg.sensors))
         return -1;
 
-    if (i2c_read(a1, st.reg->temp, 2, tmp)&&i2c_read(b1, st.reg->temp, 2, tmp))
+    if (i2c_read(st.hw->addr, st.reg->temp, 2, tmp))
         return -1;
     raw = (tmp[0] << 8) | tmp[1];
     if (timestamp)
@@ -1026,7 +1026,7 @@ int mpu_set_accel_bias(const long *accel_bias)
     if (!accel_bias[0] && !accel_bias[1] && !accel_bias[2])
         return 0;
 
-    if (i2c_read(a1, 3, 3, data)&&i2c_read(b1, 3, 3, data))
+    if (i2c_read(st.hw->addr, 3, 3, data))
         return -1;
     fg[0] = ((data[0] >> 4) + 8) & 0xf;
     fg[1] = ((data[1] >> 4) + 8) & 0xf;
@@ -1036,7 +1036,7 @@ int mpu_set_accel_bias(const long *accel_bias)
     accel_hw[1] = (short)(accel_bias[1] * 2 / (64 + fg[1]));
     accel_hw[2] = (short)(accel_bias[2] * 2 / (64 + fg[2]));
 
-    if (i2c_read(a1, 0x06, 6, data)&&i2c_read(b1, 0x06, 6, data))
+    if (i2c_read(st.hw->addr, 0x06, 6, data))
         return -1;
 
     got_accel[0] = ((short)data[0] << 8) | data[1];
@@ -1054,7 +1054,7 @@ int mpu_set_accel_bias(const long *accel_bias)
     data[4] = (accel_hw[2] >> 8) & 0xff;
     data[5] = (accel_hw[2]) & 0xff;
 
-    if (i2c_write(a1, 0x06, 6, data)&&i2c_write(b1, 0x06, 6, data))
+    if (i2c_write(st.hw->addr, 0x06, 6, data))
         return -1;
     return 0;
 }
@@ -1071,50 +1071,50 @@ int mpu_reset_fifo(void)
         return -1;
 
     data = 0;
-    if (i2c_write(a1, st.reg->int_enable, 1, &data)&&i2c_write(b1, st.reg->int_enable, 1, &data))
+    if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data))
         return -1;
-    if (i2c_write(a1, st.reg->fifo_en, 1, &data)&&i2c_write(b1, st.reg->fifo_en, 1, &data))
+    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &data))
         return -1;
-    if (i2c_write(a1, st.reg->user_ctrl, 1, &data)&&i2c_write(b1, st.reg->user_ctrl, 1, &data))
+    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
         return -1;
 
     if (st.chip_cfg.dmp_on) {
         data = BIT_FIFO_RST | BIT_DMP_RST;
-        if (i2c_write(a1, st.reg->user_ctrl, 1, &data)&&i2c_write(b1, st.reg->user_ctrl, 1, &data))
+        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
             return -1;
         delay_ms(50);
         data = BIT_DMP_EN | BIT_FIFO_EN;
         if (st.chip_cfg.sensors & INV_XYZ_COMPASS)
             data |= BIT_AUX_IF_EN;
-        if (i2c_write(a1, st.reg->user_ctrl, 1, &data)&&i2c_write(b1, st.reg->user_ctrl, 1, &data))
+        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
             return -1;
         if (st.chip_cfg.int_enable)
             data = BIT_DMP_INT_EN;
         else
             data = 0;
-        if (i2c_write(a1, st.reg->int_enable, 1, &data)&&i2c_write(b1, st.reg->int_enable, 1, &data))
+        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data))
             return -1;
         data = 0;
-        if (i2c_write(a1, st.reg->fifo_en, 1, &data)&&i2c_write(b1, st.reg->fifo_en, 1, &data))
+        if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &data))
             return -1;
     } else {
         data = BIT_FIFO_RST;
-        if (i2c_write(a1, st.reg->user_ctrl, 1, &data)&&i2c_write(b1, st.reg->user_ctrl, 1, &data))
+        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
             return -1;
         if (st.chip_cfg.bypass_mode || !(st.chip_cfg.sensors & INV_XYZ_COMPASS))
             data = BIT_FIFO_EN;
         else
             data = BIT_FIFO_EN | BIT_AUX_IF_EN;
-        if (i2c_write(a1, st.reg->user_ctrl, 1, &data)&&i2c_write(b1, st.reg->user_ctrl, 1, &data))
+        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
             return -1;
         delay_ms(50);
         if (st.chip_cfg.int_enable)
             data = BIT_DATA_RDY_EN;
         else
             data = 0;
-        if (i2c_write(a1, st.reg->int_enable, 1, &data)&&i2c_write(b1, st.reg->int_enable, 1, &data))
+        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data))
             return -1;
-        if (i2c_write(a1, st.reg->fifo_en, 1, &st.chip_cfg.fifo_enable)&&i2c_write(b1, st.reg->fifo_en, 1, &st.chip_cfg.fifo_enable))
+        if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &st.chip_cfg.fifo_enable))
             return -1;
     }
     return 0;
@@ -1178,7 +1178,7 @@ int mpu_set_gyro_fsr(unsigned short fsr)
 
     if (st.chip_cfg.gyro_fsr == (data >> 3))
         return 0;
-    if (i2c_write(a1, st.reg->gyro_cfg, 1, &data)&&i2c_write(b1, st.reg->gyro_cfg, 1, &data))
+    if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, &data))
         return -1;
     st.chip_cfg.gyro_fsr = data >> 3;
     return 0;
@@ -1243,7 +1243,7 @@ int mpu_set_accel_fsr(unsigned char fsr)
 
     if (st.chip_cfg.accel_fsr == (data >> 3))
         return 0;
-    if (i2c_write(a1, st.reg->accel_cfg, 1, &data)&&i2c_write(b1, st.reg->accel_cfg, 1, &data))
+    if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, &data))
         return -1;
     st.chip_cfg.accel_fsr = data >> 3;
     return 0;
@@ -1312,7 +1312,7 @@ int mpu_set_lpf(unsigned short lpf)
 
     if (st.chip_cfg.lpf == data)
         return 0;
-    if (i2c_write(a1, st.reg->lpf, 1, &data)&&i2c_write(b1, st.reg->lpf, 1, &data))
+    if (i2c_write(st.hw->addr, st.reg->lpf, 1, &data))
         return -1;
     st.chip_cfg.lpf = data;
     return 0;
@@ -1366,7 +1366,7 @@ int mpu_set_sample_rate(unsigned short rate)
             rate = 1000;
 
         data = 1000 / rate - 1;
-        if (i2c_write(a1, st.reg->rate_div, 1, &data)&&i2c_write(b1, st.reg->rate_div, 1, &data))
+        if (i2c_write(st.hw->addr, st.reg->rate_div, 1, &data))
             return -1;
 
         st.chip_cfg.sample_rate = 1000 / (1 + data);
@@ -1416,7 +1416,7 @@ int mpu_set_compass_sample_rate(unsigned short rate)
         return -1;
 
     div = st.chip_cfg.sample_rate / rate - 1;
-    if (i2c_write(a, st.reg->s4_ctrl, 1, &div))
+    if (i2c_write(st.hw->addr, st.reg->s4_ctrl, 1, &div))
         return -1;
     st.chip_cfg.compass_sample_rate = st.chip_cfg.sample_rate / (div + 1);
     return 0;
@@ -1577,7 +1577,7 @@ int mpu_set_sensors(unsigned char sensors)
         data = 0;
     else
         data = BIT_SLEEP;
-    if (i2c_write(a1, st.reg->pwr_mgmt_1, 1, &data)&&i2c_write(b1, st.reg->pwr_mgmt_1, 1, &data)) {
+    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, &data)) {
         st.chip_cfg.sensors = 0;
         return -1;
     }
@@ -1592,7 +1592,7 @@ int mpu_set_sensors(unsigned char sensors)
         data |= BIT_STBY_ZG;
     if (!(sensors & INV_XYZ_ACCEL))
         data |= BIT_STBY_XYZA;
-    if (i2c_write(a1, st.reg->pwr_mgmt_2, 1, &data)&&i2c_write(b1, st.reg->pwr_mgmt_2, 1, &data)) {
+    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_2, 1, &data)) {
         st.chip_cfg.sensors = 0;
         return -1;
     }
@@ -1608,7 +1608,7 @@ int mpu_set_sensors(unsigned char sensors)
     else
         mpu_set_bypass(0);
 #else
-    if (i2c_read(a, st.reg->user_ctrl, 1, &user_ctrl))
+    if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &user_ctrl))
         return -1;
     /* Handle AKM power management. */
     if (sensors & INV_XYZ_COMPASS) {
@@ -1622,10 +1622,10 @@ int mpu_set_sensors(unsigned char sensors)
         user_ctrl |= BIT_DMP_EN;
     else
         user_ctrl &= ~BIT_DMP_EN;
-    if (i2c_write(a, st.reg->s1_do, 1, &data))
+    if (i2c_write(st.hw->addr, st.reg->s1_do, 1, &data))
         return -1;
     /* Enable/disable I2C master mode. */
-    if (i2c_write(a, st.reg->user_ctrl, 1, &user_ctrl))
+    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &user_ctrl))
         return -1;
 #endif
 #endif
@@ -1646,7 +1646,7 @@ int mpu_get_int_status(short *status)
     unsigned char tmp[2];
     if (!st.chip_cfg.sensors)
         return -1;
-    if (i2c_read(a1, st.reg->dmp_int_status, 2, tmp)&&i2c_read(b1, st.reg->dmp_int_status, 2, tmp))
+    if (i2c_read(st.hw->addr, st.reg->dmp_int_status, 2, tmp))
         return -1;
     status[0] = (tmp[0] << 8) | tmp[1];
     return 0;
@@ -1696,7 +1696,7 @@ int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
     if (st.chip_cfg.fifo_enable & INV_XYZ_ACCEL)
         packet_size += 6;
 
-    if (i2c_read(a1, st.reg->fifo_count_h, 2, data)&&i2c_read(b1, st.reg->fifo_count_h, 2, data))
+    if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data))
         return -1;
     fifo_count = (data[0] << 8) | data[1];
     if (fifo_count < packet_size)
@@ -1704,7 +1704,7 @@ int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
 //    log_i("FIFO count: %hd\n", fifo_count);
     if (fifo_count > (st.hw->max_fifo >> 1)) {
         /* FIFO is 50% full, better check overflow bit. */
-        if (i2c_read(a1, st.reg->int_status, 1, data)&&i2c_read(b1, st.reg->int_status, 1, data))
+        if (i2c_read(st.hw->addr, st.reg->int_status, 1, data))
             return -1;
         if (data[0] & BIT_FIFO_OVERFLOW) {
             mpu_reset_fifo();
@@ -1713,7 +1713,7 @@ int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
     }
     get_ms((unsigned long*)timestamp);
 
-    if (i2c_read(a1, st.reg->fifo_r_w, packet_size, data)&&i2c_read(b1, st.reg->fifo_r_w, packet_size, data))
+    if (i2c_read(st.hw->addr, st.reg->fifo_r_w, packet_size, data))
         return -1;
     more[0] = fifo_count / packet_size - 1;
     sensors[0] = 0;
@@ -1757,7 +1757,7 @@ int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
     unsigned char tmp[2];
     unsigned short fifo_count;
 
-//    printf("addr %d, dmp_on %d, sensors %d\r\n", a, st.chip_cfg.dmp_on, st.chip_cfg.sensors);
+//    printf("addr %d, dmp_on %d, sensors %d\r\n", st.hw->addr, st.chip_cfg.dmp_on, st.chip_cfg.sensors);
 
     if (!st.chip_cfg.dmp_on)
         return -1;
@@ -1766,7 +1766,7 @@ int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
 
 //    printf("----1\r\n");
 
-    if (i2c_read(a1, st.reg->fifo_count_h, 2, tmp)&&i2c_read(b1, st.reg->fifo_count_h, 2, tmp))
+    if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, tmp))
         return -1;
 
 //    printf("----2\r\n");
@@ -1782,7 +1782,7 @@ int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
 
 //        printf("----3.1\r\n");
         /* FIFO is 50% full, better check overflow bit. */
-        if (i2c_read(a1, st.reg->int_status, 1, tmp)&&i2c_read(b1, st.reg->int_status, 1, tmp))
+        if (i2c_read(st.hw->addr, st.reg->int_status, 1, tmp))
             return -1;
 
 //        printf("----3.2\r\n");
@@ -1793,7 +1793,7 @@ int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
     }
 
 //    printf("----4\r\n");
-    if (i2c_read(a1, st.reg->fifo_r_w, length, data)&&i2c_read(b1, st.reg->fifo_r_w, length, data))
+    if (i2c_read(st.hw->addr, st.reg->fifo_r_w, length, data))
         return -1;
 
     more[0] = fifo_count / length - 1;
@@ -1813,10 +1813,10 @@ int mpu_set_bypass(unsigned char bypass_on)
         return 0;
 
     if (bypass_on) {
-        if (i2c_read(a1, st.reg->user_ctrl, 1, &tmp)&&i2c_read(b1, st.reg->user_ctrl, 1, &tmp))
+        if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
             return -1;
         tmp &= ~BIT_AUX_IF_EN;
-        if (i2c_write(a1, st.reg->user_ctrl, 1, &tmp)&&i2c_write(b1, st.reg->user_ctrl, 1, &tmp))
+        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
             return -1;
         delay_ms(3);
         tmp = BIT_BYPASS_EN;
@@ -1824,17 +1824,17 @@ int mpu_set_bypass(unsigned char bypass_on)
             tmp |= BIT_ACTL;
         if (st.chip_cfg.latched_int)
             tmp |= BIT_LATCH_EN | BIT_ANY_RD_CLR;
-        if (i2c_write(a1, st.reg->int_pin_cfg, 1, &tmp)&&i2c_write(b1, st.reg->int_pin_cfg, 1, &tmp))
+        if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp))
             return -1;
     } else {
         /* Enable I2C master mode if compass is being used. */
-        if (i2c_read(a1, st.reg->user_ctrl, 1, &tmp)&&i2c_read(b1, st.reg->user_ctrl, 1, &tmp))
+        if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
             return -1;
         if (st.chip_cfg.sensors & INV_XYZ_COMPASS)
             tmp |= BIT_AUX_IF_EN;
         else
             tmp &= ~BIT_AUX_IF_EN;
-        if (i2c_write(a1, st.reg->user_ctrl, 1, &tmp)&&i2c_write(b1, st.reg->user_ctrl, 1, &tmp))
+        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
             return -1;
         delay_ms(3);
         if (st.chip_cfg.active_low_int)
@@ -1843,7 +1843,7 @@ int mpu_set_bypass(unsigned char bypass_on)
             tmp = 0;
         if (st.chip_cfg.latched_int)
             tmp |= BIT_LATCH_EN | BIT_ANY_RD_CLR;
-        if (i2c_write(a1, st.reg->int_pin_cfg, 1, &tmp)&&i2c_write(b1, st.reg->int_pin_cfg, 1, &tmp))
+        if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp))
             return -1;
     }
     st.chip_cfg.bypass_mode = bypass_on;
@@ -1881,7 +1881,7 @@ int mpu_set_int_latched(unsigned char enable)
         tmp |= BIT_BYPASS_EN;
     if (st.chip_cfg.active_low_int)
         tmp |= BIT_ACTL;
-    if (i2c_write(a1, st.reg->int_pin_cfg, 1, &tmp)&&i2c_write(b1, st.reg->int_pin_cfg, 1, &tmp))
+    if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp))
         return -1;
     st.chip_cfg.latched_int = enable;
     return 0;
@@ -1892,7 +1892,7 @@ static int get_accel_prod_shift(float *st_shift)
 {
     unsigned char tmp[4], shift_code[3], ii;
 
-    if (i2c_read(a1, 0x0D, 4, tmp)&&i2c_read(b1, 0x0D, 4, tmp))
+    if (i2c_read(st.hw->addr, 0x0D, 4, tmp))
         return 0x07;
 
     shift_code[0] = ((tmp[0] & 0xE0) >> 3) | ((tmp[3] & 0x30) >> 4);
@@ -1939,7 +1939,7 @@ static int gyro_self_test(long *bias_regular, long *bias_st)
     unsigned char tmp[3];
     float st_shift, st_shift_cust, st_shift_var;
 
-    if (i2c_read(a1, 0x0D, 3, tmp)&&i2c_read(b1, 0x0D, 3, tmp))
+    if (i2c_read(st.hw->addr, 0x0D, 3, tmp))
         return 0x07;
 
     tmp[0] &= 0x1F;
@@ -2025,60 +2025,60 @@ static int get_st_biases(long *gyro, long *accel, unsigned char hw_test)
 
     data[0] = 0x01;
     data[1] = 0;
-    if (i2c_write(a1, st.reg->pwr_mgmt_1, 2, data)&&i2c_write(b1, st.reg->pwr_mgmt_1, 2, data))
+    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, data))
         return -1;
     delay_ms(200);
     data[0] = 0;
-    if (i2c_write(a1, st.reg->int_enable, 1, data)&&i2c_write(b1, st.reg->int_enable, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data))
         return -1;
-    if (i2c_write(a1, st.reg->fifo_en, 1, data)&&i2c_write(b1, st.reg->fifo_en, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
         return -1;
-    if (i2c_write(a1, st.reg->pwr_mgmt_1, 1, data)&&i2c_write(b1, st.reg->pwr_mgmt_1, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
         return -1;
-    if (i2c_write(a1, st.reg->i2c_mst, 1, data)&&i2c_write(b1, st.reg->i2c_mst, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data))
         return -1;
-    if (i2c_write(a1, st.reg->user_ctrl, 1, data)&&i2c_write(b1, st.reg->user_ctrl, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
         return -1;
     data[0] = BIT_FIFO_RST | BIT_DMP_RST;
-    if (i2c_write(a1, st.reg->user_ctrl, 1, data)&&i2c_write(b1, st.reg->user_ctrl, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
         return -1;
     delay_ms(15);
     data[0] = st.test->reg_lpf;
-    if (i2c_write(a1, st.reg->lpf, 1, data)&&i2c_write(b1, st.reg->lpf, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->lpf, 1, data))
         return -1;
     data[0] = st.test->reg_rate_div;
-    if (i2c_write(a1, st.reg->rate_div, 1, data)&&i2c_write(b1, st.reg->rate_div, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->rate_div, 1, data))
         return -1;
     if (hw_test)
         data[0] = st.test->reg_gyro_fsr | 0xE0;
     else
         data[0] = st.test->reg_gyro_fsr;
-    if (i2c_write(a1, st.reg->gyro_cfg, 1, data)&&i2c_write(b1, st.reg->gyro_cfg, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, data))
         return -1;
 
     if (hw_test)
         data[0] = st.test->reg_accel_fsr | 0xE0;
     else
         data[0] = test.reg_accel_fsr;
-    if (i2c_write(a1, st.reg->accel_cfg, 1, data)&&i2c_write(b1, st.reg->accel_cfg, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, data))
         return -1;
     if (hw_test)
         delay_ms(200);
 
     /* Fill FIFO for test.wait_ms milliseconds. */
     data[0] = BIT_FIFO_EN;
-    if (i2c_write(a1, st.reg->user_ctrl, 1, data)&&i2c_write(b1, st.reg->user_ctrl, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
         return -1;
 
     data[0] = INV_XYZ_GYRO | INV_XYZ_ACCEL;
-    if (i2c_write(a1, st.reg->fifo_en, 1, data)&&i2c_write(b1, st.reg->fifo_en, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
         return -1;
     delay_ms(test.wait_ms);
     data[0] = 0;
-    if (i2c_write(a1, st.reg->fifo_en, 1, data)&&i2c_write(b1, st.reg->fifo_en, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
         return -1;
 
-    if (i2c_read(a1, st.reg->fifo_count_h, 2, data)&&i2c_write(b1, st.reg->fifo_count_h, 2, data))
+    if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data))
         return -1;
 
     fifo_count = (data[0] << 8) | data[1];
@@ -2088,7 +2088,7 @@ static int get_st_biases(long *gyro, long *accel, unsigned char hw_test)
 
     for (ii = 0; ii < packet_count; ii++) {
         short accel_cur[3], gyro_cur[3];
-        if (i2c_read(a1, st.reg->fifo_r_w, MAX_PACKET_LENGTH, data)&&i2c_read(b1, st.reg->fifo_r_w, MAX_PACKET_LENGTH, data))
+        if (i2c_read(st.hw->addr, st.reg->fifo_r_w, MAX_PACKET_LENGTH, data))
             return -1;
         accel_cur[0] = ((short)data[0] << 8) | data[1];
         accel_cur[1] = ((short)data[2] << 8) | data[3];
@@ -2276,9 +2276,9 @@ int mpu_write_mem(unsigned short mem_addr, unsigned short length,
     if (tmp[1] + length > st.hw->bank_size)
         return -1;
 
-    if (i2c_write(a1, st.reg->bank_sel, 2, tmp)&&i2c_write(b1, st.reg->bank_sel, 2, tmp))
+    if (i2c_write(st.hw->addr, st.reg->bank_sel, 2, tmp))
         return -1;
-    if (i2c_write(a1, st.reg->mem_r_w, length, data)&&i2c_write(b1, st.reg->bank_sel, 2, tmp))
+    if (i2c_write(st.hw->addr, st.reg->mem_r_w, length, data))
         return -1;
     return 0;
 }
@@ -2309,9 +2309,9 @@ int mpu_read_mem(unsigned short mem_addr, unsigned short length,
     if (tmp[1] + length > st.hw->bank_size)
         return -1;
 
-    if (i2c_write(a1, st.reg->bank_sel, 2, tmp)&&i2c_write(a1, st.reg->bank_sel, 2, tmp))
+    if (i2c_write(st.hw->addr, st.reg->bank_sel, 2, tmp))
         return -1;
-    if (i2c_read(a1, st.reg->mem_r_w, length, data)&&i2c_write(a1, st.reg->mem_r_w, length, tmp))
+    if (i2c_read(st.hw->addr, st.reg->mem_r_w, length, data))
         return -1;
     return 0;
 }
@@ -2352,7 +2352,7 @@ int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
     /* Set program start address. */
     tmp[0] = start_addr >> 8;
     tmp[1] = start_addr & 0xFF;
-    if (i2c_write(a1, st.reg->prgm_start_h, 2, tmp)&&i2c_write(b1, st.reg->prgm_start_h, 2, tmp))
+    if (i2c_write(st.hw->addr, st.reg->prgm_start_h, 2, tmp))
         return -1;
 
     st.chip_cfg.dmp_loaded = 1;
@@ -2382,8 +2382,7 @@ int mpu_set_dmp_state(unsigned char enable)
         mpu_set_sample_rate(st.chip_cfg.dmp_sample_rate);
         /* Remove FIFO elements. */
         tmp = 0;
-        i2c_write(a1, 0x23, 1, &tmp);
-        i2c_write(b1, 0x23, 1, &tmp);
+        i2c_write(st.hw->addr, 0x23, 1, &tmp);
         st.chip_cfg.dmp_on = 1;
         /* Enable DMP interrupt. */
         set_int_enable(1);
@@ -2393,8 +2392,7 @@ int mpu_set_dmp_state(unsigned char enable)
         set_int_enable(0);
         /* Restore FIFO settings. */
         tmp = st.chip_cfg.fifo_enable;
-        i2c_write(a1, 0x23, 1, &tmp);
-        i2c_write(b1, 0x23, 1, &tmp);
+        i2c_write(st.hw->addr, 0x23, 1, &tmp);
         st.chip_cfg.dmp_on = 0;
         mpu_reset_fifo();
     }
@@ -2463,53 +2461,53 @@ static int setup_compass(void)
 
     /* Set up master mode, master clock, and ES bit. */
     data[0] = 0x40;
-    if (i2c_write(a, st.reg->i2c_mst, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data))
         return -1;
 
     /* Slave 0 reads from AKM data registers. */
     data[0] = BIT_I2C_READ | st.chip_cfg.compass_addr;
-    if (i2c_write(a, st.reg->s0_addr, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->s0_addr, 1, data))
         return -1;
 
     /* Compass reads start at this register. */
     data[0] = AKM_REG_ST1;
-    if (i2c_write(a, st.reg->s0_reg, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->s0_reg, 1, data))
         return -1;
 
     /* Enable slave 0, 8-byte reads. */
     data[0] = BIT_SLAVE_EN | 8;
-    if (i2c_write(a, st.reg->s0_ctrl, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->s0_ctrl, 1, data))
         return -1;
 
     /* Slave 1 changes AKM measurement mode. */
     data[0] = st.chip_cfg.compass_addr;
-    if (i2c_write(a, st.reg->s1_addr, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->s1_addr, 1, data))
         return -1;
 
     /* AKM measurement mode register. */
     data[0] = AKM_REG_CNTL;
-    if (i2c_write(a, st.reg->s1_reg, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->s1_reg, 1, data))
         return -1;
 
     /* Enable slave 1, 1-byte writes. */
     data[0] = BIT_SLAVE_EN | 1;
-    if (i2c_write(a, st.reg->s1_ctrl, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->s1_ctrl, 1, data))
         return -1;
 
     /* Set slave 1 data. */
     data[0] = AKM_SINGLE_MEASUREMENT;
-    if (i2c_write(a, st.reg->s1_do, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->s1_do, 1, data))
         return -1;
 
     /* Trigger slave 0 and slave 1 actions at each sample. */
     data[0] = 0x03;
-    if (i2c_write(a, st.reg->i2c_delay_ctrl, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->i2c_delay_ctrl, 1, data))
         return -1;
 
 #ifdef MPU9150
     /* For the MPU9150, the auxiliary I2C bus needs to be set to VDD. */
     data[0] = BIT_I2C_MST_VDDIO;
-    if (i2c_write(a, st.reg->yg_offs_tc, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->yg_offs_tc, 1, data))
         return -1;
 #endif
 
@@ -2540,7 +2538,7 @@ int mpu_get_compass_reg(short *data, unsigned long *timestamp)
     if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp+8))
         return -1;
 #else
-    if (i2c_read(a, st.reg->raw_compass, 8, tmp))
+    if (i2c_read(st.hw->addr, st.reg->raw_compass, 8, tmp))
         return -1;
 #endif
 
@@ -2679,12 +2677,12 @@ int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time,
         data[0] = 0;
         data[1] = 0;
         data[2] = BIT_STBY_XYZG;
-        if (i2c_write(a, st.reg->user_ctrl, 3, data))
+        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 3, data))
             goto lp_int_restore;
 
         /* Set motion threshold. */
         data[0] = thresh_hw;
-        if (i2c_write(a, st.reg->motion_thr, 1, data))
+        if (i2c_write(st.hw->addr, st.reg->motion_thr, 1, data))
             goto lp_int_restore;
 
         /* Set wake frequency. */
@@ -2708,22 +2706,22 @@ int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time,
             data[0] = INV_LPA_320HZ;
         else
             data[0] = INV_LPA_640HZ;
-        if (i2c_write(a, st.reg->lp_accel_odr, 1, data))
+        if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, data))
             goto lp_int_restore;
 
         /* Enable motion interrupt (MPU6500 version). */
         data[0] = BITS_WOM_EN;
-        if (i2c_write(a, st.reg->accel_intel, 1, data))
+        if (i2c_write(st.hw->addr, st.reg->accel_intel, 1, data))
             goto lp_int_restore;
 
         /* Enable cycle mode. */
         data[0] = BIT_LPA_CYCLE;
-        if (i2c_write(a, st.reg->pwr_mgmt_1, 1, data))
+        if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
             goto lp_int_restore;
 
         /* Enable interrupt. */
         data[0] = BIT_MOT_INT_EN;
-        if (i2c_write(a, st.reg->int_enable, 1, data))
+        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data))
             goto lp_int_restore;
 
         st.chip_cfg.int_motion_only = 1;
@@ -2762,7 +2760,7 @@ lp_int_restore:
 #ifdef MPU6500
     /* Disable motion interrupt (MPU6500 version). */
     data[0] = 0;
-    if (i2c_write(a, st.reg->accel_intel, 1, data))
+    if (i2c_write(st.hw->addr, st.reg->accel_intel, 1, data))
         goto lp_int_restore;
 #endif
 

Core备份3/Inc/main.h

@@ -1,69 +0,0 @@
-/* USER CODE BEGIN Header */
-/**
-  ******************************************************************************
-  * @file           : main.h
-  * @brief          : Header for main.c file.
-  *                   This file contains the common defines of the application.
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2024 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
-/* USER CODE END Header */
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __MAIN_H
-#define __MAIN_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ------------------------------------------------------------------*/
-#include "stm32h7xx_hal.h"
-
-/* Private includes ----------------------------------------------------------*/
-/* USER CODE BEGIN Includes */
-
-/* USER CODE END Includes */
-
-/* Exported types ------------------------------------------------------------*/
-/* USER CODE BEGIN ET */
-
-/* USER CODE END ET */
-
-/* Exported constants --------------------------------------------------------*/
-/* USER CODE BEGIN EC */
-
-/* USER CODE END EC */
-
-/* Exported macro ------------------------------------------------------------*/
-/* USER CODE BEGIN EM */
-
-/* USER CODE END EM */
-
-/* Exported functions prototypes ---------------------------------------------*/
-void Error_Handler(void);
-
-/* USER CODE BEGIN EFP */
-
-/* USER CODE END EFP */
-
-/* Private defines -----------------------------------------------------------*/
-
-/* USER CODE BEGIN Private defines */
-
-/* USER CODE END Private defines */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __MAIN_H */

Core备份3/Src/i2c.c

@@ -1,342 +0,0 @@
-/* USER CODE BEGIN Header */
-/**
-  ******************************************************************************
-  * @file    i2c.c
-  * @brief   This file provides code for the configuration
-  *          of the I2C instances.
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2024 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
-/* USER CODE END Header */
-/* Includes ------------------------------------------------------------------*/
-#include "i2c.h"
-
-/* USER CODE BEGIN 0 */
-
-/* USER CODE END 0 */
-
-I2C_HandleTypeDef hi2c1;
-I2C_HandleTypeDef hi2c2;
-I2C_HandleTypeDef hi2c3;
-
-/* I2C1 init function */
-void MX_I2C1_Init(void)
-{
-
-  /* USER CODE BEGIN I2C1_Init 0 */
-
-  /* USER CODE END I2C1_Init 0 */
-
-  /* USER CODE BEGIN I2C1_Init 1 */
-
-  /* USER CODE END I2C1_Init 1 */
-  hi2c1.Instance = I2C1;
-  hi2c1.Init.Timing = 0x10C0ECFF;
-  hi2c1.Init.OwnAddress1 = 0;
-  hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
-  hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
-  hi2c1.Init.OwnAddress2 = 0;
-  hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
-  hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
-  hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
-  if (HAL_I2C_Init(&hi2c1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /** Configure Analogue filter
-  */
-  if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /** Configure Digital filter
-  */
-  if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN I2C1_Init 2 */
-
-  /* USER CODE END I2C1_Init 2 */
-
-}
-/* I2C2 init function */
-void MX_I2C2_Init(void)
-{
-
-  /* USER CODE BEGIN I2C2_Init 0 */
-
-  /* USER CODE END I2C2_Init 0 */
-
-  /* USER CODE BEGIN I2C2_Init 1 */
-
-  /* USER CODE END I2C2_Init 1 */
-  hi2c2.Instance = I2C2;
-  hi2c2.Init.Timing = 0x10C0ECFF;
-  hi2c2.Init.OwnAddress1 = 0;
-  hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
-  hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
-  hi2c2.Init.OwnAddress2 = 0;
-  hi2c2.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
-  hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
-  hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
-  if (HAL_I2C_Init(&hi2c2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /** Configure Analogue filter
-  */
-  if (HAL_I2CEx_ConfigAnalogFilter(&hi2c2, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /** Configure Digital filter
-  */
-  if (HAL_I2CEx_ConfigDigitalFilter(&hi2c2, 0) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN I2C2_Init 2 */
-
-  /* USER CODE END I2C2_Init 2 */
-
-}
-/* I2C3 init function */
-void MX_I2C3_Init(void)
-{
-
-  /* USER CODE BEGIN I2C3_Init 0 */
-
-  /* USER CODE END I2C3_Init 0 */
-
-  /* USER CODE BEGIN I2C3_Init 1 */
-
-  /* USER CODE END I2C3_Init 1 */
-  hi2c3.Instance = I2C3;
-  hi2c3.Init.Timing = 0x10C0ECFF;
-  hi2c3.Init.OwnAddress1 = 0;
-  hi2c3.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
-  hi2c3.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
-  hi2c3.Init.OwnAddress2 = 0;
-  hi2c3.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
-  hi2c3.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
-  hi2c3.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
-  if (HAL_I2C_Init(&hi2c3) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /** Configure Analogue filter
-  */
-  if (HAL_I2CEx_ConfigAnalogFilter(&hi2c3, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /** Configure Digital filter
-  */
-  if (HAL_I2CEx_ConfigDigitalFilter(&hi2c3, 0) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN I2C3_Init 2 */
-
-  /* USER CODE END I2C3_Init 2 */
-
-}
-
-void HAL_I2C_MspInit(I2C_HandleTypeDef* i2cHandle)
-{
-
-  GPIO_InitTypeDef GPIO_InitStruct = {0};
-  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
-  if(i2cHandle->Instance==I2C1)
-  {
-  /* USER CODE BEGIN I2C1_MspInit 0 */
-
-  /* USER CODE END I2C1_MspInit 0 */
-
-  /** Initializes the peripherals clock
-  */
-    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_I2C1;
-    PeriphClkInitStruct.I2c123ClockSelection = RCC_I2C123CLKSOURCE_D2PCLK1;
-    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
-    {
-      Error_Handler();
-    }
-
-    __HAL_RCC_GPIOB_CLK_ENABLE();
-    /**I2C1 GPIO Configuration
-    PB7     ------> I2C1_SDA
-    PB8     ------> I2C1_SCL
-    */
-    GPIO_InitStruct.Pin = GPIO_PIN_7|GPIO_PIN_8;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-    GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
-    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
-    /* I2C1 clock enable */
-    __HAL_RCC_I2C1_CLK_ENABLE();
-  /* USER CODE BEGIN I2C1_MspInit 1 */
-
-  /* USER CODE END I2C1_MspInit 1 */
-  }
-  else if(i2cHandle->Instance==I2C2)
-  {
-  /* USER CODE BEGIN I2C2_MspInit 0 */
-
-  /* USER CODE END I2C2_MspInit 0 */
-
-  /** Initializes the peripherals clock
-  */
-    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_I2C2;
-    PeriphClkInitStruct.I2c123ClockSelection = RCC_I2C123CLKSOURCE_D2PCLK1;
-    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
-    {
-      Error_Handler();
-    }
-
-    __HAL_RCC_GPIOB_CLK_ENABLE();
-    /**I2C2 GPIO Configuration
-    PB10     ------> I2C2_SCL
-    PB11     ------> I2C2_SDA
-    */
-    GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_11;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-    GPIO_InitStruct.Alternate = GPIO_AF4_I2C2;
-    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
-    /* I2C2 clock enable */
-    __HAL_RCC_I2C2_CLK_ENABLE();
-  /* USER CODE BEGIN I2C2_MspInit 1 */
-
-  /* USER CODE END I2C2_MspInit 1 */
-  }
-  else if(i2cHandle->Instance==I2C3)
-  {
-  /* USER CODE BEGIN I2C3_MspInit 0 */
-
-  /* USER CODE END I2C3_MspInit 0 */
-
-  /** Initializes the peripherals clock
-  */
-    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_I2C3;
-    PeriphClkInitStruct.I2c123ClockSelection = RCC_I2C123CLKSOURCE_D2PCLK1;
-    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
-    {
-      Error_Handler();
-    }
-
-    __HAL_RCC_GPIOC_CLK_ENABLE();
-    __HAL_RCC_GPIOA_CLK_ENABLE();
-    /**I2C3 GPIO Configuration
-    PC9     ------> I2C3_SDA
-    PA8     ------> I2C3_SCL
-    */
-    GPIO_InitStruct.Pin = GPIO_PIN_9;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-    GPIO_InitStruct.Alternate = GPIO_AF4_I2C3;
-    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
-
-    GPIO_InitStruct.Pin = GPIO_PIN_8;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-    GPIO_InitStruct.Alternate = GPIO_AF4_I2C3;
-    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
-    /* I2C3 clock enable */
-    __HAL_RCC_I2C3_CLK_ENABLE();
-  /* USER CODE BEGIN I2C3_MspInit 1 */
-
-  /* USER CODE END I2C3_MspInit 1 */
-  }
-}
-
-void HAL_I2C_MspDeInit(I2C_HandleTypeDef* i2cHandle)
-{
-
-  if(i2cHandle->Instance==I2C1)
-  {
-  /* USER CODE BEGIN I2C1_MspDeInit 0 */
-
-  /* USER CODE END I2C1_MspDeInit 0 */
-    /* Peripheral clock disable */
-    __HAL_RCC_I2C1_CLK_DISABLE();
-
-    /**I2C1 GPIO Configuration
-    PB7     ------> I2C1_SDA
-    PB8     ------> I2C1_SCL
-    */
-    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_7);
-
-    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8);
-
-  /* USER CODE BEGIN I2C1_MspDeInit 1 */
-
-  /* USER CODE END I2C1_MspDeInit 1 */
-  }
-  else if(i2cHandle->Instance==I2C2)
-  {
-  /* USER CODE BEGIN I2C2_MspDeInit 0 */
-
-  /* USER CODE END I2C2_MspDeInit 0 */
-    /* Peripheral clock disable */
-    __HAL_RCC_I2C2_CLK_DISABLE();
-
-    /**I2C2 GPIO Configuration
-    PB10     ------> I2C2_SCL
-    PB11     ------> I2C2_SDA
-    */
-    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_10);
-
-    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_11);
-
-  /* USER CODE BEGIN I2C2_MspDeInit 1 */
-
-  /* USER CODE END I2C2_MspDeInit 1 */
-  }
-  else if(i2cHandle->Instance==I2C3)
-  {
-  /* USER CODE BEGIN I2C3_MspDeInit 0 */
-
-  /* USER CODE END I2C3_MspDeInit 0 */
-    /* Peripheral clock disable */
-    __HAL_RCC_I2C3_CLK_DISABLE();
-
-    /**I2C3 GPIO Configuration
-    PC9     ------> I2C3_SDA
-    PA8     ------> I2C3_SCL
-    */
-    HAL_GPIO_DeInit(GPIOC, GPIO_PIN_9);
-
-    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_8);
-
-  /* USER CODE BEGIN I2C3_MspDeInit 1 */
-
-  /* USER CODE END I2C3_MspDeInit 1 */
-  }
-}
-
-/* USER CODE BEGIN 1 */
-
-/* USER CODE END 1 */

Core备份3/imu1/MPU60501.c

@@ -1,542 +0,0 @@
-/*
- * MPU6050.c
- *
- *  Created on: Oct 26, 2021
- *      Author: Administrator
- */
-
-#include "MPU60501.h"
-
-#include <stdio.h>
-
- u8 IIC_Write_Byte1(u8 reg, u8 value)
- {
-	 return IIC_Write_Len1(MPU_ADDR, reg, 1, &value);
- }
-
- u8 IIC_Read_Byte1(u8 reg)
- {
-	 u8 value = 0;
-
-	 IIC_Read_Len1(MPU_ADDR, reg, 1, &value);
-
-	 return value;
- }
-
- //IIC连续写
- u8 IIC_Write_Len1(u8 addr,u8 reg, u8 len, u8 *buf)
- {
-	 addr = (addr << 1) | 0;
-
-	 u8 data[10] = {0};
-	 data[0] = reg;
-	 for(int i = 0; i < len; i++)
-	 {
-		 data[1 + i] = buf[i];
-	 }
-
-	 if(HAL_I2C_Master_Transmit(&hi2c2, (uint16_t)addr, (uint8_t*)data, len + 1, 10000)!= HAL_OK)
-	 {
-		 printf("++write len byte fail\r\n");
-		 return 1;
-	 }
-
-	 return 0;
- }
-
- //IIC连续读
- u8 IIC_Read_Len1(u8 addr,u8 reg,u8 len,u8 *buf)
- {
-	 u8 tmp  = (addr << 1) | 0;
-	 if(HAL_I2C_Master_Transmit(&hi2c2, (uint16_t)tmp, (uint8_t*)&reg, 1, 10000)!= HAL_OK)
-	 {
-		 printf("++write byte fail\r\n");
-		 return 1;
-	 }
-
-	 tmp  = (addr << 1) | 1;
-	 if(HAL_I2C_Master_Receive(&hi2c2, (uint16_t)tmp, (uint8_t *)buf, len, 10000) != HAL_OK)
-	 {
-		 printf("--read byte fail\r\n");
-	 }
-
- }
-
-
-//初始化MPU6050
-//返回值: 0,成功
-//        其他,错误代码
-u8 MPU_Init1(void)
-{
-    u8 res = 0;
-
-    IIC_Write_Byte1(MPU_PWR_MGMT1_REG,0X80);//复位MPU6050
-
-    HAL_Delay(100);
-
-    IIC_Write_Byte1(MPU_PWR_MGMT1_REG,0X00);//唤醒MPU6050
-
-    MPU_Set_Gyro_Fsr1(3); //陀螺仪传感器,±2000dps
-    MPU_Set_Accel_Fsr1(0); //加速度传感器 ±2g
-    MPU_Set_Rate1(50); //设置采样率50HZ
-    IIC_Write_Byte1(MPU_INT_EN_REG,0X00); //关闭所有中断
-    IIC_Write_Byte1(MPU_USER_CTRL_REG,0X00);//I2C主模式关闭
-    IIC_Write_Byte1(MPU_FIFO_EN_REG,0X00);//关闭FIFO
-    IIC_Write_Byte1(MPU_INTBP_CFG_REG,0X80);//INT引脚低电平有效
-
-    res=IIC_Read_Byte1(MPU_DEVICE_ID_REG);
-
-    printf("the addr is:%d\r\n", res);
-
-    if(res==MPU_ADDR)//器件ID正确
-    {
-        IIC_Write_Byte1(MPU_PWR_MGMT1_REG,0X01);//设置CLKSEL,PLL X 轴为参考
-        IIC_Write_Byte1(MPU_PWR_MGMT2_REG,0X00);//加速度陀螺仪都工作
-        MPU_Set_Rate1(50); //设置采样率为50HZ
-    }
-    else
-    {
-    	return 1;
-    }
-
-    return 0;
-}
-
-//设置MPU6050陀螺仪传感器满量程范围
-//fsr:0,±250dps;1,±500dps;2,±1000dps;3,±2000dps
-//返回值:0,设置成功
-//    其他,设置失败
-u8 MPU_Set_Gyro_Fsr1(u8 fsr)
-{
-    return IIC_Write_Byte1(MPU_GYRO_CFG_REG, fsr<<3);//设置陀螺仪满量程范围
-}
-
-//设置MPU6050加速度传感器满量程范围
-//fsr:0,±2g;1,±4g;2,±8g;3,±16g
-//返回值:0,设置成功
-//    其他,设置失败
-u8 MPU_Set_Accel_Fsr1(u8 fsr)
-{
-    return IIC_Write_Byte1(MPU_ACCEL_CFG_REG, fsr<<3);//设置加速度传感器满量程范围
-}
-
-//设置MPU6050的数字低通滤波器
-//lpf:数字低通滤波频率(Hz)
-//返回值:0,设置成功
-//    其他,设置失败
-u8 MPU_Set_LPF1(u16 lpf)
-{
-    u8 data=0;
-    if(lpf>=188) data=1;
-    else if(lpf>=98) data=2;
-    else if(lpf>=42) data=2;
-    else if(lpf>=42) data=3;
-    else if(lpf>=20) data=4;
-    else if(lpf>=10) data=5;
-    else data=6;
-    return IIC_Write_Byte1(MPU_CFG_REG,data);//设置数字低通滤波器
-}
-
-//设置MPU6050的采样率(假定Fs=1KHz)
-//rate:4~1000(Hz)
-//返回值:0,设置成功
-//    其他,设置失败
-u8 MPU_Set_Rate1(u16 rate)
-{
-    u8 data;
-    if(rate>1000)rate=1000;
-    if(rate<4)rate=4;
-    data=1000/rate-1;
-    data=IIC_Write_Byte1(MPU_SAMPLE_RATE_REG, data);  //设置数字低通滤波器
-    return MPU_Set_LPF1(rate/2); //自动设置LPF为采样率的一半
-}
-
-//得到温度值
-//返回值:温度值(扩大了100倍)
-short MPU_Get_Temperature1(void)
-{
-    u8 buf[2];
-    short raw;
-    float temp;
-    IIC_Read_Len1(MPU_ADDR, MPU_TEMP_OUTH_REG, 2, buf);
-    raw=((u16)buf[0]<<8)|buf[1];
-    temp=36.53+((double)raw)/340;
-
-    return temp*100;;
-}
-
-//得到陀螺仪值(原始值)
-//gx,gy,gz:陀螺仪x,y,z轴的原始读数(带符号)
-//返回值:0,成功
-// 其他,错误代码
-u8 MPU_Get_Gyroscope1(short *gx,short *gy,short *gz)
-{
-    u8 buf[6],res;
-    res=IIC_Read_Len1(MPU_ADDR,MPU_GYRO_XOUTH_REG,6,buf);
-    if(res==0)
-    {
-        *gx=((u16)buf[0]<<8)|buf[1];
-        *gy=((u16)buf[2]<<8)|buf[3];
-        *gz=((u16)buf[4]<<8)|buf[5];
-    }
-    return res;
-}
-
-//得到加速度值(原始值)
-//ax,ay,az:陀螺仪x,y,z轴的原始读数(带符号)
-//返回值:0,成功
-//    其他,错误代码
-u8 MPU_Get_Accelerometer1(short *ax,short *ay,short *az)
-{
-    u8 buf[6],res;
-    res=IIC_Read_Len1(MPU_ADDR,MPU_ACCEL_XOUTH_REG,6,buf);
-    if(res==0)
-    {
-        *ax=((u16)buf[0]<<8)|buf[1];
-        *ay=((u16)buf[2]<<8)|buf[3];
-        *az=((u16)buf[4]<<8)|buf[5];
-    }
-    return res;;
-}
-
-/*--------------------以下为使用板载固件DMP的相关代码，这个融合得到的姿态角效果很好*/
-
-
-/**
-  * @brief  获取当前毫秒值
-  * @param  存储最新毫秒值的变量
-  * @retval 无
-  */
-int get_tick_count1(unsigned long *count)
-{
-   count[0] = HAL_GetTick();
-	return 0;
-}
-
-
-#include "inv_mpu1.h"
-#include "inv_mpu_dmp_motion_driver1.h"
-
-/* Data requested by client. */
-#define PRINT_ACCEL     (0x01)
-#define PRINT_GYRO      (0x02)
-#define PRINT_QUAT      (0x04)
-
-#define ACCEL_ON        (0x01)
-#define GYRO_ON         (0x02)
-
-#define MOTION          (0)
-#define NO_MOTION       (1)
-
-/* Starting sampling rate. */ //100
-#define DEFAULT_MPU_HZ  (50)
-
-struct rx_s {
-    unsigned char header[3];
-    unsigned char cmd;
-};
-struct hal_s {
-    unsigned char sensors;
-    unsigned char dmp_on;
-    unsigned char wait_for_tap;
-    volatile unsigned char new_gyro;
-    unsigned short report;
-    unsigned short dmp_features;
-    unsigned char motion_int_mode;
-    struct rx_s rx;
-};
-static struct hal_s hal = {0};
-
-/* USB RX binary semaphore. Actually, it's just a flag. Not included in struct
- * because it's declared extern elsewhere.
- */
-volatile unsigned char rx_new;
-
-/* The sensors can be mounted onto the board in any orientation. The mounting
- * matrix seen below tells the MPL how to rotate the raw data from thei
- * driver(s).
- * TODO: The following matrices refer to the configuration on an internal test
- * board at Invensense. If needed, please modify the matrices to match the
- * chip-to-body matrix for your particular set up.
- */
-static signed char gyro_orientation[9] = {-1, 0, 0,
-                                           0,-1, 0,
-                                           0, 0, 1};
-
-/* Every time new gyro data is available, this function is called in an
- * ISR context. In this example, it sets a flag protecting the FIFO read
- * function.
- */
-static void gyro_data_ready_cb(void)
-{
-    hal.new_gyro = 1;
-}
-
-enum packet_type_e {
-    PACKET_TYPE_ACCEL,
-    PACKET_TYPE_GYRO,
-    PACKET_TYPE_QUAT,
-    PACKET_TYPE_TAP,
-    PACKET_TYPE_ANDROID_ORIENT,
-    PACKET_TYPE_PEDO,
-    PACKET_TYPE_MISC
-};
-
-#define BYTE u_char
-/* Send data to the Python client application.
- * Data is formatted as follows:
- * packet[0]    = $
- * packet[1]    = packet type (see packet_type_e)
- * packet[2+]   = data
- */
-void send_packet(char packet_type, void *data)
-{
-
-	#define MAX_BUF_LENGTH  (18)
-    char buf[MAX_BUF_LENGTH], length;
-
-    memset(buf, 0, MAX_BUF_LENGTH);
-    buf[0] = '$';
-    buf[1] = packet_type;
-
-    if (packet_type == PACKET_TYPE_ACCEL || packet_type == PACKET_TYPE_GYRO) {
-        short *sdata = (short*)data;
-        buf[2] = (char)(sdata[0] >> 8);
-        buf[3] = (char)sdata[0];
-        buf[4] = (char)(sdata[1] >> 8);
-        buf[5] = (char)sdata[1];
-        buf[6] = (char)(sdata[2] >> 8);
-        buf[7] = (char)sdata[2];
-        length = 8;
-    } else if (packet_type == PACKET_TYPE_QUAT) {
-        long *ldata = (long*)data;
-        buf[2] = (char)(ldata[0] >> 24);
-        buf[3] = (char)(ldata[0] >> 16);
-        buf[4] = (char)(ldata[0] >> 8);
-        buf[5] = (char)ldata[0];
-        buf[6] = (char)(ldata[1] >> 24);
-        buf[7] = (char)(ldata[1] >> 16);
-        buf[8] = (char)(ldata[1] >> 8);
-        buf[9] = (char)ldata[1];
-        buf[10] = (char)(ldata[2] >> 24);
-        buf[11] = (char)(ldata[2] >> 16);
-        buf[12] = (char)(ldata[2] >> 8);
-        buf[13] = (char)ldata[2];
-        buf[14] = (char)(ldata[3] >> 24);
-        buf[15] = (char)(ldata[3] >> 16);
-        buf[16] = (char)(ldata[3] >> 8);
-        buf[17] = (char)ldata[3];
-        length = 18;
-    } else if (packet_type == PACKET_TYPE_TAP) {
-        buf[2] = ((char*)data)[0];
-        buf[3] = ((char*)data)[1];
-        length = 4;
-    } else if (packet_type == PACKET_TYPE_ANDROID_ORIENT) {
-        buf[2] = ((char*)data)[0];
-        length = 3;
-    } else if (packet_type == PACKET_TYPE_PEDO) {
-        long *ldata = (long*)data;
-        buf[2] = (char)(ldata[0] >> 24);
-        buf[3] = (char)(ldata[0] >> 16);
-        buf[4] = (char)(ldata[0] >> 8);
-        buf[5] = (char)ldata[0];
-        buf[6] = (char)(ldata[1] >> 24);
-        buf[7] = (char)(ldata[1] >> 16);
-        buf[8] = (char)(ldata[1] >> 8);
-        buf[9] = (char)ldata[1];
-        length = 10;
-    } else if (packet_type == PACKET_TYPE_MISC) {
-        buf[2] = ((char*)data)[0];
-        buf[3] = ((char*)data)[1];
-        buf[4] = ((char*)data)[2];
-        buf[5] = ((char*)data)[3];
-        length = 6;
-    }
-
-//    cdcSendDataWaitTilDone((BYTE*)buf, length, CDC0_INTFNUM, 100);
-}
-
-/* These next two functions converts the orientation matrix (see
- * gyro_orientation) to a scalar representation for use by the DMP.
- * NOTE: These functions are borrowed from Invensense's MPL.
- */
-static inline unsigned short inv_row_2_scale(const signed char *row)
-{
-    unsigned short b;
-
-    if (row[0] > 0)
-        b = 0;
-    else if (row[0] < 0)
-        b = 4;
-    else if (row[1] > 0)
-        b = 1;
-    else if (row[1] < 0)
-        b = 5;
-    else if (row[2] > 0)
-        b = 2;
-    else if (row[2] < 0)
-        b = 6;
-    else
-        b = 7;      // error
-    return b;
-}
-static inline unsigned short inv_orientation_matrix_to_scalar(
-    const signed char *mtx)
-{
-    unsigned short scalar;
-
-    /*
-       XYZ  010_001_000 Identity Matrix
-       XZY  001_010_000
-       YXZ  010_000_001
-       YZX  000_010_001
-       ZXY  001_000_010
-       ZYX  000_001_010
-     */
-
-    scalar = inv_row_2_scale(mtx);
-    scalar |= inv_row_2_scale(mtx + 3) << 3;
-    scalar |= inv_row_2_scale(mtx + 6) << 6;
-
-
-    return scalar;
-}
-
-static inline void run_self_test(void)
-{
-    int result;
-    char test_packet[4] = {0};
-    long gyro[3], accel[3];
-
-    result = mpu_run_self_test(gyro, accel);
-    if (result == 0x7) {
-        /* Test passed. We can trust the gyro data here, so let's push it down
-         * to the DMP.
-         */
-        float sens;
-        unsigned short accel_sens;
-        mpu_get_gyro_sens(&sens);
-        gyro[0] = (long)(gyro[0] * sens);
-        gyro[1] = (long)(gyro[1] * sens);
-        gyro[2] = (long)(gyro[2] * sens);
-        dmp_set_gyro_bias(gyro);
-        mpu_get_accel_sens(&accel_sens);
-        accel[0] *= accel_sens;
-        accel[1] *= accel_sens;
-        accel[2] *= accel_sens;
-        dmp_set_accel_bias(accel);
-    }
-
-    /* Report results. */
-    test_packet[0] = 't';
-    test_packet[1] = result;
-    send_packet(PACKET_TYPE_MISC, test_packet);
-}
-
-
-#define INT_EXIT_LPM0 12
-
-void DMP_Init1(void)
-{
-    struct int_param_s int_param;
-
-	/* Set up gyro.
-	 * Every function preceded by mpu_ is a driver function and can be found
-	 * in inv_mpu.h.
-	 */
-	int_param.cb = gyro_data_ready_cb;
-	int_param.pin = 16;
-	int_param.lp_exit = INT_EXIT_LPM0;
-	int_param.active_low = 1;
-
-	int result = mpu_init(&int_param);
-
-	printf("mpu_init, %d\r\n", result);
-
-	if(result == 0)     //mpu初始化
-	{
-		if(!mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL))    //设置需要的传感器
-			printf("mpu_set_sensor complete ......\r\n");
-
-		if(!mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL)) //设置fifo
-			printf("mpu_configure_fifo complete ......\r\n");
-
-		if(!mpu_set_sample_rate(DEFAULT_MPU_HZ))              //设置采集样率
-			printf("mpu_set_sample_rate complete ......\r\n");
-
-
-		unsigned short gyro_rate = 0, gyro_fsr = 0;
-		unsigned char accel_fsr = 0;
-
-	    mpu_get_sample_rate(&gyro_rate);
-	    mpu_get_gyro_fsr(&gyro_fsr);
-	    mpu_get_accel_fsr(&accel_fsr);
-
-	    printf("gyro_rate %d, gyro_fsr %d, accel_fsr %d\r\n", gyro_rate, gyro_fsr, accel_fsr);
-
-
-
-		if(!dmp_load_motion_driver_firmware())                //加载dmp固件
-			printf("dmp_load_motion_driver_firmware complete ......\r\n");
-
-		if(!dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation)))
-			printf("dmp_set_orientation complete ......\r\n"); //设置陀螺仪方向
-
-		if(!dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP |
-				DMP_FEATURE_ANDROID_ORIENT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO |
-				DMP_FEATURE_GYRO_CAL))
-			printf("dmp_enable_feature complete ......\r\n");
-
-		if(!dmp_set_fifo_rate(DEFAULT_MPU_HZ))    //设置速率
-			printf("dmp_set_fifo_rate complete ......\r\n");
-
-		run_self_test();                          //自检(非必要)
-
-		if(!mpu_set_dmp_state(1))                 //使能
-			printf("mpu_set_dmp_state complete ......\r\n");
-	}
-
-}
-
-#define q30 1073741824.0
-
-uint8_t Read_DMP1(float* Pitch,float* Roll,float* Yaw)
-{
-	short gyro[3], accel[3], sensors;
-	float q0=1.0f,q1=0.0f,q2=0.0f,q3=0.0f;
-	unsigned long sensor_timestamp;
-	unsigned char more;
-	long quat[4];
-
-	int ret = dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors, &more);
-
-//	printf("dmp_read_fifo, %d\r\n", ret);
-
-	if(ret)
-	{
-		return 1;
-	}
-
-	if (sensors & INV_WXYZ_QUAT)
-	{
-		q0=quat[0] / q30;
-		q1=quat[1] / q30;
-		q2=quat[2] / q30;
-		q3=quat[3] / q30;
-		*Pitch = (float)asin(-2 * q1 * q3 + 2 * q0* q2)* 57.3;
-		*Roll =  (float)atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2* q2 + 1)* 57.3; // roll
-		*Yaw =   (float)atan2(2*(q1*q2 + q0*q3),q0*q0+q1*q1-q2*q2-q3*q3) * 57.3;
-		return 0;
-	}
-	else
-	{
-		return 2;
-	}
-
-}
-
-
-
-
-
-

Core备份3/imu1/MPU60501.h

@@ -1,117 +0,0 @@
-/*
- * MPU6050.h
- *
- *  Created on: Oct 26, 2021
- *      Author: Administrator
- */
-
-#ifndef INC_MPU6050_H_
-#define INC_MPU6050_H_
-
-#include "i2c.h"
-#include "inv_mpu1.h"
-
-//#define MPU_ACCEL_OFFS_REG		0X06	//accel_offs寄存器,可读取版本号,寄存器手册未提到
-//#define MPU_PROD_ID_REG			0X0C	//prod id寄存器,在寄存器手册未提到
-#define MPU_SELF_TESTX_REG		0X0D	//自检寄存器X
-#define MPU_SELF_TESTY_REG		0X0E	//自检寄存器Y
-#define MPU_SELF_TESTZ_REG		0X0F	//自检寄存器Z
-#define MPU_SELF_TESTA_REG		0X10	//自检寄存器A
-#define MPU_SAMPLE_RATE_REG		0X19	//采样频率分频器
-#define MPU_CFG_REG				0X1A	//配置寄存器
-#define MPU_GYRO_CFG_REG		0X1B	//陀螺仪配置寄存器
-#define MPU_ACCEL_CFG_REG		0X1C	//加速度计配置寄存器
-#define MPU_MOTION_DET_REG		0X1F	//运动检测阀值设置寄存器
-#define MPU_FIFO_EN_REG			0X23	//FIFO使能寄存器
-#define MPU_I2CMST_CTRL_REG		0X24	//IIC主机控制寄存器
-#define MPU_I2CSLV0_ADDR_REG	0X25	//IIC从机0器件地址寄存器
-#define MPU_I2CSLV0_REG			0X26	//IIC从机0数据地址寄存器
-#define MPU_I2CSLV0_CTRL_REG	0X27	//IIC从机0控制寄存器
-#define MPU_I2CSLV1_ADDR_REG	0X28	//IIC从机1器件地址寄存器
-#define MPU_I2CSLV1_REG			0X29	//IIC从机1数据地址寄存器
-#define MPU_I2CSLV1_CTRL_REG	0X2A	//IIC从机1控制寄存器
-#define MPU_I2CSLV2_ADDR_REG	0X2B	//IIC从机2器件地址寄存器
-#define MPU_I2CSLV2_REG			0X2C	//IIC从机2数据地址寄存器
-#define MPU_I2CSLV2_CTRL_REG	0X2D	//IIC从机2控制寄存器
-#define MPU_I2CSLV3_ADDR_REG	0X2E	//IIC从机3器件地址寄存器
-#define MPU_I2CSLV3_REG			0X2F	//IIC从机3数据地址寄存器
-#define MPU_I2CSLV3_CTRL_REG	0X30	//IIC从机3控制寄存器
-#define MPU_I2CSLV4_ADDR_REG	0X31	//IIC从机4器件地址寄存器
-#define MPU_I2CSLV4_REG			0X32	//IIC从机4数据地址寄存器
-#define MPU_I2CSLV4_DO_REG		0X33	//IIC从机4写数据寄存器
-#define MPU_I2CSLV4_CTRL_REG	0X34	//IIC从机4控制寄存器
-#define MPU_I2CSLV4_DI_REG		0X35	//IIC从机4读数据寄存器
-
-#define MPU_I2CMST_STA_REG		0X36	//IIC主机状态寄存器
-#define MPU_INTBP_CFG_REG		0X37	//中断/旁路设置寄存器
-#define MPU_INT_EN_REG			0X38	//中断使能寄存器
-#define MPU_INT_STA_REG			0X3A	//中断状态寄存器
-
-#define MPU_ACCEL_XOUTH_REG		0X3B	//加速度值,X轴高8位寄存器
-#define MPU_ACCEL_XOUTL_REG		0X3C	//加速度值,X轴低8位寄存器
-#define MPU_ACCEL_YOUTH_REG		0X3D	//加速度值,Y轴高8位寄存器
-#define MPU_ACCEL_YOUTL_REG		0X3E	//加速度值,Y轴低8位寄存器
-#define MPU_ACCEL_ZOUTH_REG		0X3F	//加速度值,Z轴高8位寄存器
-#define MPU_ACCEL_ZOUTL_REG		0X40	//加速度值,Z轴低8位寄存器
-
-#define MPU_TEMP_OUTH_REG		0X41	//温度值高八位寄存器
-#define MPU_TEMP_OUTL_REG		0X42	//温度值低8位寄存器
-
-#define MPU_GYRO_XOUTH_REG		0X43	//陀螺仪值,X轴高8位寄存器
-#define MPU_GYRO_XOUTL_REG		0X44	//陀螺仪值,X轴低8位寄存器
-#define MPU_GYRO_YOUTH_REG		0X45	//陀螺仪值,Y轴高8位寄存器
-#define MPU_GYRO_YOUTL_REG		0X46	//陀螺仪值,Y轴低8位寄存器
-#define MPU_GYRO_ZOUTH_REG		0X47	//陀螺仪值,Z轴高8位寄存器
-#define MPU_GYRO_ZOUTL_REG		0X48	//陀螺仪值,Z轴低8位寄存器
-
-#define MPU_I2CSLV0_DO_REG		0X63	//IIC从机0数据寄存器
-#define MPU_I2CSLV1_DO_REG		0X64	//IIC从机1数据寄存器
-#define MPU_I2CSLV2_DO_REG		0X65	//IIC从机2数据寄存器
-#define MPU_I2CSLV3_DO_REG		0X66	//IIC从机3数据寄存器
-
-#define MPU_I2CMST_DELAY_REG	0X67	//IIC主机延时管理寄存器
-#define MPU_SIGPATH_RST_REG		0X68	//信号通道复位寄存器
-#define MPU_MDETECT_CTRL_REG	0X69	//运动检测控制寄存器
-#define MPU_USER_CTRL_REG		0X6A	//用户控制寄存器
-#define MPU_PWR_MGMT1_REG		0X6B	//电源管理寄存器1
-#define MPU_PWR_MGMT2_REG		0X6C	//电源管理寄存器2
-#define MPU_FIFO_CNTH_REG		0X72	//FIFO计数寄存器高八位
-#define MPU_FIFO_CNTL_REG		0X73	//FIFO计数寄存器低八位
-#define MPU_FIFO_RW_REG			0X74	//FIFO读写寄存器
-#define MPU_DEVICE_ID_REG		0X75	//器件ID寄存器
-
-//如果AD0脚接地,IIC地址为0X68(不包含最低位).
-//如果接V3.3,则IIC地址为0X69(不包含最低位).
-#define MPU_ADDR				0X68
-
-
-//因为模块AD0默认接GND,所以转为读写地址后,为0XD1和0XD0(如果接VCC,则为0XD3和0XD2)
-#define MPU_READ    0XD1
-#define MPU_WRITE   0XD0
-
-#define u8 uint8_t
-#define u16 uint16_t
-
-u8 MPU_Init1(void); 								//初始化MPU6050
-u8 IIC_Write_Len1(u8 addr,u8 reg,u8 len,u8 *buf);//IIC连续写
-u8 IIC_Read_Len1(u8 addr,u8 reg,u8 len,u8 *buf); //IIC连续读
-u8 IIC_Write_Byte1(u8 reg,u8 data);				//IIC写一个字节
-u8 IIC_Read_Byte1(u8 reg);						//IIC读一个字节
-
-u8 MPU_Set_Gyro_Fsr1(u8 fsr);
-u8 MPU_Set_Accel_Fsr1(u8 fsr);
-u8 MPU_Set_LPF1(u16 lpf);
-u8 MPU_Set_Rate(u16 rate);
-u8 MPU_Set_Fifo1(u8 sens);
-
-
-short MPU_Get_Temperature1(void);
-u8 MPU_Get_Gyroscope1(short *gx,short *gy,short *gz);
-u8 MPU_Get_Accelerometer1(short *ax,short *ay,short *az);
-
-//----------------------DMP-------------------------------
-void DMP_Init1(void);
-uint8_t Read_DMP1(float* Pitch,float* Roll,float* Yaw);
-int get_tick_count1(unsigned long *count);
-
-#endif /* INC_MPU6050_H_ */

Core备份3/imu1/dmpKey1.h

@@ -1,494 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-#ifndef DMPKEY_H__
-#define DMPKEY_H__
-
-#define KEY_CFG_25                  (0)
-#define KEY_CFG_24                  (KEY_CFG_25 + 1)
-#define KEY_CFG_26                  (KEY_CFG_24 + 1)
-#define KEY_CFG_27                  (KEY_CFG_26 + 1)
-#define KEY_CFG_21                  (KEY_CFG_27 + 1)
-#define KEY_CFG_20                  (KEY_CFG_21 + 1)
-#define KEY_CFG_TAP4                (KEY_CFG_20 + 1)
-#define KEY_CFG_TAP5                (KEY_CFG_TAP4 + 1)
-#define KEY_CFG_TAP6                (KEY_CFG_TAP5 + 1)
-#define KEY_CFG_TAP7                (KEY_CFG_TAP6 + 1)
-#define KEY_CFG_TAP0                (KEY_CFG_TAP7 + 1)
-#define KEY_CFG_TAP1                (KEY_CFG_TAP0 + 1)
-#define KEY_CFG_TAP2                (KEY_CFG_TAP1 + 1)
-#define KEY_CFG_TAP3                (KEY_CFG_TAP2 + 1)
-#define KEY_CFG_TAP_QUANTIZE        (KEY_CFG_TAP3 + 1)
-#define KEY_CFG_TAP_JERK            (KEY_CFG_TAP_QUANTIZE + 1)
-#define KEY_CFG_DR_INT              (KEY_CFG_TAP_JERK + 1)
-#define KEY_CFG_AUTH                (KEY_CFG_DR_INT + 1)
-#define KEY_CFG_TAP_SAVE_ACCB       (KEY_CFG_AUTH + 1)
-#define KEY_CFG_TAP_CLEAR_STICKY    (KEY_CFG_TAP_SAVE_ACCB + 1)
-#define KEY_CFG_FIFO_ON_EVENT       (KEY_CFG_TAP_CLEAR_STICKY + 1)
-#define KEY_FCFG_ACCEL_INPUT        (KEY_CFG_FIFO_ON_EVENT + 1)
-#define KEY_FCFG_ACCEL_INIT         (KEY_FCFG_ACCEL_INPUT + 1)
-#define KEY_CFG_23                  (KEY_FCFG_ACCEL_INIT + 1)
-#define KEY_FCFG_1                  (KEY_CFG_23 + 1)
-#define KEY_FCFG_3                  (KEY_FCFG_1 + 1)
-#define KEY_FCFG_2                  (KEY_FCFG_3 + 1)
-#define KEY_CFG_3D                  (KEY_FCFG_2 + 1)
-#define KEY_CFG_3B                  (KEY_CFG_3D + 1)
-#define KEY_CFG_3C                  (KEY_CFG_3B + 1)
-#define KEY_FCFG_5                  (KEY_CFG_3C + 1)
-#define KEY_FCFG_4                  (KEY_FCFG_5 + 1)
-#define KEY_FCFG_7                  (KEY_FCFG_4 + 1)
-#define KEY_FCFG_FSCALE             (KEY_FCFG_7 + 1)
-#define KEY_FCFG_AZ                 (KEY_FCFG_FSCALE + 1)
-#define KEY_FCFG_6                  (KEY_FCFG_AZ + 1)
-#define KEY_FCFG_LSB4               (KEY_FCFG_6 + 1)
-#define KEY_CFG_12                  (KEY_FCFG_LSB4 + 1)
-#define KEY_CFG_14                  (KEY_CFG_12 + 1)
-#define KEY_CFG_15                  (KEY_CFG_14 + 1)
-#define KEY_CFG_16                  (KEY_CFG_15 + 1)
-#define KEY_CFG_18                  (KEY_CFG_16 + 1)
-#define KEY_CFG_6                   (KEY_CFG_18 + 1)
-#define KEY_CFG_7                   (KEY_CFG_6 + 1)
-#define KEY_CFG_4                   (KEY_CFG_7 + 1)
-#define KEY_CFG_5                   (KEY_CFG_4 + 1)
-#define KEY_CFG_2                   (KEY_CFG_5 + 1)
-#define KEY_CFG_3                   (KEY_CFG_2 + 1)
-#define KEY_CFG_1                   (KEY_CFG_3 + 1)
-#define KEY_CFG_EXTERNAL            (KEY_CFG_1 + 1)
-#define KEY_CFG_8                   (KEY_CFG_EXTERNAL + 1)
-#define KEY_CFG_9                   (KEY_CFG_8 + 1)
-#define KEY_CFG_ORIENT_3            (KEY_CFG_9 + 1)
-#define KEY_CFG_ORIENT_2            (KEY_CFG_ORIENT_3 + 1)
-#define KEY_CFG_ORIENT_1            (KEY_CFG_ORIENT_2 + 1)
-#define KEY_CFG_GYRO_SOURCE         (KEY_CFG_ORIENT_1 + 1)
-#define KEY_CFG_ORIENT_IRQ_1        (KEY_CFG_GYRO_SOURCE + 1)
-#define KEY_CFG_ORIENT_IRQ_2        (KEY_CFG_ORIENT_IRQ_1 + 1)
-#define KEY_CFG_ORIENT_IRQ_3        (KEY_CFG_ORIENT_IRQ_2 + 1)
-#define KEY_FCFG_MAG_VAL            (KEY_CFG_ORIENT_IRQ_3 + 1)
-#define KEY_FCFG_MAG_MOV            (KEY_FCFG_MAG_VAL + 1)
-#define KEY_CFG_LP_QUAT             (KEY_FCFG_MAG_MOV + 1)
-
-/* MPU6050 keys */
-#define KEY_CFG_ACCEL_FILTER        (KEY_CFG_LP_QUAT + 1)
-#define KEY_CFG_MOTION_BIAS         (KEY_CFG_ACCEL_FILTER + 1)
-#define KEY_TEMPLABEL               (KEY_CFG_MOTION_BIAS + 1)
-
-#define KEY_D_0_22                  (KEY_TEMPLABEL + 1)
-#define KEY_D_0_24                  (KEY_D_0_22 + 1)
-#define KEY_D_0_36                  (KEY_D_0_24 + 1)
-#define KEY_D_0_52                  (KEY_D_0_36 + 1)
-#define KEY_D_0_96                  (KEY_D_0_52 + 1)
-#define KEY_D_0_104                 (KEY_D_0_96 + 1)
-#define KEY_D_0_108                 (KEY_D_0_104 + 1)
-#define KEY_D_0_163                 (KEY_D_0_108 + 1)
-#define KEY_D_0_188                 (KEY_D_0_163 + 1)
-#define KEY_D_0_192                 (KEY_D_0_188 + 1)
-#define KEY_D_0_224                 (KEY_D_0_192 + 1)
-#define KEY_D_0_228                 (KEY_D_0_224 + 1)
-#define KEY_D_0_232                 (KEY_D_0_228 + 1)
-#define KEY_D_0_236                 (KEY_D_0_232 + 1)
-
-#define KEY_DMP_PREVPTAT            (KEY_D_0_236 + 1)
-#define KEY_D_1_2                   (KEY_DMP_PREVPTAT + 1)
-#define KEY_D_1_4                   (KEY_D_1_2 + 1)
-#define KEY_D_1_8                   (KEY_D_1_4 + 1)
-#define KEY_D_1_10                  (KEY_D_1_8 + 1)
-#define KEY_D_1_24                  (KEY_D_1_10 + 1)
-#define KEY_D_1_28                  (KEY_D_1_24 + 1)
-#define KEY_D_1_36                  (KEY_D_1_28 + 1)
-#define KEY_D_1_40                  (KEY_D_1_36 + 1)
-#define KEY_D_1_44                  (KEY_D_1_40 + 1)
-#define KEY_D_1_72                  (KEY_D_1_44 + 1)
-#define KEY_D_1_74                  (KEY_D_1_72 + 1)
-#define KEY_D_1_79                  (KEY_D_1_74 + 1)
-#define KEY_D_1_88                  (KEY_D_1_79 + 1)
-#define KEY_D_1_90                  (KEY_D_1_88 + 1)
-#define KEY_D_1_92                  (KEY_D_1_90 + 1)
-#define KEY_D_1_96                  (KEY_D_1_92 + 1)
-#define KEY_D_1_98                  (KEY_D_1_96 + 1)
-#define KEY_D_1_100                 (KEY_D_1_98 + 1)
-#define KEY_D_1_106                 (KEY_D_1_100 + 1)
-#define KEY_D_1_108                 (KEY_D_1_106 + 1)
-#define KEY_D_1_112                 (KEY_D_1_108 + 1)
-#define KEY_D_1_128                 (KEY_D_1_112 + 1)
-#define KEY_D_1_152                 (KEY_D_1_128 + 1)
-#define KEY_D_1_160                 (KEY_D_1_152 + 1)
-#define KEY_D_1_168                 (KEY_D_1_160 + 1)
-#define KEY_D_1_175                 (KEY_D_1_168 + 1)
-#define KEY_D_1_176                 (KEY_D_1_175 + 1)
-#define KEY_D_1_178                 (KEY_D_1_176 + 1)
-#define KEY_D_1_179                 (KEY_D_1_178 + 1)
-#define KEY_D_1_218                 (KEY_D_1_179 + 1)
-#define KEY_D_1_232                 (KEY_D_1_218 + 1)
-#define KEY_D_1_236                 (KEY_D_1_232 + 1)
-#define KEY_D_1_240                 (KEY_D_1_236 + 1)
-#define KEY_D_1_244                 (KEY_D_1_240 + 1)
-#define KEY_D_1_250                 (KEY_D_1_244 + 1)
-#define KEY_D_1_252                 (KEY_D_1_250 + 1)
-#define KEY_D_2_12                  (KEY_D_1_252 + 1)
-#define KEY_D_2_96                  (KEY_D_2_12 + 1)
-#define KEY_D_2_108                 (KEY_D_2_96 + 1)
-#define KEY_D_2_208                 (KEY_D_2_108 + 1)
-#define KEY_FLICK_MSG               (KEY_D_2_208 + 1)
-#define KEY_FLICK_COUNTER           (KEY_FLICK_MSG + 1)
-#define KEY_FLICK_LOWER             (KEY_FLICK_COUNTER + 1)
-#define KEY_CFG_FLICK_IN            (KEY_FLICK_LOWER + 1)
-#define KEY_FLICK_UPPER             (KEY_CFG_FLICK_IN + 1)
-#define KEY_CGNOTICE_INTR           (KEY_FLICK_UPPER + 1)
-#define KEY_D_2_224                 (KEY_CGNOTICE_INTR + 1)
-#define KEY_D_2_244                 (KEY_D_2_224 + 1)
-#define KEY_D_2_248                 (KEY_D_2_244 + 1)
-#define KEY_D_2_252                 (KEY_D_2_248 + 1)
-
-#define KEY_D_GYRO_BIAS_X               (KEY_D_2_252 + 1)
-#define KEY_D_GYRO_BIAS_Y               (KEY_D_GYRO_BIAS_X + 1)
-#define KEY_D_GYRO_BIAS_Z               (KEY_D_GYRO_BIAS_Y + 1)
-#define KEY_D_ACC_BIAS_X                (KEY_D_GYRO_BIAS_Z + 1)
-#define KEY_D_ACC_BIAS_Y                (KEY_D_ACC_BIAS_X + 1)
-#define KEY_D_ACC_BIAS_Z                (KEY_D_ACC_BIAS_Y + 1)
-#define KEY_D_GYRO_ENABLE               (KEY_D_ACC_BIAS_Z + 1)
-#define KEY_D_ACCEL_ENABLE              (KEY_D_GYRO_ENABLE + 1)
-#define KEY_D_QUAT_ENABLE               (KEY_D_ACCEL_ENABLE +1)
-#define KEY_D_OUTPUT_ENABLE             (KEY_D_QUAT_ENABLE + 1)
-#define KEY_D_CR_TIME_G                 (KEY_D_OUTPUT_ENABLE + 1)
-#define KEY_D_CR_TIME_A                 (KEY_D_CR_TIME_G + 1)
-#define KEY_D_CR_TIME_Q                 (KEY_D_CR_TIME_A + 1)
-#define KEY_D_CS_TAX                    (KEY_D_CR_TIME_Q + 1)
-#define KEY_D_CS_TAY                    (KEY_D_CS_TAX + 1)
-#define KEY_D_CS_TAZ                    (KEY_D_CS_TAY + 1)
-#define KEY_D_CS_TGX                    (KEY_D_CS_TAZ + 1)
-#define KEY_D_CS_TGY                    (KEY_D_CS_TGX + 1)
-#define KEY_D_CS_TGZ                    (KEY_D_CS_TGY + 1)
-#define KEY_D_CS_TQ0                    (KEY_D_CS_TGZ + 1)
-#define KEY_D_CS_TQ1                    (KEY_D_CS_TQ0 + 1)
-#define KEY_D_CS_TQ2                    (KEY_D_CS_TQ1 + 1)
-#define KEY_D_CS_TQ3                    (KEY_D_CS_TQ2 + 1)
-
-/* Compass keys */
-#define KEY_CPASS_BIAS_X            (KEY_D_CS_TQ3 + 1)
-#define KEY_CPASS_BIAS_Y            (KEY_CPASS_BIAS_X + 1)
-#define KEY_CPASS_BIAS_Z            (KEY_CPASS_BIAS_Y + 1)
-#define KEY_CPASS_MTX_00            (KEY_CPASS_BIAS_Z + 1)
-#define KEY_CPASS_MTX_01            (KEY_CPASS_MTX_00 + 1)
-#define KEY_CPASS_MTX_02            (KEY_CPASS_MTX_01 + 1)
-#define KEY_CPASS_MTX_10            (KEY_CPASS_MTX_02 + 1)
-#define KEY_CPASS_MTX_11            (KEY_CPASS_MTX_10 + 1)
-#define KEY_CPASS_MTX_12            (KEY_CPASS_MTX_11 + 1)
-#define KEY_CPASS_MTX_20            (KEY_CPASS_MTX_12 + 1)
-#define KEY_CPASS_MTX_21            (KEY_CPASS_MTX_20 + 1)
-#define KEY_CPASS_MTX_22            (KEY_CPASS_MTX_21 + 1)
-
-/* Gesture Keys */
-#define KEY_DMP_TAPW_MIN            (KEY_CPASS_MTX_22 + 1)
-#define KEY_DMP_TAP_THR_X           (KEY_DMP_TAPW_MIN + 1)
-#define KEY_DMP_TAP_THR_Y           (KEY_DMP_TAP_THR_X + 1)
-#define KEY_DMP_TAP_THR_Z           (KEY_DMP_TAP_THR_Y + 1)
-#define KEY_DMP_SH_TH_Y             (KEY_DMP_TAP_THR_Z + 1)
-#define KEY_DMP_SH_TH_X             (KEY_DMP_SH_TH_Y + 1)
-#define KEY_DMP_SH_TH_Z             (KEY_DMP_SH_TH_X + 1)
-#define KEY_DMP_ORIENT              (KEY_DMP_SH_TH_Z + 1)
-#define KEY_D_ACT0                  (KEY_DMP_ORIENT + 1)
-#define KEY_D_ACSX                  (KEY_D_ACT0 + 1)
-#define KEY_D_ACSY                  (KEY_D_ACSX + 1)
-#define KEY_D_ACSZ                  (KEY_D_ACSY + 1)
-
-#define KEY_X_GRT_Y_TMP             (KEY_D_ACSZ + 1)
-#define KEY_SKIP_X_GRT_Y_TMP        (KEY_X_GRT_Y_TMP + 1)
-#define KEY_SKIP_END_COMPARE        (KEY_SKIP_X_GRT_Y_TMP + 1)
-#define KEY_END_COMPARE_Y_X_TMP2    (KEY_SKIP_END_COMPARE + 1)       
-#define KEY_CFG_ANDROID_ORIENT_INT  (KEY_END_COMPARE_Y_X_TMP2 + 1)
-#define KEY_NO_ORIENT_INTERRUPT     (KEY_CFG_ANDROID_ORIENT_INT + 1)
-#define KEY_END_COMPARE_Y_X_TMP     (KEY_NO_ORIENT_INTERRUPT + 1)
-#define KEY_END_ORIENT_1            (KEY_END_COMPARE_Y_X_TMP + 1)
-#define KEY_END_COMPARE_Y_X         (KEY_END_ORIENT_1 + 1) 
-#define KEY_END_ORIENT              (KEY_END_COMPARE_Y_X + 1)
-#define KEY_X_GRT_Y                 (KEY_END_ORIENT + 1)
-#define KEY_NOT_TIME_MINUS_1        (KEY_X_GRT_Y + 1)       
-#define KEY_END_COMPARE_Y_X_TMP3    (KEY_NOT_TIME_MINUS_1 + 1) 
-#define KEY_X_GRT_Y_TMP2            (KEY_END_COMPARE_Y_X_TMP3 + 1)
-
-/* Authenticate Keys */
-#define KEY_D_AUTH_OUT              (KEY_X_GRT_Y_TMP2 + 1)
-#define KEY_D_AUTH_IN               (KEY_D_AUTH_OUT + 1)
-#define KEY_D_AUTH_A                (KEY_D_AUTH_IN + 1)
-#define KEY_D_AUTH_B                (KEY_D_AUTH_A + 1)
-
-/* Pedometer standalone only keys */
-#define KEY_D_PEDSTD_BP_B           (KEY_D_AUTH_B + 1)
-#define KEY_D_PEDSTD_HP_A           (KEY_D_PEDSTD_BP_B + 1)
-#define KEY_D_PEDSTD_HP_B           (KEY_D_PEDSTD_HP_A + 1)
-#define KEY_D_PEDSTD_BP_A4          (KEY_D_PEDSTD_HP_B + 1)
-#define KEY_D_PEDSTD_BP_A3          (KEY_D_PEDSTD_BP_A4 + 1)
-#define KEY_D_PEDSTD_BP_A2          (KEY_D_PEDSTD_BP_A3 + 1)
-#define KEY_D_PEDSTD_BP_A1          (KEY_D_PEDSTD_BP_A2 + 1)
-#define KEY_D_PEDSTD_INT_THRSH      (KEY_D_PEDSTD_BP_A1 + 1)
-#define KEY_D_PEDSTD_CLIP           (KEY_D_PEDSTD_INT_THRSH + 1)
-#define KEY_D_PEDSTD_SB             (KEY_D_PEDSTD_CLIP + 1)
-#define KEY_D_PEDSTD_SB_TIME        (KEY_D_PEDSTD_SB + 1)
-#define KEY_D_PEDSTD_PEAKTHRSH      (KEY_D_PEDSTD_SB_TIME + 1)
-#define KEY_D_PEDSTD_TIML           (KEY_D_PEDSTD_PEAKTHRSH + 1)
-#define KEY_D_PEDSTD_TIMH           (KEY_D_PEDSTD_TIML + 1)
-#define KEY_D_PEDSTD_PEAK           (KEY_D_PEDSTD_TIMH + 1)
-#define KEY_D_PEDSTD_TIMECTR        (KEY_D_PEDSTD_PEAK + 1)
-#define KEY_D_PEDSTD_STEPCTR        (KEY_D_PEDSTD_TIMECTR + 1)
-#define KEY_D_PEDSTD_WALKTIME       (KEY_D_PEDSTD_STEPCTR + 1)
-#define KEY_D_PEDSTD_DECI           (KEY_D_PEDSTD_WALKTIME + 1)
-
-/*Host Based No Motion*/
-#define KEY_D_HOST_NO_MOT           (KEY_D_PEDSTD_DECI + 1)
-
-/* EIS keys */
-#define KEY_P_EIS_FIFO_FOOTER       (KEY_D_HOST_NO_MOT + 1)
-#define KEY_P_EIS_FIFO_YSHIFT       (KEY_P_EIS_FIFO_FOOTER + 1)
-#define KEY_P_EIS_DATA_RATE         (KEY_P_EIS_FIFO_YSHIFT + 1)
-#define KEY_P_EIS_FIFO_XSHIFT       (KEY_P_EIS_DATA_RATE + 1)
-#define KEY_P_EIS_FIFO_SYNC         (KEY_P_EIS_FIFO_XSHIFT + 1)
-#define KEY_P_EIS_FIFO_ZSHIFT       (KEY_P_EIS_FIFO_SYNC + 1)
-#define KEY_P_EIS_FIFO_READY        (KEY_P_EIS_FIFO_ZSHIFT + 1)
-#define KEY_DMP_FOOTER              (KEY_P_EIS_FIFO_READY + 1)
-#define KEY_DMP_INTX_HC             (KEY_DMP_FOOTER + 1)
-#define KEY_DMP_INTX_PH             (KEY_DMP_INTX_HC + 1)
-#define KEY_DMP_INTX_SH             (KEY_DMP_INTX_PH + 1)
-#define KEY_DMP_AINV_SH             (KEY_DMP_INTX_SH + 1)
-#define KEY_DMP_A_INV_XH            (KEY_DMP_AINV_SH + 1)
-#define KEY_DMP_AINV_PH             (KEY_DMP_A_INV_XH + 1)
-#define KEY_DMP_CTHX_H              (KEY_DMP_AINV_PH + 1)
-#define KEY_DMP_CTHY_H              (KEY_DMP_CTHX_H + 1)
-#define KEY_DMP_CTHZ_H              (KEY_DMP_CTHY_H + 1)
-#define KEY_DMP_NCTHX_H             (KEY_DMP_CTHZ_H + 1)
-#define KEY_DMP_NCTHY_H             (KEY_DMP_NCTHX_H + 1)
-#define KEY_DMP_NCTHZ_H             (KEY_DMP_NCTHY_H + 1)
-#define KEY_DMP_CTSQ_XH             (KEY_DMP_NCTHZ_H + 1)
-#define KEY_DMP_CTSQ_YH             (KEY_DMP_CTSQ_XH + 1)
-#define KEY_DMP_CTSQ_ZH             (KEY_DMP_CTSQ_YH + 1)
-#define KEY_DMP_INTX_H              (KEY_DMP_CTSQ_ZH + 1)
-#define KEY_DMP_INTY_H              (KEY_DMP_INTX_H + 1)
-#define KEY_DMP_INTZ_H              (KEY_DMP_INTY_H + 1)
-//#define KEY_DMP_HPX_H               (KEY_DMP_INTZ_H + 1)
-//#define KEY_DMP_HPY_H               (KEY_DMP_HPX_H + 1)
-//#define KEY_DMP_HPZ_H               (KEY_DMP_HPY_H + 1)
-
-/* Stream keys */
-#define KEY_STREAM_P_GYRO_Z         (KEY_DMP_INTZ_H + 1)
-#define KEY_STREAM_P_GYRO_Y         (KEY_STREAM_P_GYRO_Z + 1)
-#define KEY_STREAM_P_GYRO_X         (KEY_STREAM_P_GYRO_Y + 1)
-#define KEY_STREAM_P_TEMP           (KEY_STREAM_P_GYRO_X + 1)
-#define KEY_STREAM_P_AUX_Y          (KEY_STREAM_P_TEMP + 1)
-#define KEY_STREAM_P_AUX_X          (KEY_STREAM_P_AUX_Y + 1)
-#define KEY_STREAM_P_AUX_Z          (KEY_STREAM_P_AUX_X + 1)
-#define KEY_STREAM_P_ACCEL_Y        (KEY_STREAM_P_AUX_Z + 1)
-#define KEY_STREAM_P_ACCEL_X        (KEY_STREAM_P_ACCEL_Y + 1)
-#define KEY_STREAM_P_FOOTER         (KEY_STREAM_P_ACCEL_X + 1)
-#define KEY_STREAM_P_ACCEL_Z        (KEY_STREAM_P_FOOTER + 1)
-
-#define NUM_KEYS                    (KEY_STREAM_P_ACCEL_Z + 1)
-
-typedef struct {
-    unsigned short key;
-    unsigned short addr;
-} tKeyLabel;
-
-#define DINA0A 0x0a
-#define DINA22 0x22
-#define DINA42 0x42
-#define DINA5A 0x5a
-
-#define DINA06 0x06
-#define DINA0E 0x0e
-#define DINA16 0x16
-#define DINA1E 0x1e
-#define DINA26 0x26
-#define DINA2E 0x2e
-#define DINA36 0x36
-#define DINA3E 0x3e
-#define DINA46 0x46
-#define DINA4E 0x4e
-#define DINA56 0x56
-#define DINA5E 0x5e
-#define DINA66 0x66
-#define DINA6E 0x6e
-#define DINA76 0x76
-#define DINA7E 0x7e
-
-#define DINA00 0x00
-#define DINA08 0x08
-#define DINA10 0x10
-#define DINA18 0x18
-#define DINA20 0x20
-#define DINA28 0x28
-#define DINA30 0x30
-#define DINA38 0x38
-#define DINA40 0x40
-#define DINA48 0x48
-#define DINA50 0x50
-#define DINA58 0x58
-#define DINA60 0x60
-#define DINA68 0x68
-#define DINA70 0x70
-#define DINA78 0x78
-
-#define DINA04 0x04
-#define DINA0C 0x0c
-#define DINA14 0x14
-#define DINA1C 0x1C
-#define DINA24 0x24
-#define DINA2C 0x2c
-#define DINA34 0x34
-#define DINA3C 0x3c
-#define DINA44 0x44
-#define DINA4C 0x4c
-#define DINA54 0x54
-#define DINA5C 0x5c
-#define DINA64 0x64
-#define DINA6C 0x6c
-#define DINA74 0x74
-#define DINA7C 0x7c
-
-#define DINA01 0x01
-#define DINA09 0x09
-#define DINA11 0x11
-#define DINA19 0x19
-#define DINA21 0x21
-#define DINA29 0x29
-#define DINA31 0x31
-#define DINA39 0x39
-#define DINA41 0x41
-#define DINA49 0x49
-#define DINA51 0x51
-#define DINA59 0x59
-#define DINA61 0x61
-#define DINA69 0x69
-#define DINA71 0x71
-#define DINA79 0x79
-
-#define DINA25 0x25
-#define DINA2D 0x2d
-#define DINA35 0x35
-#define DINA3D 0x3d
-#define DINA4D 0x4d
-#define DINA55 0x55
-#define DINA5D 0x5D
-#define DINA6D 0x6d
-#define DINA75 0x75
-#define DINA7D 0x7d
-
-#define DINADC 0xdc
-#define DINAF2 0xf2
-#define DINAAB 0xab
-#define DINAAA 0xaa
-#define DINAF1 0xf1
-#define DINADF 0xdf
-#define DINADA 0xda
-#define DINAB1 0xb1
-#define DINAB9 0xb9
-#define DINAF3 0xf3
-#define DINA8B 0x8b
-#define DINAA3 0xa3
-#define DINA91 0x91
-#define DINAB6 0xb6
-#define DINAB4 0xb4
-
-
-#define DINC00 0x00
-#define DINC01 0x01
-#define DINC02 0x02
-#define DINC03 0x03
-#define DINC08 0x08
-#define DINC09 0x09
-#define DINC0A 0x0a
-#define DINC0B 0x0b
-#define DINC10 0x10
-#define DINC11 0x11
-#define DINC12 0x12
-#define DINC13 0x13
-#define DINC18 0x18
-#define DINC19 0x19
-#define DINC1A 0x1a
-#define DINC1B 0x1b
-
-#define DINC20 0x20
-#define DINC21 0x21
-#define DINC22 0x22
-#define DINC23 0x23
-#define DINC28 0x28
-#define DINC29 0x29
-#define DINC2A 0x2a
-#define DINC2B 0x2b
-#define DINC30 0x30
-#define DINC31 0x31
-#define DINC32 0x32
-#define DINC33 0x33
-#define DINC38 0x38
-#define DINC39 0x39
-#define DINC3A 0x3a
-#define DINC3B 0x3b
-
-#define DINC40 0x40
-#define DINC41 0x41
-#define DINC42 0x42
-#define DINC43 0x43
-#define DINC48 0x48
-#define DINC49 0x49
-#define DINC4A 0x4a
-#define DINC4B 0x4b
-#define DINC50 0x50
-#define DINC51 0x51
-#define DINC52 0x52
-#define DINC53 0x53
-#define DINC58 0x58
-#define DINC59 0x59
-#define DINC5A 0x5a
-#define DINC5B 0x5b
-
-#define DINC60 0x60
-#define DINC61 0x61
-#define DINC62 0x62
-#define DINC63 0x63
-#define DINC68 0x68
-#define DINC69 0x69
-#define DINC6A 0x6a
-#define DINC6B 0x6b
-#define DINC70 0x70
-#define DINC71 0x71
-#define DINC72 0x72
-#define DINC73 0x73
-#define DINC78 0x78
-#define DINC79 0x79
-#define DINC7A 0x7a
-#define DINC7B 0x7b
-
-#define DIND40 0x40
-
-
-#define DINA80 0x80
-#define DINA90 0x90
-#define DINAA0 0xa0
-#define DINAC9 0xc9
-#define DINACB 0xcb
-#define DINACD 0xcd
-#define DINACF 0xcf
-#define DINAC8 0xc8
-#define DINACA 0xca
-#define DINACC 0xcc
-#define DINACE 0xce
-#define DINAD8 0xd8
-#define DINADD 0xdd
-#define DINAF8 0xf0
-#define DINAFE 0xfe
-
-#define DINBF8 0xf8
-#define DINAC0 0xb0
-#define DINAC1 0xb1
-#define DINAC2 0xb4
-#define DINAC3 0xb5
-#define DINAC4 0xb8
-#define DINAC5 0xb9
-#define DINBC0 0xc0
-#define DINBC2 0xc2
-#define DINBC4 0xc4
-#define DINBC6 0xc6
-
-
-
-#endif // DMPKEY_H__

Core备份3/imu1/dmpmap1.h

@@ -1,264 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-#ifndef DMPMAP_H
-#define DMPMAP_H
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#define DMP_PTAT    0
-#define DMP_XGYR    2
-#define DMP_YGYR    4
-#define DMP_ZGYR    6
-#define DMP_XACC    8
-#define DMP_YACC    10
-#define DMP_ZACC    12
-#define DMP_ADC1    14
-#define DMP_ADC2    16
-#define DMP_ADC3    18
-#define DMP_BIASUNC    20
-#define DMP_FIFORT    22
-#define DMP_INVGSFH    24
-#define DMP_INVGSFL    26
-#define DMP_1H    28
-#define DMP_1L    30
-#define DMP_BLPFSTCH    32
-#define DMP_BLPFSTCL    34
-#define DMP_BLPFSXH    36
-#define DMP_BLPFSXL    38
-#define DMP_BLPFSYH    40
-#define DMP_BLPFSYL    42
-#define DMP_BLPFSZH    44
-#define DMP_BLPFSZL    46
-#define DMP_BLPFMTC    48
-#define DMP_SMC    50
-#define DMP_BLPFMXH    52
-#define DMP_BLPFMXL    54
-#define DMP_BLPFMYH    56
-#define DMP_BLPFMYL    58
-#define DMP_BLPFMZH    60
-#define DMP_BLPFMZL    62
-#define DMP_BLPFC    64
-#define DMP_SMCTH    66
-#define DMP_0H2    68
-#define DMP_0L2    70
-#define DMP_BERR2H    72
-#define DMP_BERR2L    74
-#define DMP_BERR2NH    76
-#define DMP_SMCINC    78
-#define DMP_ANGVBXH    80
-#define DMP_ANGVBXL    82
-#define DMP_ANGVBYH    84
-#define DMP_ANGVBYL    86
-#define DMP_ANGVBZH    88
-#define DMP_ANGVBZL    90
-#define DMP_BERR1H    92
-#define DMP_BERR1L    94
-#define DMP_ATCH    96
-#define DMP_BIASUNCSF    98
-#define DMP_ACT2H    100
-#define DMP_ACT2L    102
-#define DMP_GSFH    104
-#define DMP_GSFL    106
-#define DMP_GH    108
-#define DMP_GL    110
-#define DMP_0_5H    112
-#define DMP_0_5L    114
-#define DMP_0_0H    116
-#define DMP_0_0L    118
-#define DMP_1_0H    120
-#define DMP_1_0L    122
-#define DMP_1_5H    124
-#define DMP_1_5L    126
-#define DMP_TMP1AH    128
-#define DMP_TMP1AL    130
-#define DMP_TMP2AH    132
-#define DMP_TMP2AL    134
-#define DMP_TMP3AH    136
-#define DMP_TMP3AL    138
-#define DMP_TMP4AH    140
-#define DMP_TMP4AL    142
-#define DMP_XACCW    144
-#define DMP_TMP5    146
-#define DMP_XACCB    148
-#define DMP_TMP8    150
-#define DMP_YACCB    152
-#define DMP_TMP9    154
-#define DMP_ZACCB    156
-#define DMP_TMP10    158
-#define DMP_DZH    160
-#define DMP_DZL    162
-#define DMP_XGCH    164
-#define DMP_XGCL    166
-#define DMP_YGCH    168
-#define DMP_YGCL    170
-#define DMP_ZGCH    172
-#define DMP_ZGCL    174
-#define DMP_YACCW    176
-#define DMP_TMP7    178
-#define DMP_AFB1H    180
-#define DMP_AFB1L    182
-#define DMP_AFB2H    184
-#define DMP_AFB2L    186
-#define DMP_MAGFBH    188
-#define DMP_MAGFBL    190
-#define DMP_QT1H    192
-#define DMP_QT1L    194
-#define DMP_QT2H    196
-#define DMP_QT2L    198
-#define DMP_QT3H    200
-#define DMP_QT3L    202
-#define DMP_QT4H    204
-#define DMP_QT4L    206
-#define DMP_CTRL1H    208
-#define DMP_CTRL1L    210
-#define DMP_CTRL2H    212
-#define DMP_CTRL2L    214
-#define DMP_CTRL3H    216
-#define DMP_CTRL3L    218
-#define DMP_CTRL4H    220
-#define DMP_CTRL4L    222
-#define DMP_CTRLS1    224
-#define DMP_CTRLSF1    226
-#define DMP_CTRLS2    228
-#define DMP_CTRLSF2    230
-#define DMP_CTRLS3    232
-#define DMP_CTRLSFNLL    234
-#define DMP_CTRLS4    236
-#define DMP_CTRLSFNL2    238
-#define DMP_CTRLSFNL    240
-#define DMP_TMP30    242
-#define DMP_CTRLSFJT    244
-#define DMP_TMP31    246
-#define DMP_TMP11    248
-#define DMP_CTRLSF2_2    250
-#define DMP_TMP12    252
-#define DMP_CTRLSF1_2    254
-#define DMP_PREVPTAT    256
-#define DMP_ACCZB    258
-#define DMP_ACCXB    264
-#define DMP_ACCYB    266
-#define DMP_1HB    272
-#define DMP_1LB    274
-#define DMP_0H    276
-#define DMP_0L    278
-#define DMP_ASR22H    280
-#define DMP_ASR22L    282
-#define DMP_ASR6H    284
-#define DMP_ASR6L    286
-#define DMP_TMP13    288
-#define DMP_TMP14    290
-#define DMP_FINTXH    292
-#define DMP_FINTXL    294
-#define DMP_FINTYH    296
-#define DMP_FINTYL    298
-#define DMP_FINTZH    300
-#define DMP_FINTZL    302
-#define DMP_TMP1BH    304
-#define DMP_TMP1BL    306
-#define DMP_TMP2BH    308
-#define DMP_TMP2BL    310
-#define DMP_TMP3BH    312
-#define DMP_TMP3BL    314
-#define DMP_TMP4BH    316
-#define DMP_TMP4BL    318
-#define DMP_STXG    320
-#define DMP_ZCTXG    322
-#define DMP_STYG    324
-#define DMP_ZCTYG    326
-#define DMP_STZG    328
-#define DMP_ZCTZG    330
-#define DMP_CTRLSFJT2    332
-#define DMP_CTRLSFJTCNT    334
-#define DMP_PVXG    336
-#define DMP_TMP15    338
-#define DMP_PVYG    340
-#define DMP_TMP16    342
-#define DMP_PVZG    344
-#define DMP_TMP17    346
-#define DMP_MNMFLAGH    352
-#define DMP_MNMFLAGL    354
-#define DMP_MNMTMH    356
-#define DMP_MNMTML    358
-#define DMP_MNMTMTHRH    360
-#define DMP_MNMTMTHRL    362
-#define DMP_MNMTHRH    364
-#define DMP_MNMTHRL    366
-#define DMP_ACCQD4H    368
-#define DMP_ACCQD4L    370
-#define DMP_ACCQD5H    372
-#define DMP_ACCQD5L    374
-#define DMP_ACCQD6H    376
-#define DMP_ACCQD6L    378
-#define DMP_ACCQD7H    380
-#define DMP_ACCQD7L    382
-#define DMP_ACCQD0H    384
-#define DMP_ACCQD0L    386
-#define DMP_ACCQD1H    388
-#define DMP_ACCQD1L    390
-#define DMP_ACCQD2H    392
-#define DMP_ACCQD2L    394
-#define DMP_ACCQD3H    396
-#define DMP_ACCQD3L    398
-#define DMP_XN2H    400
-#define DMP_XN2L    402
-#define DMP_XN1H    404
-#define DMP_XN1L    406
-#define DMP_YN2H    408
-#define DMP_YN2L    410
-#define DMP_YN1H    412
-#define DMP_YN1L    414
-#define DMP_YH    416
-#define DMP_YL    418
-#define DMP_B0H    420
-#define DMP_B0L    422
-#define DMP_A1H    424
-#define DMP_A1L    426
-#define DMP_A2H    428
-#define DMP_A2L    430
-#define DMP_SEM1    432
-#define DMP_FIFOCNT    434
-#define DMP_SH_TH_X    436
-#define DMP_PACKET    438
-#define DMP_SH_TH_Y    440
-#define DMP_FOOTER    442
-#define DMP_SH_TH_Z    444
-#define DMP_TEMP29    448
-#define DMP_TEMP30    450
-#define DMP_XACCB_PRE    452
-#define DMP_XACCB_PREL    454
-#define DMP_YACCB_PRE    456
-#define DMP_YACCB_PREL    458
-#define DMP_ZACCB_PRE    460
-#define DMP_ZACCB_PREL    462
-#define DMP_TMP22    464
-#define DMP_TAP_TIMER    466
-#define DMP_TAP_THX    468
-#define DMP_TAP_THY    472
-#define DMP_TAP_THZ    476
-#define DMP_TAPW_MIN    478
-#define DMP_TMP25    480
-#define DMP_TMP26    482
-#define DMP_TMP27    484
-#define DMP_TMP28    486
-#define DMP_ORIENT    488
-#define DMP_THRSH    490
-#define DMP_ENDIANH    492
-#define DMP_ENDIANL    494
-#define DMP_BLPFNMTCH    496
-#define DMP_BLPFNMTCL    498
-#define DMP_BLPFNMXH    500
-#define DMP_BLPFNMXL    502
-#define DMP_BLPFNMYH    504
-#define DMP_BLPFNMYL    506
-#define DMP_BLPFNMZH    508
-#define DMP_BLPFNMZL    510
-#ifdef __cplusplus
-}
-#endif
-#endif // DMPMAP_H

Core备份3/imu1/inv_mpu1.c

@@ -1,2774 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
-    See included License.txt for License information.
- $
- */
-/**
- *  @addtogroup  DRIVERS Sensor Driver Layer
- *  @brief       Hardware drivers to communicate with sensors via I2C.
- *
- *  @{
- *      @file       inv_mpu.c
- *      @brief      An I2C-based driver for Invensense gyroscopes.
- *      @details    This driver currently works for the following devices:
- *                  MPU6050
- *                  MPU6500
- *                  MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus)
- *                  MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus)
- */
-#include <stdio.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-#include "inv_mpu1.h"
-
-#include "MPU60501.h"
-
-
-/* The following functions must be defined for this platform:
- * i2c_write(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char const *data)
- * i2c_read(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char *data)
- * delay_ms(unsigned long num_ms)
- * get_ms(unsigned long *count)
- * reg_int_cb(void (*cb)(void), unsigned char port, unsigned char pin)
- * labs(long x)
- * fabsf(float x)
- * min(int a, int b)
- */
-#if defined MOTION_DRIVER_TARGET_MSP430
-#include "msp430.h"
-#include "msp430_i2c.h"
-#include "msp430_clock.h"
-#include "msp430_interrupt.h"
-#define i2c_write   msp430_i2c_write
-#define i2c_read    msp430_i2c_read
-#define delay_ms    msp430_delay_ms
-#define get_ms      msp430_get_clock_ms
-static inline int reg_int_cb(struct int_param_s *int_param)
-{
-    return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit,
-        int_param->active_low);
-}
-#define log_i(...)     do {} while (0)
-#define log_e(...)     do {} while (0)
-/* labs is already defined by TI's toolchain. */
-/* fabs is for doubles. fabsf is for floats. */
-#define fabs        fabsf
-#define min(a,b) ((a<b)?a:b)
-#elif defined EMPL_TARGET_MSP430
-#include "msp430.h"
-#include "msp430_i2c.h"
-#include "msp430_clock.h"
-#include "msp430_interrupt.h"
-#include "log.h"
-#define i2c_write   msp430_i2c_write
-#define i2c_read    msp430_i2c_read
-#define delay_ms    msp430_delay_ms
-#define get_ms      msp430_get_clock_ms
-static inline int reg_int_cb(struct int_param_s *int_param)
-{
-    return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit,
-        int_param->active_low);
-}
-#define log_i       MPL_LOGI
-#define log_e       MPL_LOGE
-/* labs is already defined by TI's toolchain. */
-/* fabs is for doubles. fabsf is for floats. */
-#define fabs        fabsf
-#define min(a,b) ((a<b)?a:b)
-#elif defined EMPL_TARGET_UC3L0
-/* Instead of using the standard TWI driver from the ASF library, we're using
- * a TWI driver that follows the slave address + register address convention.
- */
-#include "twi.h"
-#include "delay.h"
-#include "sysclk.h"
-#include "log.h"
-#include "sensors_xplained.h"
-#include "uc3l0_clock.h"
-#define i2c_write(a, b, c, d)   twi_write(a, b, d, c)
-#define i2c_read(a, b, c, d)    twi_read(a, b, d, c)
-/* delay_ms is a function already defined in ASF. */
-#define get_ms  uc3l0_get_clock_ms
-static inline int reg_int_cb(struct int_param_s *int_param)
-{
-    sensor_board_irq_connect(int_param->pin, int_param->cb, int_param->arg);
-    return 0;
-}
-#define log_i       MPL_LOGI
-#define log_e       MPL_LOGE
-/* UC3 is a 32-bit processor, so abs and labs are equivalent. */
-#define labs        abs
-#define fabs(x)     (((x)>0)?(x):-(x))
-#elif defined MOTION_DRIVER_TARGET_STM32
-
-/* The following functions must be defined for this platform:
- * i2c_write(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char const *data)
- * i2c_read(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char *data)
- * delay_ms(unsigned long num_ms)
- * get_ms(unsigned long *count)
- * reg_int_cb(void (*cb)(void), unsigned char port, unsigned char pin)
- * labs(long x)
- * fabsf(float x)
- * min(int a, int b)
- */
-
-#define i2c_write   IIC_Write_Len
-#define i2c_read    IIC_Read_Len
-#define delay_ms    HAL_Delay
-#define get_ms      get_tick_count
-//static inline int reg_int_cb(struct int_param_s *int_param)
-//{
-////    return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit,
-////        int_param->active_low);
-//}
-//#define log_i(...)     do {} while (0)
-//#define log_e(...)     do {} while (0)
-
-#define log_i     printf
-#define log_e     printf
-
-/* labs is already defined by TI's toolchain. */
-/* fabs is for doubles. fabsf is for floats. */
-#define fabs        fabsf
-#define min(a,b) ((a<b)?a:b)
-
-#else
-#error  Gyro driver is missing the system layer implementations.
-#endif
-
-#if !defined MPU6050 && !defined MPU9150 && !defined MPU6500 && !defined MPU9250
-#error  Which gyro are you using? Define MPUxxxx in your compiler options.
-#endif
-
-/* Time for some messy macro work. =]
- * #define MPU9150
- * is equivalent to..
- * #define MPU6050
- * #define AK8975_SECONDARY
- *
- * #define MPU9250
- * is equivalent to..
- * #define MPU6500
- * #define AK8963_SECONDARY
- */
-#if defined MPU9150
-#ifndef MPU6050
-#define MPU6050
-#endif                          /* #ifndef MPU6050 */
-#if defined AK8963_SECONDARY
-#error "MPU9150 and AK8963_SECONDARY cannot both be defined."
-#elif !defined AK8975_SECONDARY /* #if defined AK8963_SECONDARY */
-#define AK8975_SECONDARY
-#endif                          /* #if defined AK8963_SECONDARY */
-#elif defined MPU9250           /* #if defined MPU9150 */
-#ifndef MPU6500
-#define MPU6500
-#endif                          /* #ifndef MPU6500 */
-#if defined AK8975_SECONDARY
-#error "MPU9250 and AK8975_SECONDARY cannot both be defined."
-#elif !defined AK8963_SECONDARY /* #if defined AK8975_SECONDARY */
-#define AK8963_SECONDARY
-#endif                          /* #if defined AK8975_SECONDARY */
-#endif                          /* #if defined MPU9150 */
-
-#if defined AK8975_SECONDARY || defined AK8963_SECONDARY
-#define AK89xx_SECONDARY
-#else
-/* #warning "No compass = less profit for Invensense. Lame." */
-#endif
-
-static int set_int_enable(unsigned char enable);
-
-/* Hardware registers needed by driver. */
-struct gyro_reg_s {
-    unsigned char who_am_i;
-    unsigned char rate_div;
-    unsigned char lpf;
-    unsigned char prod_id;
-    unsigned char user_ctrl;
-    unsigned char fifo_en;
-    unsigned char gyro_cfg;
-    unsigned char accel_cfg;
-    unsigned char accel_cfg2;
-    unsigned char lp_accel_odr;
-    unsigned char motion_thr;
-    unsigned char motion_dur;
-    unsigned char fifo_count_h;
-    unsigned char fifo_r_w;
-    unsigned char raw_gyro;
-    unsigned char raw_accel;
-    unsigned char temp;
-    unsigned char int_enable;
-    unsigned char dmp_int_status;
-    unsigned char int_status;
-    unsigned char accel_intel;
-    unsigned char pwr_mgmt_1;
-    unsigned char pwr_mgmt_2;
-    unsigned char int_pin_cfg;
-    unsigned char mem_r_w;
-    unsigned char accel_offs;
-    unsigned char i2c_mst;
-    unsigned char bank_sel;
-    unsigned char mem_start_addr;
-    unsigned char prgm_start_h;
-#if defined AK89xx_SECONDARY
-    unsigned char s0_addr;
-    unsigned char s0_reg;
-    unsigned char s0_ctrl;
-    unsigned char s1_addr;
-    unsigned char s1_reg;
-    unsigned char s1_ctrl;
-    unsigned char s4_ctrl;
-    unsigned char s0_do;
-    unsigned char s1_do;
-    unsigned char i2c_delay_ctrl;
-    unsigned char raw_compass;
-    /* The I2C_MST_VDDIO bit is in this register. */
-    unsigned char yg_offs_tc;
-#endif
-};
-
-/* Information specific to a particular device. */
-struct hw_s {
-    unsigned char addr;
-    unsigned short max_fifo;
-    unsigned char num_reg;
-    unsigned short temp_sens;
-    short temp_offset;
-    unsigned short bank_size;
-#if defined AK89xx_SECONDARY
-    unsigned short compass_fsr;
-#endif
-};
-
-/* When entering motion interrupt mode, the driver keeps track of the
- * previous state so that it can be restored at a later time.
- * TODO: This is tacky. Fix it.
- */
-struct motion_int_cache_s {
-    unsigned short gyro_fsr;
-    unsigned char accel_fsr;
-    unsigned short lpf;
-    unsigned short sample_rate;
-    unsigned char sensors_on;
-    unsigned char fifo_sensors;
-    unsigned char dmp_on;
-};
-
-/* Cached chip configuration data.
- * TODO: A lot of these can be handled with a bitmask.
- */
-struct chip_cfg_s {
-    /* Matches gyro_cfg >> 3 & 0x03 */
-    unsigned char gyro_fsr;
-    /* Matches accel_cfg >> 3 & 0x03 */
-    unsigned char accel_fsr;
-    /* Enabled sensors. Uses same masks as fifo_en, NOT pwr_mgmt_2. */
-    unsigned char sensors;
-    /* Matches config register. */
-    unsigned char lpf;
-    unsigned char clk_src;
-    /* Sample rate, NOT rate divider. */
-    unsigned short sample_rate;
-    /* Matches fifo_en register. */
-    unsigned char fifo_enable;
-    /* Matches int enable register. */
-    unsigned char int_enable;
-    /* 1 if devices on auxiliary I2C bus appear on the primary. */
-    unsigned char bypass_mode;
-    /* 1 if half-sensitivity.
-     * NOTE: This doesn't belong here, but everything else in hw_s is const,
-     * and this allows us to save some precious RAM.
-     */
-    unsigned char accel_half;
-    /* 1 if device in low-power accel-only mode. */
-    unsigned char lp_accel_mode;
-    /* 1 if interrupts are only triggered on motion events. */
-    unsigned char int_motion_only;
-    struct motion_int_cache_s cache;
-    /* 1 for active low interrupts. */
-    unsigned char active_low_int;
-    /* 1 for latched interrupts. */
-    unsigned char latched_int;
-    /* 1 if DMP is enabled. */
-    unsigned char dmp_on;
-    /* Ensures that DMP will only be loaded once. */
-    unsigned char dmp_loaded;
-    /* Sampling rate used when DMP is enabled. */
-    unsigned short dmp_sample_rate;
-#ifdef AK89xx_SECONDARY
-    /* Compass sample rate. */
-    unsigned short compass_sample_rate;
-    unsigned char compass_addr;
-    short mag_sens_adj[3];
-#endif
-};
-
-/* Information for self-test. */
-struct test_s {
-    unsigned long gyro_sens;
-    unsigned long accel_sens;
-    unsigned char reg_rate_div;
-    unsigned char reg_lpf;
-    unsigned char reg_gyro_fsr;
-    unsigned char reg_accel_fsr;
-    unsigned short wait_ms;
-    unsigned char packet_thresh;
-    float min_dps;
-    float max_dps;
-    float max_gyro_var;
-    float min_g;
-    float max_g;
-    float max_accel_var;
-};
-
-/* Gyro driver state variables. */
-struct gyro_state_s {
-    const struct gyro_reg_s *reg;
-    const struct hw_s *hw;
-    struct chip_cfg_s chip_cfg;
-    const struct test_s *test;
-};
-
-/* Filter configurations. */
-enum lpf_e {
-    INV_FILTER_256HZ_NOLPF2 = 0,
-    INV_FILTER_188HZ,
-    INV_FILTER_98HZ,
-    INV_FILTER_42HZ,
-    INV_FILTER_20HZ,
-    INV_FILTER_10HZ,
-    INV_FILTER_5HZ,
-    INV_FILTER_2100HZ_NOLPF,
-    NUM_FILTER
-};
-
-/* Full scale ranges. */
-enum gyro_fsr_e {
-    INV_FSR_250DPS = 0,
-    INV_FSR_500DPS,
-    INV_FSR_1000DPS,
-    INV_FSR_2000DPS,
-    NUM_GYRO_FSR
-};
-
-/* Full scale ranges. */
-enum accel_fsr_e {
-    INV_FSR_2G = 0,
-    INV_FSR_4G,
-    INV_FSR_8G,
-    INV_FSR_16G,
-    NUM_ACCEL_FSR
-};
-
-/* Clock sources. */
-enum clock_sel_e {
-    INV_CLK_INTERNAL = 0,
-    INV_CLK_PLL,
-    NUM_CLK
-};
-
-/* Low-power accel wakeup rates. */
-enum lp_accel_rate_e {
-#if defined MPU6050
-    INV_LPA_1_25HZ,
-    INV_LPA_5HZ,
-    INV_LPA_20HZ,
-    INV_LPA_40HZ
-#elif defined MPU6500
-    INV_LPA_0_3125HZ,
-    INV_LPA_0_625HZ,
-    INV_LPA_1_25HZ,
-    INV_LPA_2_5HZ,
-    INV_LPA_5HZ,
-    INV_LPA_10HZ,
-    INV_LPA_20HZ,
-    INV_LPA_40HZ,
-    INV_LPA_80HZ,
-    INV_LPA_160HZ,
-    INV_LPA_320HZ,
-    INV_LPA_640HZ
-#endif
-};
-
-#define BIT_I2C_MST_VDDIO   (0x80)
-#define BIT_FIFO_EN         (0x40)
-#define BIT_DMP_EN          (0x80)
-#define BIT_FIFO_RST        (0x04)
-#define BIT_DMP_RST         (0x08)
-#define BIT_FIFO_OVERFLOW   (0x10)
-#define BIT_DATA_RDY_EN     (0x01)
-#define BIT_DMP_INT_EN      (0x02)
-#define BIT_MOT_INT_EN      (0x40)
-#define BITS_FSR            (0x18)
-#define BITS_LPF            (0x07)
-#define BITS_HPF            (0x07)
-#define BITS_CLK            (0x07)
-#define BIT_FIFO_SIZE_1024  (0x40)
-#define BIT_FIFO_SIZE_2048  (0x80)
-#define BIT_FIFO_SIZE_4096  (0xC0)
-#define BIT_RESET           (0x80)
-#define BIT_SLEEP           (0x40)
-#define BIT_S0_DELAY_EN     (0x01)
-#define BIT_S2_DELAY_EN     (0x04)
-#define BITS_SLAVE_LENGTH   (0x0F)
-#define BIT_SLAVE_BYTE_SW   (0x40)
-#define BIT_SLAVE_GROUP     (0x10)
-#define BIT_SLAVE_EN        (0x80)
-#define BIT_I2C_READ        (0x80)
-#define BITS_I2C_MASTER_DLY (0x1F)
-#define BIT_AUX_IF_EN       (0x20)
-#define BIT_ACTL            (0x80)
-#define BIT_LATCH_EN        (0x20)
-#define BIT_ANY_RD_CLR      (0x10)
-#define BIT_BYPASS_EN       (0x02)
-#define BITS_WOM_EN         (0xC0)
-#define BIT_LPA_CYCLE       (0x20)
-#define BIT_STBY_XA         (0x20)
-#define BIT_STBY_YA         (0x10)
-#define BIT_STBY_ZA         (0x08)
-#define BIT_STBY_XG         (0x04)
-#define BIT_STBY_YG         (0x02)
-#define BIT_STBY_ZG         (0x01)
-#define BIT_STBY_XYZA       (BIT_STBY_XA | BIT_STBY_YA | BIT_STBY_ZA)
-#define BIT_STBY_XYZG       (BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG)
-
-#if defined AK8975_SECONDARY
-#define SUPPORTS_AK89xx_HIGH_SENS   (0x00)
-#define AK89xx_FSR                  (9830)
-#elif defined AK8963_SECONDARY
-#define SUPPORTS_AK89xx_HIGH_SENS   (0x10)
-#define AK89xx_FSR                  (4915)
-#endif
-
-#ifdef AK89xx_SECONDARY
-#define AKM_REG_WHOAMI      (0x00)
-
-#define AKM_REG_ST1         (0x02)
-#define AKM_REG_HXL         (0x03)
-#define AKM_REG_ST2         (0x09)
-
-#define AKM_REG_CNTL        (0x0A)
-#define AKM_REG_ASTC        (0x0C)
-#define AKM_REG_ASAX        (0x10)
-#define AKM_REG_ASAY        (0x11)
-#define AKM_REG_ASAZ        (0x12)
-
-#define AKM_DATA_READY      (0x01)
-#define AKM_DATA_OVERRUN    (0x02)
-#define AKM_OVERFLOW        (0x80)
-#define AKM_DATA_ERROR      (0x40)
-
-#define AKM_BIT_SELF_TEST   (0x40)
-
-#define AKM_POWER_DOWN          (0x00 | SUPPORTS_AK89xx_HIGH_SENS)
-#define AKM_SINGLE_MEASUREMENT  (0x01 | SUPPORTS_AK89xx_HIGH_SENS)
-#define AKM_FUSE_ROM_ACCESS     (0x0F | SUPPORTS_AK89xx_HIGH_SENS)
-#define AKM_MODE_SELF_TEST      (0x08 | SUPPORTS_AK89xx_HIGH_SENS)
-
-#define AKM_WHOAMI      (0x48)
-#endif
-
-#if defined MPU6050
-const struct gyro_reg_s reg = {
-    .who_am_i       = 0x75,
-    .rate_div       = 0x19,
-    .lpf            = 0x1A,
-    .prod_id        = 0x0C,
-    .user_ctrl      = 0x6A,
-    .fifo_en        = 0x23,
-    .gyro_cfg       = 0x1B,
-    .accel_cfg      = 0x1C,
-    .motion_thr     = 0x1F,
-    .motion_dur     = 0x20,
-    .fifo_count_h   = 0x72,
-    .fifo_r_w       = 0x74,
-    .raw_gyro       = 0x43,
-    .raw_accel      = 0x3B,
-    .temp           = 0x41,
-    .int_enable     = 0x38,
-    .dmp_int_status = 0x39,
-    .int_status     = 0x3A,
-    .pwr_mgmt_1     = 0x6B,
-    .pwr_mgmt_2     = 0x6C,
-    .int_pin_cfg    = 0x37,
-    .mem_r_w        = 0x6F,
-    .accel_offs     = 0x06,
-    .i2c_mst        = 0x24,
-    .bank_sel       = 0x6D,
-    .mem_start_addr = 0x6E,
-    .prgm_start_h   = 0x70
-#ifdef AK89xx_SECONDARY
-    ,.raw_compass   = 0x49,
-    .yg_offs_tc     = 0x01,
-    .s0_addr        = 0x25,
-    .s0_reg         = 0x26,
-    .s0_ctrl        = 0x27,
-    .s1_addr        = 0x28,
-    .s1_reg         = 0x29,
-    .s1_ctrl        = 0x2A,
-    .s4_ctrl        = 0x34,
-    .s0_do          = 0x63,
-    .s1_do          = 0x64,
-    .i2c_delay_ctrl = 0x67
-#endif
-};
-const struct hw_s hw = {
-    .addr           = 0x68,
-    .max_fifo       = 1024,
-    .num_reg        = 118,
-    .temp_sens      = 340,
-    .temp_offset    = -521,
-    .bank_size      = 256
-#if defined AK89xx_SECONDARY
-    ,.compass_fsr    = AK89xx_FSR
-#endif
-};
-
-const struct test_s test = {
-    .gyro_sens      = 32768/250,
-    .accel_sens     = 32768/16,
-    .reg_rate_div   = 0,    /* 1kHz. */
-    .reg_lpf        = 1,    /* 188Hz. */
-    .reg_gyro_fsr   = 0,    /* 250dps. */
-    .reg_accel_fsr  = 0x18, /* 16g. */
-    .wait_ms        = 50,
-    .packet_thresh  = 5,    /* 5% */
-    .min_dps        = 10.f,
-    .max_dps        = 105.f,
-    .max_gyro_var   = 0.14f,
-    .min_g          = 0.3f,
-    .max_g          = 0.95f,
-    .max_accel_var  = 0.14f
-};
-
-static struct gyro_state_s st = {
-    .reg = &reg,
-    .hw = &hw,
-    .test = &test
-};
-#elif defined MPU6500
-const struct gyro_reg_s reg = {
-    .who_am_i       = 0x75,
-    .rate_div       = 0x19,
-    .lpf            = 0x1A,
-    .prod_id        = 0x0C,
-    .user_ctrl      = 0x6A,
-    .fifo_en        = 0x23,
-    .gyro_cfg       = 0x1B,
-    .accel_cfg      = 0x1C,
-    .accel_cfg2     = 0x1D,
-    .lp_accel_odr   = 0x1E,
-    .motion_thr     = 0x1F,
-    .motion_dur     = 0x20,
-    .fifo_count_h   = 0x72,
-    .fifo_r_w       = 0x74,
-    .raw_gyro       = 0x43,
-    .raw_accel      = 0x3B,
-    .temp           = 0x41,
-    .int_enable     = 0x38,
-    .dmp_int_status = 0x39,
-    .int_status     = 0x3A,
-    .accel_intel    = 0x69,
-    .pwr_mgmt_1     = 0x6B,
-    .pwr_mgmt_2     = 0x6C,
-    .int_pin_cfg    = 0x37,
-    .mem_r_w        = 0x6F,
-    .accel_offs     = 0x77,
-    .i2c_mst        = 0x24,
-    .bank_sel       = 0x6D,
-    .mem_start_addr = 0x6E,
-    .prgm_start_h   = 0x70
-#ifdef AK89xx_SECONDARY
-    ,.raw_compass   = 0x49,
-    .s0_addr        = 0x25,
-    .s0_reg         = 0x26,
-    .s0_ctrl        = 0x27,
-    .s1_addr        = 0x28,
-    .s1_reg         = 0x29,
-    .s1_ctrl        = 0x2A,
-    .s4_ctrl        = 0x34,
-    .s0_do          = 0x63,
-    .s1_do          = 0x64,
-    .i2c_delay_ctrl = 0x67
-#endif
-};
-const struct hw_s hw = {
-    .addr           = 0x68,
-    .max_fifo       = 1024,
-    .num_reg        = 128,
-    .temp_sens      = 321,
-    .temp_offset    = 0,
-    .bank_size      = 256
-#if defined AK89xx_SECONDARY
-    ,.compass_fsr    = AK89xx_FSR
-#endif
-};
-
-const struct test_s test = {
-    .gyro_sens      = 32768/250,
-    .accel_sens     = 32768/16,
-    .reg_rate_div   = 0,    /* 1kHz. */
-    .reg_lpf        = 1,    /* 188Hz. */
-    .reg_gyro_fsr   = 0,    /* 250dps. */
-    .reg_accel_fsr  = 0x18, /* 16g. */
-    .wait_ms        = 50,
-    .packet_thresh  = 5,    /* 5% */
-    .min_dps        = 10.f,
-    .max_dps        = 105.f,
-    .max_gyro_var   = 0.14f,
-    .min_g          = 0.3f,
-    .max_g          = 0.95f,
-    .max_accel_var  = 0.14f
-};
-
-static struct gyro_state_s st = {
-    .reg = &reg,
-    .hw = &hw,
-    .test = &test
-};
-#endif
-
-#define MAX_PACKET_LENGTH (12)
-
-#ifdef AK89xx_SECONDARY
-static int setup_compass(void);
-#define MAX_COMPASS_SAMPLE_RATE (100)
-#endif
-
-/**
- *  @brief      Enable/disable data ready interrupt.
- *  If the DMP is on, the DMP interrupt is enabled. Otherwise, the data ready
- *  interrupt is used.
- *  @param[in]  enable      1 to enable interrupt.
- *  @return     0 if successful.
- */
-static int set_int_enable(unsigned char enable)
-{
-    unsigned char tmp;
-
-    if (st.chip_cfg.dmp_on) {
-        if (enable)
-            tmp = BIT_DMP_INT_EN;
-        else
-            tmp = 0x00;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp))
-            return -1;
-        st.chip_cfg.int_enable = tmp;
-    } else {
-        if (!st.chip_cfg.sensors)
-            return -1;
-        if (enable && st.chip_cfg.int_enable)
-            return 0;
-        if (enable)
-            tmp = BIT_DATA_RDY_EN;
-        else
-            tmp = 0x00;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp))
-            return -1;
-        st.chip_cfg.int_enable = tmp;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Register dump for testing.
- *  @return     0 if successful.
- */
-int mpu_reg_dump(void)
-{
-    unsigned char ii;
-    unsigned char data;
-
-    for (ii = 0; ii < st.hw->num_reg; ii++) {
-        if (ii == st.reg->fifo_r_w || ii == st.reg->mem_r_w)
-            continue;
-        if (i2c_read(st.hw->addr, ii, 1, &data))
-            return -1;
-        log_i("%#5x: %#5x\r\n", ii, data);
-    }
-    return 0;
-}
-
-/**
- *  @brief      Read from a single register.
- *  NOTE: The memory and FIFO read/write registers cannot be accessed.
- *  @param[in]  reg     Register address.
- *  @param[out] data    Register data.
- *  @return     0 if successful.
- */
-int mpu_read_reg(unsigned char reg, unsigned char *data)
-{
-    if (reg == st.reg->fifo_r_w || reg == st.reg->mem_r_w)
-        return -1;
-    if (reg >= st.hw->num_reg)
-        return -1;
-    return i2c_read(st.hw->addr, reg, 1, data);
-}
-
-/**
- *  @brief      Initialize hardware.
- *  Initial configuration:\n
- *  Gyro FSR: +/- 2000DPS\n
- *  Accel FSR +/- 2G\n
- *  DLPF: 42Hz\n
- *  FIFO rate: 50Hz\n
- *  Clock source: Gyro PLL\n
- *  FIFO: Disabled.\n
- *  Data ready interrupt: Disabled, active low, unlatched.
- *  @param[in]  int_param   Platform-specific parameters to interrupt API.
- *  @return     0 if successful.
- */
-int mpu_init(struct int_param_s *int_param)
-{
-    unsigned char data[6], rev;
-
-    /* Reset device. */
-    data[0] = BIT_RESET;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
-        return -1;
-    delay_ms(100);
-
-    /* Wake up chip. */
-    data[0] = 0x00;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
-        return -1;
-
-#if defined MPU6050
-    /* Check product revision. */
-    if (i2c_read(st.hw->addr, st.reg->accel_offs, 6, data))
-        return -1;
-    rev = ((data[5] & 0x01) << 2) | ((data[3] & 0x01) << 1) |
-        (data[1] & 0x01);
-
-    if (rev) {
-        /* Congrats, these parts are better. */
-        if (rev == 1)
-            st.chip_cfg.accel_half = 1;
-        else if (rev == 2)
-            st.chip_cfg.accel_half = 0;
-        else {
-            log_e("Unsupported software product rev %d.\n", rev);
-            return -1;
-        }
-    } else {
-        if (i2c_read(st.hw->addr, st.reg->prod_id, 1, data))
-            return -1;
-        rev = data[0] & 0x0F;
-        if (!rev) {
-            log_e("Product ID read as 0 indicates device is either "
-                "incompatible or an MPU3050.\n");
-            return -1;
-        } else if (rev == 4) {
-            log_i("Half sensitivity part found.\n");
-            st.chip_cfg.accel_half = 1;
-        } else
-            st.chip_cfg.accel_half = 0;
-    }
-#elif defined MPU6500
-#define MPU6500_MEM_REV_ADDR    (0x17)
-    if (mpu_read_mem(MPU6500_MEM_REV_ADDR, 1, &rev))
-        return -1;
-    if (rev == 0x1)
-        st.chip_cfg.accel_half = 0;
-    else {
-        log_e("Unsupported software product rev %d.\n", rev);
-        return -1;
-    }
-
-    /* MPU6500 shares 4kB of memory between the DMP and the FIFO. Since the
-     * first 3kB are needed by the DMP, we'll use the last 1kB for the FIFO.
-     */
-    data[0] = BIT_FIFO_SIZE_1024 | 0x8;
-    if (i2c_write(st.hw->addr, st.reg->accel_cfg2, 1, data))
-        return -1;
-#endif
-
-    /* Set to invalid values to ensure no I2C writes are skipped. */
-    st.chip_cfg.sensors = 0xFF;
-    st.chip_cfg.gyro_fsr = 0xFF;
-    st.chip_cfg.accel_fsr = 0xFF;
-    st.chip_cfg.lpf = 0xFF;
-    st.chip_cfg.sample_rate = 0xFFFF;
-    st.chip_cfg.fifo_enable = 0xFF;
-    st.chip_cfg.bypass_mode = 0xFF;
-#ifdef AK89xx_SECONDARY
-    st.chip_cfg.compass_sample_rate = 0xFFFF;
-#endif
-    /* mpu_set_sensors always preserves this setting. */
-    st.chip_cfg.clk_src = INV_CLK_PLL;
-    /* Handled in next call to mpu_set_bypass. */
-    st.chip_cfg.active_low_int = 1;
-    st.chip_cfg.latched_int = 0;
-    st.chip_cfg.int_motion_only = 0;
-    st.chip_cfg.lp_accel_mode = 0;
-    memset(&st.chip_cfg.cache, 0, sizeof(st.chip_cfg.cache));
-    st.chip_cfg.dmp_on = 0;
-    st.chip_cfg.dmp_loaded = 0;
-    st.chip_cfg.dmp_sample_rate = 0;
-
-    if (mpu_set_gyro_fsr(2000))
-        return -1;
-    if (mpu_set_accel_fsr(2))
-        return -1;
-    if (mpu_set_lpf(42))
-        return -1;
-    if (mpu_set_sample_rate(50))
-        return -1;
-    if (mpu_configure_fifo(0))
-        return -1;
-
-#ifndef MOTION_DRIVER_TARGET_STM32
-    if (int_param)
-        reg_int_cb(int_param);
-#endif
-
-#ifdef AK89xx_SECONDARY
-    setup_compass();
-    if (mpu_set_compass_sample_rate(10))
-        return -1;
-#else
-    /* Already disabled by setup_compass. */
-    if (mpu_set_bypass(0))
-        return -1;
-#endif
-
-    mpu_set_sensors(0);
-    return 0;
-}
-
-/**
- *  @brief      Enter low-power accel-only mode.
- *  In low-power accel mode, the chip goes to sleep and only wakes up to sample
- *  the accelerometer at one of the following frequencies:
- *  \n MPU6050: 1.25Hz, 5Hz, 20Hz, 40Hz
- *  \n MPU6500: 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz
- *  \n If the requested rate is not one listed above, the device will be set to
- *  the next highest rate. Requesting a rate above the maximum supported
- *  frequency will result in an error.
- *  \n To select a fractional wake-up frequency, round down the value passed to
- *  @e rate.
- *  @param[in]  rate        Minimum sampling rate, or zero to disable LP
- *                          accel mode.
- *  @return     0 if successful.
- */
-int mpu_lp_accel_mode(unsigned char rate)
-{
-    unsigned char tmp[2];
-
-    if (rate > 40)
-        return -1;
-
-    if (!rate) {
-        mpu_set_int_latched(0);
-        tmp[0] = 0;
-        tmp[1] = BIT_STBY_XYZG;
-        if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp))
-            return -1;
-        st.chip_cfg.lp_accel_mode = 0;
-        return 0;
-    }
-    /* For LP accel, we automatically configure the hardware to produce latched
-     * interrupts. In LP accel mode, the hardware cycles into sleep mode before
-     * it gets a chance to deassert the interrupt pin; therefore, we shift this
-     * responsibility over to the MCU.
-     *
-     * Any register read will clear the interrupt.
-     */
-    mpu_set_int_latched(1);
-#if defined MPU6050
-    tmp[0] = BIT_LPA_CYCLE;
-    if (rate == 1) {
-        tmp[1] = INV_LPA_1_25HZ;
-        mpu_set_lpf(5);
-    } else if (rate <= 5) {
-        tmp[1] = INV_LPA_5HZ;
-        mpu_set_lpf(5);
-    } else if (rate <= 20) {
-        tmp[1] = INV_LPA_20HZ;
-        mpu_set_lpf(10);
-    } else {
-        tmp[1] = INV_LPA_40HZ;
-        mpu_set_lpf(20);
-    }
-    tmp[1] = (tmp[1] << 6) | BIT_STBY_XYZG;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp))
-        return -1;
-#elif defined MPU6500
-    /* Set wake frequency. */
-    if (rate == 1)
-        tmp[0] = INV_LPA_1_25HZ;
-    else if (rate == 2)
-        tmp[0] = INV_LPA_2_5HZ;
-    else if (rate <= 5)
-        tmp[0] = INV_LPA_5HZ;
-    else if (rate <= 10)
-        tmp[0] = INV_LPA_10HZ;
-    else if (rate <= 20)
-        tmp[0] = INV_LPA_20HZ;
-    else if (rate <= 40)
-        tmp[0] = INV_LPA_40HZ;
-    else if (rate <= 80)
-        tmp[0] = INV_LPA_80HZ;
-    else if (rate <= 160)
-        tmp[0] = INV_LPA_160HZ;
-    else if (rate <= 320)
-        tmp[0] = INV_LPA_320HZ;
-    else
-        tmp[0] = INV_LPA_640HZ;
-    if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, tmp))
-        return -1;
-    tmp[0] = BIT_LPA_CYCLE;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, tmp))
-        return -1;
-#endif
-    st.chip_cfg.sensors = INV_XYZ_ACCEL;
-    st.chip_cfg.clk_src = 0;
-    st.chip_cfg.lp_accel_mode = 1;
-    mpu_configure_fifo(0);
-
-    return 0;
-}
-
-/**
- *  @brief      Read raw gyro data directly from the registers.
- *  @param[out] data        Raw data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds. Null if not needed.
- *  @return     0 if successful.
- */
-int mpu_get_gyro_reg(short *data, unsigned long *timestamp)
-{
-    unsigned char tmp[6];
-
-    if (!(st.chip_cfg.sensors & INV_XYZ_GYRO))
-        return -1;
-
-    if (i2c_read(st.hw->addr, st.reg->raw_gyro, 6, tmp))
-        return -1;
-    data[0] = (tmp[0] << 8) | tmp[1];
-    data[1] = (tmp[2] << 8) | tmp[3];
-    data[2] = (tmp[4] << 8) | tmp[5];
-    if (timestamp)
-        get_ms(timestamp);
-    return 0;
-}
-
-/**
- *  @brief      Read raw accel data directly from the registers.
- *  @param[out] data        Raw data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds. Null if not needed.
- *  @return     0 if successful.
- */
-int mpu_get_accel_reg(short *data, unsigned long *timestamp)
-{
-    unsigned char tmp[6];
-
-    if (!(st.chip_cfg.sensors & INV_XYZ_ACCEL))
-        return -1;
-
-    if (i2c_read(st.hw->addr, st.reg->raw_accel, 6, tmp))
-        return -1;
-    data[0] = (tmp[0] << 8) | tmp[1];
-    data[1] = (tmp[2] << 8) | tmp[3];
-    data[2] = (tmp[4] << 8) | tmp[5];
-    if (timestamp)
-        get_ms(timestamp);
-    return 0;
-}
-
-/**
- *  @brief      Read temperature data directly from the registers.
- *  @param[out] data        Data in q16 format.
- *  @param[out] timestamp   Timestamp in milliseconds. Null if not needed.
- *  @return     0 if successful.
- */
-int mpu_get_temperature(long *data, unsigned long *timestamp)
-{
-    unsigned char tmp[2];
-    short raw;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    if (i2c_read(st.hw->addr, st.reg->temp, 2, tmp))
-        return -1;
-    raw = (tmp[0] << 8) | tmp[1];
-    if (timestamp)
-        get_ms(timestamp);
-
-    data[0] = (long)((35 + ((raw - (float)st.hw->temp_offset) / st.hw->temp_sens)) * 65536L);
-    return 0;
-}
-
-/**
- *  @brief      Push biases to the accel bias registers.
- *  This function expects biases relative to the current sensor output, and
- *  these biases will be added to the factory-supplied values.
- *  @param[in]  accel_bias  New biases.
- *  @return     0 if successful.
- */
-int mpu_set_accel_bias(const long *accel_bias)
-{
-    unsigned char data[6];
-    short accel_hw[3];
-    short got_accel[3];
-    short fg[3];
-
-    if (!accel_bias)
-        return -1;
-    if (!accel_bias[0] && !accel_bias[1] && !accel_bias[2])
-        return 0;
-
-    if (i2c_read(st.hw->addr, 3, 3, data))
-        return -1;
-    fg[0] = ((data[0] >> 4) + 8) & 0xf;
-    fg[1] = ((data[1] >> 4) + 8) & 0xf;
-    fg[2] = ((data[2] >> 4) + 8) & 0xf;
-
-    accel_hw[0] = (short)(accel_bias[0] * 2 / (64 + fg[0]));
-    accel_hw[1] = (short)(accel_bias[1] * 2 / (64 + fg[1]));
-    accel_hw[2] = (short)(accel_bias[2] * 2 / (64 + fg[2]));
-
-    if (i2c_read(st.hw->addr, 0x06, 6, data))
-        return -1;
-
-    got_accel[0] = ((short)data[0] << 8) | data[1];
-    got_accel[1] = ((short)data[2] << 8) | data[3];
-    got_accel[2] = ((short)data[4] << 8) | data[5];
-
-    accel_hw[0] += got_accel[0];
-    accel_hw[1] += got_accel[1];
-    accel_hw[2] += got_accel[2];
-
-    data[0] = (accel_hw[0] >> 8) & 0xff;
-    data[1] = (accel_hw[0]) & 0xff;
-    data[2] = (accel_hw[1] >> 8) & 0xff;
-    data[3] = (accel_hw[1]) & 0xff;
-    data[4] = (accel_hw[2] >> 8) & 0xff;
-    data[5] = (accel_hw[2]) & 0xff;
-
-    if (i2c_write(st.hw->addr, 0x06, 6, data))
-        return -1;
-    return 0;
-}
-
-/**
- *  @brief  Reset FIFO read/write pointers.
- *  @return 0 if successful.
- */
-int mpu_reset_fifo(void)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    data = 0;
-    if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-        return -1;
-
-    if (st.chip_cfg.dmp_on) {
-        data = BIT_FIFO_RST | BIT_DMP_RST;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-            return -1;
-        delay_ms(50);
-        data = BIT_DMP_EN | BIT_FIFO_EN;
-        if (st.chip_cfg.sensors & INV_XYZ_COMPASS)
-            data |= BIT_AUX_IF_EN;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-            return -1;
-        if (st.chip_cfg.int_enable)
-            data = BIT_DMP_INT_EN;
-        else
-            data = 0;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data))
-            return -1;
-        data = 0;
-        if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &data))
-            return -1;
-    } else {
-        data = BIT_FIFO_RST;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-            return -1;
-        if (st.chip_cfg.bypass_mode || !(st.chip_cfg.sensors & INV_XYZ_COMPASS))
-            data = BIT_FIFO_EN;
-        else
-            data = BIT_FIFO_EN | BIT_AUX_IF_EN;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-            return -1;
-        delay_ms(50);
-        if (st.chip_cfg.int_enable)
-            data = BIT_DATA_RDY_EN;
-        else
-            data = 0;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data))
-            return -1;
-        if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &st.chip_cfg.fifo_enable))
-            return -1;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Get the gyro full-scale range.
- *  @param[out] fsr Current full-scale range.
- *  @return     0 if successful.
- */
-int mpu_get_gyro_fsr(unsigned short *fsr)
-{
-    switch (st.chip_cfg.gyro_fsr) {
-    case INV_FSR_250DPS:
-        fsr[0] = 250;
-        break;
-    case INV_FSR_500DPS:
-        fsr[0] = 500;
-        break;
-    case INV_FSR_1000DPS:
-        fsr[0] = 1000;
-        break;
-    case INV_FSR_2000DPS:
-        fsr[0] = 2000;
-        break;
-    default:
-        fsr[0] = 0;
-        break;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Set the gyro full-scale range.
- *  @param[in]  fsr Desired full-scale range.
- *  @return     0 if successful.
- */
-int mpu_set_gyro_fsr(unsigned short fsr)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    switch (fsr) {
-    case 250:
-        data = INV_FSR_250DPS << 3;
-        break;
-    case 500:
-        data = INV_FSR_500DPS << 3;
-        break;
-    case 1000:
-        data = INV_FSR_1000DPS << 3;
-        break;
-    case 2000:
-        data = INV_FSR_2000DPS << 3;
-        break;
-    default:
-        return -1;
-    }
-
-    if (st.chip_cfg.gyro_fsr == (data >> 3))
-        return 0;
-    if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, &data))
-        return -1;
-    st.chip_cfg.gyro_fsr = data >> 3;
-    return 0;
-}
-
-/**
- *  @brief      Get the accel full-scale range.
- *  @param[out] fsr Current full-scale range.
- *  @return     0 if successful.
- */
-int mpu_get_accel_fsr(unsigned char *fsr)
-{
-    switch (st.chip_cfg.accel_fsr) {
-    case INV_FSR_2G:
-        fsr[0] = 2;
-        break;
-    case INV_FSR_4G:
-        fsr[0] = 4;
-        break;
-    case INV_FSR_8G:
-        fsr[0] = 8;
-        break;
-    case INV_FSR_16G:
-        fsr[0] = 16;
-        break;
-    default:
-        return -1;
-    }
-    if (st.chip_cfg.accel_half)
-        fsr[0] <<= 1;
-    return 0;
-}
-
-/**
- *  @brief      Set the accel full-scale range.
- *  @param[in]  fsr Desired full-scale range.
- *  @return     0 if successful.
- */
-int mpu_set_accel_fsr(unsigned char fsr)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    switch (fsr) {
-    case 2:
-        data = INV_FSR_2G << 3;
-        break;
-    case 4:
-        data = INV_FSR_4G << 3;
-        break;
-    case 8:
-        data = INV_FSR_8G << 3;
-        break;
-    case 16:
-        data = INV_FSR_16G << 3;
-        break;
-    default:
-        return -1;
-    }
-
-    if (st.chip_cfg.accel_fsr == (data >> 3))
-        return 0;
-    if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, &data))
-        return -1;
-    st.chip_cfg.accel_fsr = data >> 3;
-    return 0;
-}
-
-/**
- *  @brief      Get the current DLPF setting.
- *  @param[out] lpf Current LPF setting.
- *  0 if successful.
- */
-int mpu_get_lpf(unsigned short *lpf)
-{
-    switch (st.chip_cfg.lpf) {
-    case INV_FILTER_188HZ:
-        lpf[0] = 188;
-        break;
-    case INV_FILTER_98HZ:
-        lpf[0] = 98;
-        break;
-    case INV_FILTER_42HZ:
-        lpf[0] = 42;
-        break;
-    case INV_FILTER_20HZ:
-        lpf[0] = 20;
-        break;
-    case INV_FILTER_10HZ:
-        lpf[0] = 10;
-        break;
-    case INV_FILTER_5HZ:
-        lpf[0] = 5;
-        break;
-    case INV_FILTER_256HZ_NOLPF2:
-    case INV_FILTER_2100HZ_NOLPF:
-    default:
-        lpf[0] = 0;
-        break;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Set digital low pass filter.
- *  The following LPF settings are supported: 188, 98, 42, 20, 10, 5.
- *  @param[in]  lpf Desired LPF setting.
- *  @return     0 if successful.
- */
-int mpu_set_lpf(unsigned short lpf)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    if (lpf >= 188)
-        data = INV_FILTER_188HZ;
-    else if (lpf >= 98)
-        data = INV_FILTER_98HZ;
-    else if (lpf >= 42)
-        data = INV_FILTER_42HZ;
-    else if (lpf >= 20)
-        data = INV_FILTER_20HZ;
-    else if (lpf >= 10)
-        data = INV_FILTER_10HZ;
-    else
-        data = INV_FILTER_5HZ;
-
-    if (st.chip_cfg.lpf == data)
-        return 0;
-    if (i2c_write(st.hw->addr, st.reg->lpf, 1, &data))
-        return -1;
-    st.chip_cfg.lpf = data;
-    return 0;
-}
-
-/**
- *  @brief      Get sampling rate.
- *  @param[out] rate    Current sampling rate (Hz).
- *  @return     0 if successful.
- */
-int mpu_get_sample_rate(unsigned short *rate)
-{
-    if (st.chip_cfg.dmp_on)
-        return -1;
-    else
-        rate[0] = st.chip_cfg.sample_rate;
-
-    return 0;
-}
-
-/**
- *  @brief      Set sampling rate.
- *  Sampling rate must be between 4Hz and 1kHz.
- *  @param[in]  rate    Desired sampling rate (Hz).
- *  @return     0 if successful.
- */
-int mpu_set_sample_rate(unsigned short rate)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    if (st.chip_cfg.dmp_on)
-        return -1;
-    else {
-        if (st.chip_cfg.lp_accel_mode) {
-            if (rate && (rate <= 40)) {
-                /* Just stay in low-power accel mode. */
-                mpu_lp_accel_mode(rate);
-                return 0;
-            }
-            /* Requested rate exceeds the allowed frequencies in LP accel mode,
-             * switch back to full-power mode.
-             */
-            mpu_lp_accel_mode(0);
-        }
-        if (rate < 4)
-            rate = 4;
-        else if (rate > 1000)
-            rate = 1000;
-
-        data = 1000 / rate - 1;
-        if (i2c_write(st.hw->addr, st.reg->rate_div, 1, &data))
-            return -1;
-
-        st.chip_cfg.sample_rate = 1000 / (1 + data);
-
-#ifdef AK89xx_SECONDARY
-        mpu_set_compass_sample_rate(min(st.chip_cfg.compass_sample_rate, MAX_COMPASS_SAMPLE_RATE));
-#endif
-
-        /* Automatically set LPF to 1/2 sampling rate. */
-        mpu_set_lpf(st.chip_cfg.sample_rate >> 1);
-        return 0;
-    }
-}
-
-/**
- *  @brief      Get compass sampling rate.
- *  @param[out] rate    Current compass sampling rate (Hz).
- *  @return     0 if successful.
- */
-int mpu_get_compass_sample_rate(unsigned short *rate)
-{
-#ifdef AK89xx_SECONDARY
-    rate[0] = st.chip_cfg.compass_sample_rate;
-    return 0;
-#else
-    rate[0] = 0;
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Set compass sampling rate.
- *  The compass on the auxiliary I2C bus is read by the MPU hardware at a
- *  maximum of 100Hz. The actual rate can be set to a fraction of the gyro
- *  sampling rate.
- *
- *  \n WARNING: The new rate may be different than what was requested. Call
- *  mpu_get_compass_sample_rate to check the actual setting.
- *  @param[in]  rate    Desired compass sampling rate (Hz).
- *  @return     0 if successful.
- */
-int mpu_set_compass_sample_rate(unsigned short rate)
-{
-#ifdef AK89xx_SECONDARY
-    unsigned char div;
-    if (!rate || rate > st.chip_cfg.sample_rate || rate > MAX_COMPASS_SAMPLE_RATE)
-        return -1;
-
-    div = st.chip_cfg.sample_rate / rate - 1;
-    if (i2c_write(st.hw->addr, st.reg->s4_ctrl, 1, &div))
-        return -1;
-    st.chip_cfg.compass_sample_rate = st.chip_cfg.sample_rate / (div + 1);
-    return 0;
-#else
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Get gyro sensitivity scale factor.
- *  @param[out] sens    Conversion from hardware units to dps.
- *  @return     0 if successful.
- */
-int mpu_get_gyro_sens(float *sens)
-{
-    switch (st.chip_cfg.gyro_fsr) {
-    case INV_FSR_250DPS:
-        sens[0] = 131.f;
-        break;
-    case INV_FSR_500DPS:
-        sens[0] = 65.5f;
-        break;
-    case INV_FSR_1000DPS:
-        sens[0] = 32.8f;
-        break;
-    case INV_FSR_2000DPS:
-        sens[0] = 16.4f;
-        break;
-    default:
-        return -1;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Get accel sensitivity scale factor.
- *  @param[out] sens    Conversion from hardware units to g's.
- *  @return     0 if successful.
- */
-int mpu_get_accel_sens(unsigned short *sens)
-{
-    switch (st.chip_cfg.accel_fsr) {
-    case INV_FSR_2G:
-        sens[0] = 16384;
-        break;
-    case INV_FSR_4G:
-        sens[0] = 8092;
-        break;
-    case INV_FSR_8G:
-        sens[0] = 4096;
-        break;
-    case INV_FSR_16G:
-        sens[0] = 2048;
-        break;
-    default:
-        return -1;
-    }
-    if (st.chip_cfg.accel_half)
-        sens[0] >>= 1;
-    return 0;
-}
-
-/**
- *  @brief      Get current FIFO configuration.
- *  @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  @param[out] sensors Mask of sensors in FIFO.
- *  @return     0 if successful.
- */
-int mpu_get_fifo_config(unsigned char *sensors)
-{
-    sensors[0] = st.chip_cfg.fifo_enable;
-    return 0;
-}
-
-/**
- *  @brief      Select which sensors are pushed to FIFO.
- *  @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  @param[in]  sensors Mask of sensors to push to FIFO.
- *  @return     0 if successful.
- */
-int mpu_configure_fifo(unsigned char sensors)
-{
-    unsigned char prev;
-    int result = 0;
-
-    /* Compass data isn't going into the FIFO. Stop trying. */
-    sensors &= ~INV_XYZ_COMPASS;
-
-    if (st.chip_cfg.dmp_on)
-        return 0;
-    else {
-        if (!(st.chip_cfg.sensors))
-            return -1;
-        prev = st.chip_cfg.fifo_enable;
-        st.chip_cfg.fifo_enable = sensors & st.chip_cfg.sensors;
-        if (st.chip_cfg.fifo_enable != sensors)
-            /* You're not getting what you asked for. Some sensors are
-             * asleep.
-             */
-            result = -1;
-        else
-            result = 0;
-        if (sensors || st.chip_cfg.lp_accel_mode)
-            set_int_enable(1);
-        else
-            set_int_enable(0);
-        if (sensors) {
-            if (mpu_reset_fifo()) {
-                st.chip_cfg.fifo_enable = prev;
-                return -1;
-            }
-        }
-    }
-
-    return result;
-}
-
-/**
- *  @brief      Get current power state.
- *  @param[in]  power_on    1 if turned on, 0 if suspended.
- *  @return     0 if successful.
- */
-int mpu_get_power_state(unsigned char *power_on)
-{
-    if (st.chip_cfg.sensors)
-        power_on[0] = 1;
-    else
-        power_on[0] = 0;
-    return 0;
-}
-
-/**
- *  @brief      Turn specific sensors on/off.
- *  @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  \n INV_XYZ_COMPASS
- *  @param[in]  sensors    Mask of sensors to wake.
- *  @return     0 if successful.
- */
-int mpu_set_sensors(unsigned char sensors)
-{
-    unsigned char data;
-#ifdef AK89xx_SECONDARY
-    unsigned char user_ctrl;
-#endif
-
-    if (sensors & INV_XYZ_GYRO)
-        data = INV_CLK_PLL;
-    else if (sensors)
-        data = 0;
-    else
-        data = BIT_SLEEP;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, &data)) {
-        st.chip_cfg.sensors = 0;
-        return -1;
-    }
-    st.chip_cfg.clk_src = data & ~BIT_SLEEP;
-
-    data = 0;
-    if (!(sensors & INV_X_GYRO))
-        data |= BIT_STBY_XG;
-    if (!(sensors & INV_Y_GYRO))
-        data |= BIT_STBY_YG;
-    if (!(sensors & INV_Z_GYRO))
-        data |= BIT_STBY_ZG;
-    if (!(sensors & INV_XYZ_ACCEL))
-        data |= BIT_STBY_XYZA;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_2, 1, &data)) {
-        st.chip_cfg.sensors = 0;
-        return -1;
-    }
-
-    if (sensors && (sensors != INV_XYZ_ACCEL))
-        /* Latched interrupts only used in LP accel mode. */
-        mpu_set_int_latched(0);
-
-#ifdef AK89xx_SECONDARY
-#ifdef AK89xx_BYPASS
-    if (sensors & INV_XYZ_COMPASS)
-        mpu_set_bypass(1);
-    else
-        mpu_set_bypass(0);
-#else
-    if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &user_ctrl))
-        return -1;
-    /* Handle AKM power management. */
-    if (sensors & INV_XYZ_COMPASS) {
-        data = AKM_SINGLE_MEASUREMENT;
-        user_ctrl |= BIT_AUX_IF_EN;
-    } else {
-        data = AKM_POWER_DOWN;
-        user_ctrl &= ~BIT_AUX_IF_EN;
-    }
-    if (st.chip_cfg.dmp_on)
-        user_ctrl |= BIT_DMP_EN;
-    else
-        user_ctrl &= ~BIT_DMP_EN;
-    if (i2c_write(st.hw->addr, st.reg->s1_do, 1, &data))
-        return -1;
-    /* Enable/disable I2C master mode. */
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &user_ctrl))
-        return -1;
-#endif
-#endif
-
-    st.chip_cfg.sensors = sensors;
-    st.chip_cfg.lp_accel_mode = 0;
-    delay_ms(50);
-    return 0;
-}
-
-/**
- *  @brief      Read the MPU interrupt status registers.
- *  @param[out] status  Mask of interrupt bits.
- *  @return     0 if successful.
- */
-int mpu_get_int_status(short *status)
-{
-    unsigned char tmp[2];
-    if (!st.chip_cfg.sensors)
-        return -1;
-    if (i2c_read(st.hw->addr, st.reg->dmp_int_status, 2, tmp))
-        return -1;
-    status[0] = (tmp[0] << 8) | tmp[1];
-    return 0;
-}
-
-/**
- *  @brief      Get one packet from the FIFO.
- *  If @e sensors does not contain a particular sensor, disregard the data
- *  returned to that pointer.
- *  \n @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  \n If the FIFO has no new data, @e sensors will be zero.
- *  \n If the FIFO is disabled, @e sensors will be zero and this function will
- *  return a non-zero error code.
- *  @param[out] gyro        Gyro data in hardware units.
- *  @param[out] accel       Accel data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds.
- *  @param[out] sensors     Mask of sensors read from FIFO.
- *  @param[out] more        Number of remaining packets.
- *  @return     0 if successful.
- */
-int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
-        unsigned char *sensors, unsigned char *more)
-{
-    /* Assumes maximum packet size is gyro (6) + accel (6). */
-    unsigned char data[MAX_PACKET_LENGTH];
-    unsigned char packet_size = 0;
-    unsigned short fifo_count, index = 0;
-
-    if (st.chip_cfg.dmp_on)
-        return -1;
-
-    sensors[0] = 0;
-    if (!st.chip_cfg.sensors)
-        return -1;
-    if (!st.chip_cfg.fifo_enable)
-        return -1;
-
-    if (st.chip_cfg.fifo_enable & INV_X_GYRO)
-        packet_size += 2;
-    if (st.chip_cfg.fifo_enable & INV_Y_GYRO)
-        packet_size += 2;
-    if (st.chip_cfg.fifo_enable & INV_Z_GYRO)
-        packet_size += 2;
-    if (st.chip_cfg.fifo_enable & INV_XYZ_ACCEL)
-        packet_size += 6;
-
-    if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data))
-        return -1;
-    fifo_count = (data[0] << 8) | data[1];
-    if (fifo_count < packet_size)
-        return 0;
-//    log_i("FIFO count: %hd\n", fifo_count);
-    if (fifo_count > (st.hw->max_fifo >> 1)) {
-        /* FIFO is 50% full, better check overflow bit. */
-        if (i2c_read(st.hw->addr, st.reg->int_status, 1, data))
-            return -1;
-        if (data[0] & BIT_FIFO_OVERFLOW) {
-            mpu_reset_fifo();
-            return -2;
-        }
-    }
-    get_ms((unsigned long*)timestamp);
-
-    if (i2c_read(st.hw->addr, st.reg->fifo_r_w, packet_size, data))
-        return -1;
-    more[0] = fifo_count / packet_size - 1;
-    sensors[0] = 0;
-
-    if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_XYZ_ACCEL) {
-        accel[0] = (data[index+0] << 8) | data[index+1];
-        accel[1] = (data[index+2] << 8) | data[index+3];
-        accel[2] = (data[index+4] << 8) | data[index+5];
-        sensors[0] |= INV_XYZ_ACCEL;
-        index += 6;
-    }
-    if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_X_GYRO) {
-        gyro[0] = (data[index+0] << 8) | data[index+1];
-        sensors[0] |= INV_X_GYRO;
-        index += 2;
-    }
-    if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_Y_GYRO) {
-        gyro[1] = (data[index+0] << 8) | data[index+1];
-        sensors[0] |= INV_Y_GYRO;
-        index += 2;
-    }
-    if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_Z_GYRO) {
-        gyro[2] = (data[index+0] << 8) | data[index+1];
-        sensors[0] |= INV_Z_GYRO;
-        index += 2;
-    }
-
-    return 0;
-}
-
-/**
- *  @brief      Get one unparsed packet from the FIFO.
- *  This function should be used if the packet is to be parsed elsewhere.
- *  @param[in]  length  Length of one FIFO packet.
- *  @param[in]  data    FIFO packet.
- *  @param[in]  more    Number of remaining packets.
- */
-int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
-    unsigned char *more)
-{
-    unsigned char tmp[2];
-    unsigned short fifo_count;
-
-//    printf("addr %d, dmp_on %d, sensors %d\r\n", st.hw->addr, st.chip_cfg.dmp_on, st.chip_cfg.sensors);
-
-    if (!st.chip_cfg.dmp_on)
-        return -1;
-    if (!st.chip_cfg.sensors)
-        return -1;
-
-//    printf("----1\r\n");
-
-    if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, tmp))
-        return -1;
-
-//    printf("----2\r\n");
-
-    fifo_count = (tmp[0] << 8) | tmp[1];
-    if (fifo_count < length) {
-        more[0] = 0;
-        return -1;
-    }
-
-//    printf("----3\r\n");
-    if (fifo_count > (st.hw->max_fifo >> 1)) {
-
-//        printf("----3.1\r\n");
-        /* FIFO is 50% full, better check overflow bit. */
-        if (i2c_read(st.hw->addr, st.reg->int_status, 1, tmp))
-            return -1;
-
-//        printf("----3.2\r\n");
-        if (tmp[0] & BIT_FIFO_OVERFLOW) {
-            mpu_reset_fifo();
-            return -2;
-        }
-    }
-
-//    printf("----4\r\n");
-    if (i2c_read(st.hw->addr, st.reg->fifo_r_w, length, data))
-        return -1;
-
-    more[0] = fifo_count / length - 1;
-    return 0;
-}
-
-/**
- *  @brief      Set device to bypass mode.
- *  @param[in]  bypass_on   1 to enable bypass mode.
- *  @return     0 if successful.
- */
-int mpu_set_bypass(unsigned char bypass_on)
-{
-    unsigned char tmp;
-
-    if (st.chip_cfg.bypass_mode == bypass_on)
-        return 0;
-
-    if (bypass_on) {
-        if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
-            return -1;
-        tmp &= ~BIT_AUX_IF_EN;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
-            return -1;
-        delay_ms(3);
-        tmp = BIT_BYPASS_EN;
-        if (st.chip_cfg.active_low_int)
-            tmp |= BIT_ACTL;
-        if (st.chip_cfg.latched_int)
-            tmp |= BIT_LATCH_EN | BIT_ANY_RD_CLR;
-        if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp))
-            return -1;
-    } else {
-        /* Enable I2C master mode if compass is being used. */
-        if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
-            return -1;
-        if (st.chip_cfg.sensors & INV_XYZ_COMPASS)
-            tmp |= BIT_AUX_IF_EN;
-        else
-            tmp &= ~BIT_AUX_IF_EN;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
-            return -1;
-        delay_ms(3);
-        if (st.chip_cfg.active_low_int)
-            tmp = BIT_ACTL;
-        else
-            tmp = 0;
-        if (st.chip_cfg.latched_int)
-            tmp |= BIT_LATCH_EN | BIT_ANY_RD_CLR;
-        if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp))
-            return -1;
-    }
-    st.chip_cfg.bypass_mode = bypass_on;
-    return 0;
-}
-
-/**
- *  @brief      Set interrupt level.
- *  @param[in]  active_low  1 for active low, 0 for active high.
- *  @return     0 if successful.
- */
-int mpu_set_int_level(unsigned char active_low)
-{
-    st.chip_cfg.active_low_int = active_low;
-    return 0;
-}
-
-/**
- *  @brief      Enable latched interrupts.
- *  Any MPU register will clear the interrupt.
- *  @param[in]  enable  1 to enable, 0 to disable.
- *  @return     0 if successful.
- */
-int mpu_set_int_latched(unsigned char enable)
-{
-    unsigned char tmp;
-    if (st.chip_cfg.latched_int == enable)
-        return 0;
-
-    if (enable)
-        tmp = BIT_LATCH_EN | BIT_ANY_RD_CLR;
-    else
-        tmp = 0;
-    if (st.chip_cfg.bypass_mode)
-        tmp |= BIT_BYPASS_EN;
-    if (st.chip_cfg.active_low_int)
-        tmp |= BIT_ACTL;
-    if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp))
-        return -1;
-    st.chip_cfg.latched_int = enable;
-    return 0;
-}
-
-#ifdef MPU6050
-static int get_accel_prod_shift(float *st_shift)
-{
-    unsigned char tmp[4], shift_code[3], ii;
-
-    if (i2c_read(st.hw->addr, 0x0D, 4, tmp))
-        return 0x07;
-
-    shift_code[0] = ((tmp[0] & 0xE0) >> 3) | ((tmp[3] & 0x30) >> 4);
-    shift_code[1] = ((tmp[1] & 0xE0) >> 3) | ((tmp[3] & 0x0C) >> 2);
-    shift_code[2] = ((tmp[2] & 0xE0) >> 3) | (tmp[3] & 0x03);
-    for (ii = 0; ii < 3; ii++) {
-        if (!shift_code[ii]) {
-            st_shift[ii] = 0.f;
-            continue;
-        }
-        /* Equivalent to..
-         * st_shift[ii] = 0.34f * powf(0.92f/0.34f, (shift_code[ii]-1) / 30.f)
-         */
-        st_shift[ii] = 0.34f;
-        while (--shift_code[ii])
-            st_shift[ii] *= 1.034f;
-    }
-    return 0;
-}
-
-static int accel_self_test(long *bias_regular, long *bias_st)
-{
-    int jj, result = 0;
-    float st_shift[3], st_shift_cust, st_shift_var;
-
-    get_accel_prod_shift(st_shift);
-    for(jj = 0; jj < 3; jj++) {
-        st_shift_cust = labs(bias_regular[jj] - bias_st[jj]) / 65536.f;
-        if (st_shift[jj]) {
-            st_shift_var = st_shift_cust / st_shift[jj] - 1.f;
-            if (fabs(st_shift_var) > test.max_accel_var)
-                result |= 1 << jj;
-        } else if ((st_shift_cust < test.min_g) ||
-            (st_shift_cust > test.max_g))
-            result |= 1 << jj;
-    }
-
-    return result;
-}
-
-static int gyro_self_test(long *bias_regular, long *bias_st)
-{
-    int jj, result = 0;
-    unsigned char tmp[3];
-    float st_shift, st_shift_cust, st_shift_var;
-
-    if (i2c_read(st.hw->addr, 0x0D, 3, tmp))
-        return 0x07;
-
-    tmp[0] &= 0x1F;
-    tmp[1] &= 0x1F;
-    tmp[2] &= 0x1F;
-
-    for (jj = 0; jj < 3; jj++) {
-        st_shift_cust = labs(bias_regular[jj] - bias_st[jj]) / 65536.f;
-        if (tmp[jj]) {
-            st_shift = 3275.f / test.gyro_sens;
-            while (--tmp[jj])
-                st_shift *= 1.046f;
-            st_shift_var = st_shift_cust / st_shift - 1.f;
-            if (fabs(st_shift_var) > test.max_gyro_var)
-                result |= 1 << jj;
-        } else if ((st_shift_cust < test.min_dps) ||
-            (st_shift_cust > test.max_dps))
-            result |= 1 << jj;
-    }
-    return result;
-}
-
-#ifdef AK89xx_SECONDARY
-static int compass_self_test(void)
-{
-    unsigned char tmp[6];
-    unsigned char tries = 10;
-    int result = 0x07;
-    short data;
-
-    mpu_set_bypass(1);
-
-    tmp[0] = AKM_POWER_DOWN;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp))
-        return 0x07;
-    tmp[0] = AKM_BIT_SELF_TEST;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_ASTC, 1, tmp))
-        goto AKM_restore;
-    tmp[0] = AKM_MODE_SELF_TEST;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp))
-        goto AKM_restore;
-
-    do {
-        delay_ms(10);
-        if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ST1, 1, tmp))
-            goto AKM_restore;
-        if (tmp[0] & AKM_DATA_READY)
-            break;
-    } while (tries--);
-    if (!(tmp[0] & AKM_DATA_READY))
-        goto AKM_restore;
-
-    if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_HXL, 6, tmp))
-        goto AKM_restore;
-
-    result = 0;
-    data = (short)(tmp[1] << 8) | tmp[0];
-    if ((data > 100) || (data < -100))
-        result |= 0x01;
-    data = (short)(tmp[3] << 8) | tmp[2];
-    if ((data > 100) || (data < -100))
-        result |= 0x02;
-    data = (short)(tmp[5] << 8) | tmp[4];
-    if ((data > -300) || (data < -1000))
-        result |= 0x04;
-
-AKM_restore:
-    tmp[0] = 0 | SUPPORTS_AK89xx_HIGH_SENS;
-    i2c_write(st.chip_cfg.compass_addr, AKM_REG_ASTC, 1, tmp);
-    tmp[0] = SUPPORTS_AK89xx_HIGH_SENS;
-    i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp);
-    mpu_set_bypass(0);
-    return result;
-}
-#endif
-#endif
-
-static int get_st_biases(long *gyro, long *accel, unsigned char hw_test)
-{
-    unsigned char data[MAX_PACKET_LENGTH];
-    unsigned char packet_count, ii;
-    unsigned short fifo_count;
-
-    data[0] = 0x01;
-    data[1] = 0;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, data))
-        return -1;
-    delay_ms(200);
-    data[0] = 0;
-    if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
-        return -1;
-    data[0] = BIT_FIFO_RST | BIT_DMP_RST;
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
-        return -1;
-    delay_ms(15);
-    data[0] = st.test->reg_lpf;
-    if (i2c_write(st.hw->addr, st.reg->lpf, 1, data))
-        return -1;
-    data[0] = st.test->reg_rate_div;
-    if (i2c_write(st.hw->addr, st.reg->rate_div, 1, data))
-        return -1;
-    if (hw_test)
-        data[0] = st.test->reg_gyro_fsr | 0xE0;
-    else
-        data[0] = st.test->reg_gyro_fsr;
-    if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, data))
-        return -1;
-
-    if (hw_test)
-        data[0] = st.test->reg_accel_fsr | 0xE0;
-    else
-        data[0] = test.reg_accel_fsr;
-    if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, data))
-        return -1;
-    if (hw_test)
-        delay_ms(200);
-
-    /* Fill FIFO for test.wait_ms milliseconds. */
-    data[0] = BIT_FIFO_EN;
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
-        return -1;
-
-    data[0] = INV_XYZ_GYRO | INV_XYZ_ACCEL;
-    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
-        return -1;
-    delay_ms(test.wait_ms);
-    data[0] = 0;
-    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
-        return -1;
-
-    if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data))
-        return -1;
-
-    fifo_count = (data[0] << 8) | data[1];
-    packet_count = fifo_count / MAX_PACKET_LENGTH;
-    gyro[0] = gyro[1] = gyro[2] = 0;
-    accel[0] = accel[1] = accel[2] = 0;
-
-    for (ii = 0; ii < packet_count; ii++) {
-        short accel_cur[3], gyro_cur[3];
-        if (i2c_read(st.hw->addr, st.reg->fifo_r_w, MAX_PACKET_LENGTH, data))
-            return -1;
-        accel_cur[0] = ((short)data[0] << 8) | data[1];
-        accel_cur[1] = ((short)data[2] << 8) | data[3];
-        accel_cur[2] = ((short)data[4] << 8) | data[5];
-        accel[0] += (long)accel_cur[0];
-        accel[1] += (long)accel_cur[1];
-        accel[2] += (long)accel_cur[2];
-        gyro_cur[0] = (((short)data[6] << 8) | data[7]);
-        gyro_cur[1] = (((short)data[8] << 8) | data[9]);
-        gyro_cur[2] = (((short)data[10] << 8) | data[11]);
-        gyro[0] += (long)gyro_cur[0];
-        gyro[1] += (long)gyro_cur[1];
-        gyro[2] += (long)gyro_cur[2];
-    }
-#ifdef EMPL_NO_64BIT
-    gyro[0] = (long)(((float)gyro[0]*65536.f) / test.gyro_sens / packet_count);
-    gyro[1] = (long)(((float)gyro[1]*65536.f) / test.gyro_sens / packet_count);
-    gyro[2] = (long)(((float)gyro[2]*65536.f) / test.gyro_sens / packet_count);
-    if (has_accel) {
-        accel[0] = (long)(((float)accel[0]*65536.f) / test.accel_sens /
-            packet_count);
-        accel[1] = (long)(((float)accel[1]*65536.f) / test.accel_sens /
-            packet_count);
-        accel[2] = (long)(((float)accel[2]*65536.f) / test.accel_sens /
-            packet_count);
-        /* Don't remove gravity! */
-        accel[2] -= 65536L;
-    }
-#else
-    gyro[0] = (long)(((long long)gyro[0]<<16) / test.gyro_sens / packet_count);
-    gyro[1] = (long)(((long long)gyro[1]<<16) / test.gyro_sens / packet_count);
-    gyro[2] = (long)(((long long)gyro[2]<<16) / test.gyro_sens / packet_count);
-    accel[0] = (long)(((long long)accel[0]<<16) / test.accel_sens /
-        packet_count);
-    accel[1] = (long)(((long long)accel[1]<<16) / test.accel_sens /
-        packet_count);
-    accel[2] = (long)(((long long)accel[2]<<16) / test.accel_sens /
-        packet_count);
-    /* Don't remove gravity! */
-    if (accel[2] > 0L)
-        accel[2] -= 65536L;
-    else
-        accel[2] += 65536L;
-#endif
-
-    return 0;
-}
-
-/**
- *  @brief      Trigger gyro/accel/compass self-test.
- *  On success/error, the self-test returns a mask representing the sensor(s)
- *  that failed. For each bit, a one (1) represents a "pass" case; conversely,
- *  a zero (0) indicates a failure.
- *
- *  \n The mask is defined as follows:
- *  \n Bit 0:   Gyro.
- *  \n Bit 1:   Accel.
- *  \n Bit 2:   Compass.
- *
- *  \n Currently, the hardware self-test is unsupported for MPU6500. However,
- *  this function can still be used to obtain the accel and gyro biases.
- *
- *  \n This function must be called with the device either face-up or face-down
- *  (z-axis is parallel to gravity).
- *  @param[out] gyro        Gyro biases in q16 format.
- *  @param[out] accel       Accel biases (if applicable) in q16 format.
- *  @return     Result mask (see above).
- */
-int mpu_run_self_test(long *gyro, long *accel)
-{
-#ifdef MPU6050
-    const unsigned char tries = 2;
-    long gyro_st[3], accel_st[3];
-    unsigned char accel_result, gyro_result;
-#ifdef AK89xx_SECONDARY
-    unsigned char compass_result;
-#endif
-    int ii;
-#endif
-    int result;
-    unsigned char accel_fsr, fifo_sensors, sensors_on;
-    unsigned short gyro_fsr, sample_rate, lpf;
-    unsigned char dmp_was_on;
-
-    if (st.chip_cfg.dmp_on) {
-        mpu_set_dmp_state(0);
-        dmp_was_on = 1;
-    } else
-        dmp_was_on = 0;
-
-    /* Get initial settings. */
-    mpu_get_gyro_fsr(&gyro_fsr);
-    mpu_get_accel_fsr(&accel_fsr);
-    mpu_get_lpf(&lpf);
-    mpu_get_sample_rate(&sample_rate);
-    sensors_on = st.chip_cfg.sensors;
-    mpu_get_fifo_config(&fifo_sensors);
-
-    /* For older chips, the self-test will be different. */
-#if defined MPU6050
-    for (ii = 0; ii < tries; ii++)
-        if (!get_st_biases(gyro, accel, 0))
-            break;
-    if (ii == tries) {
-        /* If we reach this point, we most likely encountered an I2C error.
-         * We'll just report an error for all three sensors.
-         */
-        result = 0;
-        goto restore;
-    }
-    for (ii = 0; ii < tries; ii++)
-        if (!get_st_biases(gyro_st, accel_st, 1))
-            break;
-    if (ii == tries) {
-        /* Again, probably an I2C error. */
-        result = 0;
-        goto restore;
-    }
-    accel_result = accel_self_test(accel, accel_st);
-    gyro_result = gyro_self_test(gyro, gyro_st);
-
-    result = 0;
-    if (!gyro_result)
-        result |= 0x01;
-    if (!accel_result)
-        result |= 0x02;
-
-#ifdef AK89xx_SECONDARY
-    compass_result = compass_self_test();
-    if (!compass_result)
-        result |= 0x04;
-#endif
-restore:
-#elif defined MPU6500
-    /* For now, this function will return a "pass" result for all three sensors
-     * for compatibility with current test applications.
-     */
-    get_st_biases(gyro, accel, 0);
-    result = 0x7;
-#endif
-    /* Set to invalid values to ensure no I2C writes are skipped. */
-    st.chip_cfg.gyro_fsr = 0xFF;
-    st.chip_cfg.accel_fsr = 0xFF;
-    st.chip_cfg.lpf = 0xFF;
-    st.chip_cfg.sample_rate = 0xFFFF;
-    st.chip_cfg.sensors = 0xFF;
-    st.chip_cfg.fifo_enable = 0xFF;
-    st.chip_cfg.clk_src = INV_CLK_PLL;
-    mpu_set_gyro_fsr(gyro_fsr);
-    mpu_set_accel_fsr(accel_fsr);
-    mpu_set_lpf(lpf);
-    mpu_set_sample_rate(sample_rate);
-    mpu_set_sensors(sensors_on);
-    mpu_configure_fifo(fifo_sensors);
-
-    if (dmp_was_on)
-        mpu_set_dmp_state(1);
-
-    return result;
-}
-
-/**
- *  @brief      Write to the DMP memory.
- *  This function prevents I2C writes past the bank boundaries. The DMP memory
- *  is only accessible when the chip is awake.
- *  @param[in]  mem_addr    Memory location (bank << 8 | start address)
- *  @param[in]  length      Number of bytes to write.
- *  @param[in]  data        Bytes to write to memory.
- *  @return     0 if successful.
- */
-int mpu_write_mem(unsigned short mem_addr, unsigned short length,
-        unsigned char *data)
-{
-    unsigned char tmp[2];
-
-    if (!data)
-        return -1;
-    if (!st.chip_cfg.sensors)
-        return -1;
-
-    tmp[0] = (unsigned char)(mem_addr >> 8);
-    tmp[1] = (unsigned char)(mem_addr & 0xFF);
-
-    /* Check bank boundaries. */
-    if (tmp[1] + length > st.hw->bank_size)
-        return -1;
-
-    if (i2c_write(st.hw->addr, st.reg->bank_sel, 2, tmp))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->mem_r_w, length, data))
-        return -1;
-    return 0;
-}
-
-/**
- *  @brief      Read from the DMP memory.
- *  This function prevents I2C reads past the bank boundaries. The DMP memory
- *  is only accessible when the chip is awake.
- *  @param[in]  mem_addr    Memory location (bank << 8 | start address)
- *  @param[in]  length      Number of bytes to read.
- *  @param[out] data        Bytes read from memory.
- *  @return     0 if successful.
- */
-int mpu_read_mem(unsigned short mem_addr, unsigned short length,
-        unsigned char *data)
-{
-    unsigned char tmp[2];
-
-    if (!data)
-        return -1;
-    if (!st.chip_cfg.sensors)
-        return -1;
-
-    tmp[0] = (unsigned char)(mem_addr >> 8);
-    tmp[1] = (unsigned char)(mem_addr & 0xFF);
-
-    /* Check bank boundaries. */
-    if (tmp[1] + length > st.hw->bank_size)
-        return -1;
-
-    if (i2c_write(st.hw->addr, st.reg->bank_sel, 2, tmp))
-        return -1;
-    if (i2c_read(st.hw->addr, st.reg->mem_r_w, length, data))
-        return -1;
-    return 0;
-}
-
-/**
- *  @brief      Load and verify DMP image.
- *  @param[in]  length      Length of DMP image.
- *  @param[in]  firmware    DMP code.
- *  @param[in]  start_addr  Starting address of DMP code memory.
- *  @param[in]  sample_rate Fixed sampling rate used when DMP is enabled.
- *  @return     0 if successful.
- */
-int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
-    unsigned short start_addr, unsigned short sample_rate)
-{
-    unsigned short ii;
-    unsigned short this_write;
-    /* Must divide evenly into st.hw->bank_size to avoid bank crossings. */
-#define LOAD_CHUNK  (16)
-    unsigned char cur[LOAD_CHUNK], tmp[2];
-
-    if (st.chip_cfg.dmp_loaded)
-        /* DMP should only be loaded once. */
-        return -1;
-
-    if (!firmware)
-        return -1;
-    for (ii = 0; ii < length; ii += this_write) {
-        this_write = min(LOAD_CHUNK, length - ii);
-        if (mpu_write_mem(ii, this_write, (unsigned char*)&firmware[ii]))
-            return -1;
-        if (mpu_read_mem(ii, this_write, cur))
-            return -1;
-        if (memcmp(firmware+ii, cur, this_write))
-            return -2;
-    }
-
-    /* Set program start address. */
-    tmp[0] = start_addr >> 8;
-    tmp[1] = start_addr & 0xFF;
-    if (i2c_write(st.hw->addr, st.reg->prgm_start_h, 2, tmp))
-        return -1;
-
-    st.chip_cfg.dmp_loaded = 1;
-    st.chip_cfg.dmp_sample_rate = sample_rate;
-    return 0;
-}
-
-/**
- *  @brief      Enable/disable DMP support.
- *  @param[in]  enable  1 to turn on the DMP.
- *  @return     0 if successful.
- */
-int mpu_set_dmp_state(unsigned char enable)
-{
-    unsigned char tmp;
-    if (st.chip_cfg.dmp_on == enable)
-        return 0;
-
-    if (enable) {
-        if (!st.chip_cfg.dmp_loaded)
-            return -1;
-        /* Disable data ready interrupt. */
-        set_int_enable(0);
-        /* Disable bypass mode. */
-        mpu_set_bypass(0);
-        /* Keep constant sample rate, FIFO rate controlled by DMP. */
-        mpu_set_sample_rate(st.chip_cfg.dmp_sample_rate);
-        /* Remove FIFO elements. */
-        tmp = 0;
-        i2c_write(st.hw->addr, 0x23, 1, &tmp);
-        st.chip_cfg.dmp_on = 1;
-        /* Enable DMP interrupt. */
-        set_int_enable(1);
-        mpu_reset_fifo();
-    } else {
-        /* Disable DMP interrupt. */
-        set_int_enable(0);
-        /* Restore FIFO settings. */
-        tmp = st.chip_cfg.fifo_enable;
-        i2c_write(st.hw->addr, 0x23, 1, &tmp);
-        st.chip_cfg.dmp_on = 0;
-        mpu_reset_fifo();
-    }
-    return 0;
-}
-
-/**
- *  @brief      Get DMP state.
- *  @param[out] enabled 1 if enabled.
- *  @return     0 if successful.
- */
-int mpu_get_dmp_state(unsigned char *enabled)
-{
-    enabled[0] = st.chip_cfg.dmp_on;
-    return 0;
-}
-
-
-/* This initialization is similar to the one in ak8975.c. */
-static int setup_compass(void)
-{
-#ifdef AK89xx_SECONDARY
-    unsigned char data[4], akm_addr;
-
-    mpu_set_bypass(1);
-
-    /* Find compass. Possible addresses range from 0x0C to 0x0F. */
-    for (akm_addr = 0x0C; akm_addr <= 0x0F; akm_addr++) {
-        int result;
-        result = i2c_read(akm_addr, AKM_REG_WHOAMI, 1, data);
-        if (!result && (data[0] == AKM_WHOAMI))
-            break;
-    }
-
-    if (akm_addr > 0x0F) {
-        /* TODO: Handle this case in all compass-related functions. */
-        log_e("Compass not found.\n");
-        return -1;
-    }
-
-    st.chip_cfg.compass_addr = akm_addr;
-
-    data[0] = AKM_POWER_DOWN;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data))
-        return -1;
-    delay_ms(1);
-
-    data[0] = AKM_FUSE_ROM_ACCESS;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data))
-        return -1;
-    delay_ms(1);
-
-    /* Get sensitivity adjustment data from fuse ROM. */
-    if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ASAX, 3, data))
-        return -1;
-    st.chip_cfg.mag_sens_adj[0] = (long)data[0] + 128;
-    st.chip_cfg.mag_sens_adj[1] = (long)data[1] + 128;
-    st.chip_cfg.mag_sens_adj[2] = (long)data[2] + 128;
-
-    data[0] = AKM_POWER_DOWN;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data))
-        return -1;
-    delay_ms(1);
-
-    mpu_set_bypass(0);
-
-    /* Set up master mode, master clock, and ES bit. */
-    data[0] = 0x40;
-    if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data))
-        return -1;
-
-    /* Slave 0 reads from AKM data registers. */
-    data[0] = BIT_I2C_READ | st.chip_cfg.compass_addr;
-    if (i2c_write(st.hw->addr, st.reg->s0_addr, 1, data))
-        return -1;
-
-    /* Compass reads start at this register. */
-    data[0] = AKM_REG_ST1;
-    if (i2c_write(st.hw->addr, st.reg->s0_reg, 1, data))
-        return -1;
-
-    /* Enable slave 0, 8-byte reads. */
-    data[0] = BIT_SLAVE_EN | 8;
-    if (i2c_write(st.hw->addr, st.reg->s0_ctrl, 1, data))
-        return -1;
-
-    /* Slave 1 changes AKM measurement mode. */
-    data[0] = st.chip_cfg.compass_addr;
-    if (i2c_write(st.hw->addr, st.reg->s1_addr, 1, data))
-        return -1;
-
-    /* AKM measurement mode register. */
-    data[0] = AKM_REG_CNTL;
-    if (i2c_write(st.hw->addr, st.reg->s1_reg, 1, data))
-        return -1;
-
-    /* Enable slave 1, 1-byte writes. */
-    data[0] = BIT_SLAVE_EN | 1;
-    if (i2c_write(st.hw->addr, st.reg->s1_ctrl, 1, data))
-        return -1;
-
-    /* Set slave 1 data. */
-    data[0] = AKM_SINGLE_MEASUREMENT;
-    if (i2c_write(st.hw->addr, st.reg->s1_do, 1, data))
-        return -1;
-
-    /* Trigger slave 0 and slave 1 actions at each sample. */
-    data[0] = 0x03;
-    if (i2c_write(st.hw->addr, st.reg->i2c_delay_ctrl, 1, data))
-        return -1;
-
-#ifdef MPU9150
-    /* For the MPU9150, the auxiliary I2C bus needs to be set to VDD. */
-    data[0] = BIT_I2C_MST_VDDIO;
-    if (i2c_write(st.hw->addr, st.reg->yg_offs_tc, 1, data))
-        return -1;
-#endif
-
-    return 0;
-#else
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Read raw compass data.
- *  @param[out] data        Raw data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds. Null if not needed.
- *  @return     0 if successful.
- */
-int mpu_get_compass_reg(short *data, unsigned long *timestamp)
-{
-#ifdef AK89xx_SECONDARY
-    unsigned char tmp[9];
-
-    if (!(st.chip_cfg.sensors & INV_XYZ_COMPASS))
-        return -1;
-
-#ifdef AK89xx_BYPASS
-    if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ST1, 8, tmp))
-        return -1;
-    tmp[8] = AKM_SINGLE_MEASUREMENT;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp+8))
-        return -1;
-#else
-    if (i2c_read(st.hw->addr, st.reg->raw_compass, 8, tmp))
-        return -1;
-#endif
-
-#if defined AK8975_SECONDARY
-    /* AK8975 doesn't have the overrun error bit. */
-    if (!(tmp[0] & AKM_DATA_READY))
-        return -2;
-    if ((tmp[7] & AKM_OVERFLOW) || (tmp[7] & AKM_DATA_ERROR))
-        return -3;
-#elif defined AK8963_SECONDARY
-    /* AK8963 doesn't have the data read error bit. */
-    if (!(tmp[0] & AKM_DATA_READY) || (tmp[0] & AKM_DATA_OVERRUN))
-        return -2;
-    if (tmp[7] & AKM_OVERFLOW)
-        return -3;
-#endif
-    data[0] = (tmp[2] << 8) | tmp[1];
-    data[1] = (tmp[4] << 8) | tmp[3];
-    data[2] = (tmp[6] << 8) | tmp[5];
-
-    data[0] = ((long)data[0] * st.chip_cfg.mag_sens_adj[0]) >> 8;
-    data[1] = ((long)data[1] * st.chip_cfg.mag_sens_adj[1]) >> 8;
-    data[2] = ((long)data[2] * st.chip_cfg.mag_sens_adj[2]) >> 8;
-
-    if (timestamp)
-        get_ms(timestamp);
-    return 0;
-#else
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Get the compass full-scale range.
- *  @param[out] fsr Current full-scale range.
- *  @return     0 if successful.
- */
-int mpu_get_compass_fsr(unsigned short *fsr)
-{
-#ifdef AK89xx_SECONDARY
-    fsr[0] = st.hw->compass_fsr;
-    return 0;
-#else
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Enters LP accel motion interrupt mode.
- *  The behaviour of this feature is very different between the MPU6050 and the
- *  MPU6500. Each chip's version of this feature is explained below.
- *
- *  \n The hardware motion threshold can be between 32mg and 8160mg in 32mg
- *  increments.
- *
- *  \n Low-power accel mode supports the following frequencies:
- *  \n 1.25Hz, 5Hz, 20Hz, 40Hz
- *
- *  \n MPU6500:
- *  \n Unlike the MPU6050 version, the hardware does not "lock in" a reference
- *  sample. The hardware monitors the accel data and detects any large change
- *  over a short period of time.
- *
- *  \n The hardware motion threshold can be between 4mg and 1020mg in 4mg
- *  increments.
- *
- *  \n MPU6500 Low-power accel mode supports the following frequencies:
- *  \n 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz
- *
- *  \n\n NOTES:
- *  \n The driver will round down @e thresh to the nearest supported value if
- *  an unsupported threshold is selected.
- *  \n To select a fractional wake-up frequency, round down the value passed to
- *  @e lpa_freq.
- *  \n The MPU6500 does not support a delay parameter. If this function is used
- *  for the MPU6500, the value passed to @e time will be ignored.
- *  \n To disable this mode, set @e lpa_freq to zero. The driver will restore
- *  the previous configuration.
- *
- *  @param[in]  thresh      Motion threshold in mg.
- *  @param[in]  time        Duration in milliseconds that the accel data must
- *                          exceed @e thresh before motion is reported.
- *  @param[in]  lpa_freq    Minimum sampling rate, or zero to disable.
- *  @return     0 if successful.
- */
-int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time,
-    unsigned char lpa_freq)
-{
-    unsigned char data[3];
-
-    if (lpa_freq) {
-        unsigned char thresh_hw;
-
-#if defined MPU6500
-        /* 1LSb = 4mg. */
-        if (thresh > 1020)
-            thresh_hw = 255;
-        else if (thresh < 4)
-            thresh_hw = 1;
-        else
-            thresh_hw = thresh >> 2;
-#endif
-
-        if (!time)
-            /* Minimum duration must be 1ms. */
-            time = 1;
-
-#if defined MPU6500
-        if (lpa_freq > 640)
-#endif
-            /* At this point, the chip has not been re-configured, so the
-             * function can safely exit.
-             */
-            return -1;
-
-        if (!st.chip_cfg.int_motion_only) {
-            /* Store current settings for later. */
-            if (st.chip_cfg.dmp_on) {
-                mpu_set_dmp_state(0);
-                st.chip_cfg.cache.dmp_on = 1;
-            } else
-                st.chip_cfg.cache.dmp_on = 0;
-            mpu_get_gyro_fsr(&st.chip_cfg.cache.gyro_fsr);
-            mpu_get_accel_fsr(&st.chip_cfg.cache.accel_fsr);
-            mpu_get_lpf(&st.chip_cfg.cache.lpf);
-            mpu_get_sample_rate(&st.chip_cfg.cache.sample_rate);
-            st.chip_cfg.cache.sensors_on = st.chip_cfg.sensors;
-            mpu_get_fifo_config(&st.chip_cfg.cache.fifo_sensors);
-        }
-
-#if defined MPU6500
-        /* Disable hardware interrupts. */
-        set_int_enable(0);
-
-        /* Enter full-power accel-only mode, no FIFO/DMP. */
-        data[0] = 0;
-        data[1] = 0;
-        data[2] = BIT_STBY_XYZG;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 3, data))
-            goto lp_int_restore;
-
-        /* Set motion threshold. */
-        data[0] = thresh_hw;
-        if (i2c_write(st.hw->addr, st.reg->motion_thr, 1, data))
-            goto lp_int_restore;
-
-        /* Set wake frequency. */
-        if (lpa_freq == 1)
-            data[0] = INV_LPA_1_25HZ;
-        else if (lpa_freq == 2)
-            data[0] = INV_LPA_2_5HZ;
-        else if (lpa_freq <= 5)
-            data[0] = INV_LPA_5HZ;
-        else if (lpa_freq <= 10)
-            data[0] = INV_LPA_10HZ;
-        else if (lpa_freq <= 20)
-            data[0] = INV_LPA_20HZ;
-        else if (lpa_freq <= 40)
-            data[0] = INV_LPA_40HZ;
-        else if (lpa_freq <= 80)
-            data[0] = INV_LPA_80HZ;
-        else if (lpa_freq <= 160)
-            data[0] = INV_LPA_160HZ;
-        else if (lpa_freq <= 320)
-            data[0] = INV_LPA_320HZ;
-        else
-            data[0] = INV_LPA_640HZ;
-        if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, data))
-            goto lp_int_restore;
-
-        /* Enable motion interrupt (MPU6500 version). */
-        data[0] = BITS_WOM_EN;
-        if (i2c_write(st.hw->addr, st.reg->accel_intel, 1, data))
-            goto lp_int_restore;
-
-        /* Enable cycle mode. */
-        data[0] = BIT_LPA_CYCLE;
-        if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
-            goto lp_int_restore;
-
-        /* Enable interrupt. */
-        data[0] = BIT_MOT_INT_EN;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data))
-            goto lp_int_restore;
-
-        st.chip_cfg.int_motion_only = 1;
-        return 0;
-#endif
-    } else {
-        /* Don't "restore" the previous state if no state has been saved. */
-        int ii;
-        char *cache_ptr = (char*)&st.chip_cfg.cache;
-        for (ii = 0; ii < sizeof(st.chip_cfg.cache); ii++) {
-            if (cache_ptr[ii] != 0)
-                goto lp_int_restore;
-        }
-        /* If we reach this point, motion interrupt mode hasn't been used yet. */
-        return -1;
-    }
-lp_int_restore:
-    /* Set to invalid values to ensure no I2C writes are skipped. */
-    st.chip_cfg.gyro_fsr = 0xFF;
-    st.chip_cfg.accel_fsr = 0xFF;
-    st.chip_cfg.lpf = 0xFF;
-    st.chip_cfg.sample_rate = 0xFFFF;
-    st.chip_cfg.sensors = 0xFF;
-    st.chip_cfg.fifo_enable = 0xFF;
-    st.chip_cfg.clk_src = INV_CLK_PLL;
-    mpu_set_sensors(st.chip_cfg.cache.sensors_on);
-    mpu_set_gyro_fsr(st.chip_cfg.cache.gyro_fsr);
-    mpu_set_accel_fsr(st.chip_cfg.cache.accel_fsr);
-    mpu_set_lpf(st.chip_cfg.cache.lpf);
-    mpu_set_sample_rate(st.chip_cfg.cache.sample_rate);
-    mpu_configure_fifo(st.chip_cfg.cache.fifo_sensors);
-
-    if (st.chip_cfg.cache.dmp_on)
-        mpu_set_dmp_state(1);
-
-#ifdef MPU6500
-    /* Disable motion interrupt (MPU6500 version). */
-    data[0] = 0;
-    if (i2c_write(st.hw->addr, st.reg->accel_intel, 1, data))
-        goto lp_int_restore;
-#endif
-
-    st.chip_cfg.int_motion_only = 0;
-    return 0;
-}
-
-/**
- *  @}
- */
-

Core备份3/imu1/inv_mpu1.h

@@ -1,132 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
-    See included License.txt for License information.
- $
- */
-/**
- *  @addtogroup  DRIVERS Sensor Driver Layer
- *  @brief       Hardware drivers to communicate with sensors via I2C.
- *
- *  @{
- *      @file       inv_mpu.h
- *      @brief      An I2C-based driver for Invensense gyroscopes.
- *      @details    This driver currently works for the following devices:
- *                  MPU6050
- *                  MPU6500
- *                  MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus)
- *                  MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus)
- */
-
-#ifndef _INV_MPU_H_
-#define _INV_MPU_H_
-
-#define MOTION_DRIVER_TARGET_STM32
-#define MPU6050
-//#define EMPL
-//#define USE_DMP
-
-#define INV_X_GYRO      (0x40)
-#define INV_Y_GYRO      (0x20)
-#define INV_Z_GYRO      (0x10)
-#define INV_XYZ_GYRO    (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO)
-#define INV_XYZ_ACCEL   (0x08)
-#define INV_XYZ_COMPASS (0x01)
-
-struct int_param_s {
-#if defined EMPL_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_STM32
-    void (*cb)(void);
-    unsigned short pin;
-    unsigned char lp_exit;
-    unsigned char active_low;
-#elif defined EMPL_TARGET_UC3L0
-    unsigned long pin;
-    void (*cb)(volatile void*);
-    void *arg;
-#endif
-};
-
-#define MPU_INT_STATUS_DATA_READY       (0x0001)
-#define MPU_INT_STATUS_DMP              (0x0002)
-#define MPU_INT_STATUS_PLL_READY        (0x0004)
-#define MPU_INT_STATUS_I2C_MST          (0x0008)
-#define MPU_INT_STATUS_FIFO_OVERFLOW    (0x0010)
-#define MPU_INT_STATUS_ZMOT             (0x0020)
-#define MPU_INT_STATUS_MOT              (0x0040)
-#define MPU_INT_STATUS_FREE_FALL        (0x0080)
-#define MPU_INT_STATUS_DMP_0            (0x0100)
-#define MPU_INT_STATUS_DMP_1            (0x0200)
-#define MPU_INT_STATUS_DMP_2            (0x0400)
-#define MPU_INT_STATUS_DMP_3            (0x0800)
-#define MPU_INT_STATUS_DMP_4            (0x1000)
-#define MPU_INT_STATUS_DMP_5            (0x2000)
-
-/* Set up APIs */
-int mpu_init(struct int_param_s *int_param);
-int mpu_init_slave(void);
-int mpu_set_bypass(unsigned char bypass_on);
-
-/* Configuration APIs */
-int mpu_lp_accel_mode(unsigned char rate);
-int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time,
-    unsigned char lpa_freq);
-int mpu_set_int_level(unsigned char active_low);
-int mpu_set_int_latched(unsigned char enable);
-
-int mpu_set_dmp_state(unsigned char enable);
-int mpu_get_dmp_state(unsigned char *enabled);
-
-int mpu_get_lpf(unsigned short *lpf);
-int mpu_set_lpf(unsigned short lpf);
-
-int mpu_get_gyro_fsr(unsigned short *fsr);
-int mpu_set_gyro_fsr(unsigned short fsr);
-
-int mpu_get_accel_fsr(unsigned char *fsr);
-int mpu_set_accel_fsr(unsigned char fsr);
-
-int mpu_get_compass_fsr(unsigned short *fsr);
-
-int mpu_get_gyro_sens(float *sens);
-int mpu_get_accel_sens(unsigned short *sens);
-
-int mpu_get_sample_rate(unsigned short *rate);
-int mpu_set_sample_rate(unsigned short rate);
-int mpu_get_compass_sample_rate(unsigned short *rate);
-int mpu_set_compass_sample_rate(unsigned short rate);
-
-int mpu_get_fifo_config(unsigned char *sensors);
-int mpu_configure_fifo(unsigned char sensors);
-
-int mpu_get_power_state(unsigned char *power_on);
-int mpu_set_sensors(unsigned char sensors);
-
-int mpu_set_accel_bias(const long *accel_bias);
-
-/* Data getter/setter APIs */
-int mpu_get_gyro_reg(short *data, unsigned long *timestamp);
-int mpu_get_accel_reg(short *data, unsigned long *timestamp);
-int mpu_get_compass_reg(short *data, unsigned long *timestamp);
-int mpu_get_temperature(long *data, unsigned long *timestamp);
-
-int mpu_get_int_status(short *status);
-int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
-    unsigned char *sensors, unsigned char *more);
-int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
-    unsigned char *more);
-int mpu_reset_fifo(void);
-
-int mpu_write_mem(unsigned short mem_addr, unsigned short length,
-    unsigned char *data);
-int mpu_read_mem(unsigned short mem_addr, unsigned short length,
-    unsigned char *data);
-int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
-    unsigned short start_addr, unsigned short sample_rate);
-
-int mpu_reg_dump(void);
-int mpu_read_reg(unsigned char reg, unsigned char *data);
-int mpu_run_self_test(long *gyro, long *accel);
-int mpu_register_tap_cb(void (*func)(unsigned char, unsigned char));
-
-#endif  /* #ifndef _INV_MPU_H_ */
-

Core备份3/imu1/inv_mpu_dmp_motion_driver1.c

@@ -1,1380 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
-    See included License.txt for License information.
- $
- */
-/**
- *  @addtogroup  DRIVERS Sensor Driver Layer
- *  @brief       Hardware drivers to communicate with sensors via I2C.
- *
- *  @{
- *      @file       inv_mpu_dmp_motion_driver.c
- *      @brief      DMP image and interface functions.
- *      @details    All functions are preceded by the dmp_ prefix to
- *                  differentiate among MPL and general driver function calls.
- */
-#include <stdio.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-#include "inv_mpu1.h"
-#include "inv_mpu_dmp_motion_driver1.h"
-#include "dmpKey1.h"
-#include "dmpmap1.h"
-
-#include "MPU60501.h"
-
-/* The following functions must be defined for this platform:
- * i2c_write(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char const *data)
- * i2c_read(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char *data)
- * delay_ms(unsigned long num_ms)
- * get_ms(unsigned long *count)
- */
-#if defined MOTION_DRIVER_TARGET_MSP430
-#include "msp430.h"
-#include "msp430_clock.h"
-#define delay_ms    msp430_delay_ms
-#define get_ms      msp430_get_clock_ms
-#define log_i(...)     do {} while (0)
-#define log_e(...)     do {} while (0)
-
-#elif defined EMPL_TARGET_MSP430
-#include "msp430.h"
-#include "msp430_clock.h"
-#include "log.h"
-#define delay_ms    msp430_delay_ms
-#define get_ms      msp430_get_clock_ms
-#define log_i       MPL_LOGI
-#define log_e       MPL_LOGE
-
-#elif defined EMPL_TARGET_UC3L0
-/* Instead of using the standard TWI driver from the ASF library, we're using
- * a TWI driver that follows the slave address + register address convention.
- */
-#include "delay.h"
-#include "sysclk.h"
-#include "log.h"
-#include "uc3l0_clock.h"
-/* delay_ms is a function already defined in ASF. */
-#define get_ms  uc3l0_get_clock_ms
-#define log_i       MPL_LOGI
-#define log_e       MPL_LOGE
-
-#elif defined MOTION_DRIVER_TARGET_STM32
-
-#define delay_ms    HAL_Delay
-#define get_ms      get_tick_count
-
-#define log_i(...)     do {} while (0)
-#define log_e(...)     do {} while (0)
-
-#else
-#error  Gyro driver is missing the system layer implementations.
-#endif
-
-/* These defines are copied from dmpDefaultMPU6050.c in the general MPL
- * releases. These defines may change for each DMP image, so be sure to modify
- * these values when switching to a new image.
- */
-#define CFG_LP_QUAT             (2712)
-#define END_ORIENT_TEMP         (1866)
-#define CFG_27                  (2742)
-#define CFG_20                  (2224)
-#define CFG_23                  (2745)
-#define CFG_FIFO_ON_EVENT       (2690)
-#define END_PREDICTION_UPDATE   (1761)
-#define CGNOTICE_INTR           (2620)
-#define X_GRT_Y_TMP             (1358)
-#define CFG_DR_INT              (1029)
-#define CFG_AUTH                (1035)
-#define UPDATE_PROP_ROT         (1835)
-#define END_COMPARE_Y_X_TMP2    (1455)
-#define SKIP_X_GRT_Y_TMP        (1359)
-#define SKIP_END_COMPARE        (1435)
-#define FCFG_3                  (1088)
-#define FCFG_2                  (1066)
-#define FCFG_1                  (1062)
-#define END_COMPARE_Y_X_TMP3    (1434)
-#define FCFG_7                  (1073)
-#define FCFG_6                  (1106)
-#define FLAT_STATE_END          (1713)
-#define SWING_END_4             (1616)
-#define SWING_END_2             (1565)
-#define SWING_END_3             (1587)
-#define SWING_END_1             (1550)
-#define CFG_8                   (2718)
-#define CFG_15                  (2727)
-#define CFG_16                  (2746)
-#define CFG_EXT_GYRO_BIAS       (1189)
-#define END_COMPARE_Y_X_TMP     (1407)
-#define DO_NOT_UPDATE_PROP_ROT  (1839)
-#define CFG_7                   (1205)
-#define FLAT_STATE_END_TEMP     (1683)
-#define END_COMPARE_Y_X         (1484)
-#define SKIP_SWING_END_1        (1551)
-#define SKIP_SWING_END_3        (1588)
-#define SKIP_SWING_END_2        (1566)
-#define TILTG75_START           (1672)
-#define CFG_6                   (2753)
-#define TILTL75_END             (1669)
-#define END_ORIENT              (1884)
-#define CFG_FLICK_IN            (2573)
-#define TILTL75_START           (1643)
-#define CFG_MOTION_BIAS         (1208)
-#define X_GRT_Y                 (1408)
-#define TEMPLABEL               (2324)
-#define CFG_ANDROID_ORIENT_INT  (1853)
-#define CFG_GYRO_RAW_DATA       (2722)
-#define X_GRT_Y_TMP2            (1379)
-
-#define D_0_22                  (22+512)
-#define D_0_24                  (24+512)
-
-#define D_0_36                  (36)
-#define D_0_52                  (52)
-#define D_0_96                  (96)
-#define D_0_104                 (104)
-#define D_0_108                 (108)
-#define D_0_163                 (163)
-#define D_0_188                 (188)
-#define D_0_192                 (192)
-#define D_0_224                 (224)
-#define D_0_228                 (228)
-#define D_0_232                 (232)
-#define D_0_236                 (236)
-
-#define D_1_2                   (256 + 2)
-#define D_1_4                   (256 + 4)
-#define D_1_8                   (256 + 8)
-#define D_1_10                  (256 + 10)
-#define D_1_24                  (256 + 24)
-#define D_1_28                  (256 + 28)
-#define D_1_36                  (256 + 36)
-#define D_1_40                  (256 + 40)
-#define D_1_44                  (256 + 44)
-#define D_1_72                  (256 + 72)
-#define D_1_74                  (256 + 74)
-#define D_1_79                  (256 + 79)
-#define D_1_88                  (256 + 88)
-#define D_1_90                  (256 + 90)
-#define D_1_92                  (256 + 92)
-#define D_1_96                  (256 + 96)
-#define D_1_98                  (256 + 98)
-#define D_1_106                 (256 + 106)
-#define D_1_108                 (256 + 108)
-#define D_1_112                 (256 + 112)
-#define D_1_128                 (256 + 144)
-#define D_1_152                 (256 + 12)
-#define D_1_160                 (256 + 160)
-#define D_1_176                 (256 + 176)
-#define D_1_178                 (256 + 178)
-#define D_1_218                 (256 + 218)
-#define D_1_232                 (256 + 232)
-#define D_1_236                 (256 + 236)
-#define D_1_240                 (256 + 240)
-#define D_1_244                 (256 + 244)
-#define D_1_250                 (256 + 250)
-#define D_1_252                 (256 + 252)
-#define D_2_12                  (512 + 12)
-#define D_2_96                  (512 + 96)
-#define D_2_108                 (512 + 108)
-#define D_2_208                 (512 + 208)
-#define D_2_224                 (512 + 224)
-#define D_2_236                 (512 + 236)
-#define D_2_244                 (512 + 244)
-#define D_2_248                 (512 + 248)
-#define D_2_252                 (512 + 252)
-
-#define CPASS_BIAS_X            (35 * 16 + 4)
-#define CPASS_BIAS_Y            (35 * 16 + 8)
-#define CPASS_BIAS_Z            (35 * 16 + 12)
-#define CPASS_MTX_00            (36 * 16)
-#define CPASS_MTX_01            (36 * 16 + 4)
-#define CPASS_MTX_02            (36 * 16 + 8)
-#define CPASS_MTX_10            (36 * 16 + 12)
-#define CPASS_MTX_11            (37 * 16)
-#define CPASS_MTX_12            (37 * 16 + 4)
-#define CPASS_MTX_20            (37 * 16 + 8)
-#define CPASS_MTX_21            (37 * 16 + 12)
-#define CPASS_MTX_22            (43 * 16 + 12)
-#define D_EXT_GYRO_BIAS_X       (61 * 16)
-#define D_EXT_GYRO_BIAS_Y       (61 * 16) + 4
-#define D_EXT_GYRO_BIAS_Z       (61 * 16) + 8
-#define D_ACT0                  (40 * 16)
-#define D_ACSX                  (40 * 16 + 4)
-#define D_ACSY                  (40 * 16 + 8)
-#define D_ACSZ                  (40 * 16 + 12)
-
-#define FLICK_MSG               (45 * 16 + 4)
-#define FLICK_COUNTER           (45 * 16 + 8)
-#define FLICK_LOWER             (45 * 16 + 12)
-#define FLICK_UPPER             (46 * 16 + 12)
-
-#define D_AUTH_OUT              (992)
-#define D_AUTH_IN               (996)
-#define D_AUTH_A                (1000)
-#define D_AUTH_B                (1004)
-
-#define D_PEDSTD_BP_B           (768 + 0x1C)
-#define D_PEDSTD_HP_A           (768 + 0x78)
-#define D_PEDSTD_HP_B           (768 + 0x7C)
-#define D_PEDSTD_BP_A4          (768 + 0x40)
-#define D_PEDSTD_BP_A3          (768 + 0x44)
-#define D_PEDSTD_BP_A2          (768 + 0x48)
-#define D_PEDSTD_BP_A1          (768 + 0x4C)
-#define D_PEDSTD_INT_THRSH      (768 + 0x68)
-#define D_PEDSTD_CLIP           (768 + 0x6C)
-#define D_PEDSTD_SB             (768 + 0x28)
-#define D_PEDSTD_SB_TIME        (768 + 0x2C)
-#define D_PEDSTD_PEAKTHRSH      (768 + 0x98)
-#define D_PEDSTD_TIML           (768 + 0x2A)
-#define D_PEDSTD_TIMH           (768 + 0x2E)
-#define D_PEDSTD_PEAK           (768 + 0X94)
-#define D_PEDSTD_STEPCTR        (768 + 0x60)
-#define D_PEDSTD_TIMECTR        (964)
-#define D_PEDSTD_DECI           (768 + 0xA0)
-
-#define D_HOST_NO_MOT           (976)
-#define D_ACCEL_BIAS            (660)
-
-#define D_ORIENT_GAP            (76)
-
-#define D_TILT0_H               (48)
-#define D_TILT0_L               (50)
-#define D_TILT1_H               (52)
-#define D_TILT1_L               (54)
-#define D_TILT2_H               (56)
-#define D_TILT2_L               (58)
-#define D_TILT3_H               (60)
-#define D_TILT3_L               (62)
-
-#define DMP_CODE_SIZE           (3062)
-
-static const unsigned char dmp_memory[DMP_CODE_SIZE] = {
-    /* bank # 0 */
-    0x00, 0x00, 0x70, 0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,
-    0x00, 0x65, 0x00, 0x54, 0xff, 0xef, 0x00, 0x00, 0xfa, 0x80, 0x00, 0x0b, 0x12, 0x82, 0x00, 0x01,
-    0x03, 0x0c, 0x30, 0xc3, 0x0e, 0x8c, 0x8c, 0xe9, 0x14, 0xd5, 0x40, 0x02, 0x13, 0x71, 0x0f, 0x8e,
-    0x38, 0x83, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83, 0x25, 0x8e, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83,
-    0xff, 0xff, 0xff, 0xff, 0x0f, 0xfe, 0xa9, 0xd6, 0x24, 0x00, 0x04, 0x00, 0x1a, 0x82, 0x79, 0xa1,
-    0x00, 0x00, 0x00, 0x3c, 0xff, 0xff, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x38, 0x83, 0x6f, 0xa2,
-    0x00, 0x3e, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xca, 0xe3, 0x09, 0x3e, 0x80, 0x00, 0x00,
-    0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,
-    0x00, 0x0c, 0x00, 0x00, 0x00, 0x0c, 0x18, 0x6e, 0x00, 0x00, 0x06, 0x92, 0x0a, 0x16, 0xc0, 0xdf,
-    0xff, 0xff, 0x02, 0x56, 0xfd, 0x8c, 0xd3, 0x77, 0xff, 0xe1, 0xc4, 0x96, 0xe0, 0xc5, 0xbe, 0xaa,
-    0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0x0b, 0x2b, 0x00, 0x00, 0x16, 0x57, 0x00, 0x00, 0x03, 0x59,
-    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1d, 0xfa, 0x00, 0x02, 0x6c, 0x1d, 0x00, 0x00, 0x00, 0x00,
-    0x3f, 0xff, 0xdf, 0xeb, 0x00, 0x3e, 0xb3, 0xb6, 0x00, 0x0d, 0x22, 0x78, 0x00, 0x00, 0x2f, 0x3c,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x19, 0x42, 0xb5, 0x00, 0x00, 0x39, 0xa2, 0x00, 0x00, 0xb3, 0x65,
-    0xd9, 0x0e, 0x9f, 0xc9, 0x1d, 0xcf, 0x4c, 0x34, 0x30, 0x00, 0x00, 0x00, 0x50, 0x00, 0x00, 0x00,
-    0x3b, 0xb6, 0x7a, 0xe8, 0x00, 0x64, 0x00, 0x00, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    /* bank # 1 */
-    0x10, 0x00, 0x00, 0x00, 0x10, 0x00, 0xfa, 0x92, 0x10, 0x00, 0x22, 0x5e, 0x00, 0x0d, 0x22, 0x9f,
-    0x00, 0x01, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00, 0xff, 0x46, 0x00, 0x00, 0x63, 0xd4, 0x00, 0x00,
-    0x10, 0x00, 0x00, 0x00, 0x04, 0xd6, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00,
-    0x00, 0x00, 0x10, 0x72, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x06, 0x00, 0x02, 0x00, 0x05, 0x00, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x05, 0x00, 0x64, 0x00, 0x20, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x03, 0x00,
-    0x00, 0x00, 0x00, 0x32, 0xf8, 0x98, 0x00, 0x00, 0xff, 0x65, 0x00, 0x00, 0x83, 0x0f, 0x00, 0x00,
-    0xff, 0x9b, 0xfc, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00,
-    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0xb2, 0x6a, 0x00, 0x02, 0x00, 0x00,
-    0x00, 0x01, 0xfb, 0x83, 0x00, 0x68, 0x00, 0x00, 0x00, 0xd9, 0xfc, 0x00, 0x7c, 0xf1, 0xff, 0x83,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x64, 0x03, 0xe8, 0x00, 0x64, 0x00, 0x28,
-    0x00, 0x00, 0x00, 0x25, 0x00, 0x00, 0x00, 0x00, 0x16, 0xa0, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00,
-    0x00, 0x00, 0x10, 0x00, 0x00, 0x2f, 0x00, 0x00, 0x00, 0x00, 0x01, 0xf4, 0x00, 0x00, 0x10, 0x00,
-    /* bank # 2 */
-    0x00, 0x28, 0x00, 0x00, 0xff, 0xff, 0x45, 0x81, 0xff, 0xff, 0xfa, 0x72, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x44, 0x00, 0x05, 0x00, 0x05, 0xba, 0xc6, 0x00, 0x47, 0x78, 0xa2,
-    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
-    0x00, 0x00, 0x25, 0x4d, 0x00, 0x2f, 0x70, 0x6d, 0x00, 0x00, 0x05, 0xae, 0x00, 0x0c, 0x02, 0xd0,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x64, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0e, 0x00, 0x0e,
-    0x00, 0x00, 0x0a, 0xc7, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x32, 0xff, 0xff, 0xff, 0x9c,
-    0x00, 0x00, 0x0b, 0x2b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x64,
-    0xff, 0xe5, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    /* bank # 3 */
-    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x24, 0x26, 0xd3,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x10, 0x00, 0x96, 0x00, 0x3c,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x0c, 0x0a, 0x4e, 0x68, 0xcd, 0xcf, 0x77, 0x09, 0x50, 0x16, 0x67, 0x59, 0xc6, 0x19, 0xce, 0x82,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0xd7, 0x84, 0x00, 0x03, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xc7, 0x93, 0x8f, 0x9d, 0x1e, 0x1b, 0x1c, 0x19,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0x18, 0x85, 0x00, 0x00, 0x40, 0x00,
-    0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x67, 0x7d, 0xdf, 0x7e, 0x72, 0x90, 0x2e, 0x55, 0x4c, 0xf6, 0xe6, 0x88,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-
-    /* bank # 4 */
-    0xd8, 0xdc, 0xb4, 0xb8, 0xb0, 0xd8, 0xb9, 0xab, 0xf3, 0xf8, 0xfa, 0xb3, 0xb7, 0xbb, 0x8e, 0x9e,
-    0xae, 0xf1, 0x32, 0xf5, 0x1b, 0xf1, 0xb4, 0xb8, 0xb0, 0x80, 0x97, 0xf1, 0xa9, 0xdf, 0xdf, 0xdf,
-    0xaa, 0xdf, 0xdf, 0xdf, 0xf2, 0xaa, 0xc5, 0xcd, 0xc7, 0xa9, 0x0c, 0xc9, 0x2c, 0x97, 0xf1, 0xa9,
-    0x89, 0x26, 0x46, 0x66, 0xb2, 0x89, 0x99, 0xa9, 0x2d, 0x55, 0x7d, 0xb0, 0xb0, 0x8a, 0xa8, 0x96,
-    0x36, 0x56, 0x76, 0xf1, 0xba, 0xa3, 0xb4, 0xb2, 0x80, 0xc0, 0xb8, 0xa8, 0x97, 0x11, 0xb2, 0x83,
-    0x98, 0xba, 0xa3, 0xf0, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xb2, 0xb9, 0xb4, 0x98, 0x83, 0xf1,
-    0xa3, 0x29, 0x55, 0x7d, 0xba, 0xb5, 0xb1, 0xa3, 0x83, 0x93, 0xf0, 0x00, 0x28, 0x50, 0xf5, 0xb2,
-    0xb6, 0xaa, 0x83, 0x93, 0x28, 0x54, 0x7c, 0xf1, 0xb9, 0xa3, 0x82, 0x93, 0x61, 0xba, 0xa2, 0xda,
-    0xde, 0xdf, 0xdb, 0x81, 0x9a, 0xb9, 0xae, 0xf5, 0x60, 0x68, 0x70, 0xf1, 0xda, 0xba, 0xa2, 0xdf,
-    0xd9, 0xba, 0xa2, 0xfa, 0xb9, 0xa3, 0x82, 0x92, 0xdb, 0x31, 0xba, 0xa2, 0xd9, 0xba, 0xa2, 0xf8,
-    0xdf, 0x85, 0xa4, 0xd0, 0xc1, 0xbb, 0xad, 0x83, 0xc2, 0xc5, 0xc7, 0xb8, 0xa2, 0xdf, 0xdf, 0xdf,
-    0xba, 0xa0, 0xdf, 0xdf, 0xdf, 0xd8, 0xd8, 0xf1, 0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35,
-    0x5d, 0xb2, 0xb6, 0xba, 0xaf, 0x8c, 0x96, 0x19, 0x8f, 0x9f, 0xa7, 0x0e, 0x16, 0x1e, 0xb4, 0x9a,
-    0xb8, 0xaa, 0x87, 0x2c, 0x54, 0x7c, 0xba, 0xa4, 0xb0, 0x8a, 0xb6, 0x91, 0x32, 0x56, 0x76, 0xb2,
-    0x84, 0x94, 0xa4, 0xc8, 0x08, 0xcd, 0xd8, 0xb8, 0xb4, 0xb0, 0xf1, 0x99, 0x82, 0xa8, 0x2d, 0x55,
-    0x7d, 0x98, 0xa8, 0x0e, 0x16, 0x1e, 0xa2, 0x2c, 0x54, 0x7c, 0x92, 0xa4, 0xf0, 0x2c, 0x50, 0x78,
-    /* bank # 5 */
-    0xf1, 0x84, 0xa8, 0x98, 0xc4, 0xcd, 0xfc, 0xd8, 0x0d, 0xdb, 0xa8, 0xfc, 0x2d, 0xf3, 0xd9, 0xba,
-    0xa6, 0xf8, 0xda, 0xba, 0xa6, 0xde, 0xd8, 0xba, 0xb2, 0xb6, 0x86, 0x96, 0xa6, 0xd0, 0xf3, 0xc8,
-    0x41, 0xda, 0xa6, 0xc8, 0xf8, 0xd8, 0xb0, 0xb4, 0xb8, 0x82, 0xa8, 0x92, 0xf5, 0x2c, 0x54, 0x88,
-    0x98, 0xf1, 0x35, 0xd9, 0xf4, 0x18, 0xd8, 0xf1, 0xa2, 0xd0, 0xf8, 0xf9, 0xa8, 0x84, 0xd9, 0xc7,
-    0xdf, 0xf8, 0xf8, 0x83, 0xc5, 0xda, 0xdf, 0x69, 0xdf, 0x83, 0xc1, 0xd8, 0xf4, 0x01, 0x14, 0xf1,
-    0xa8, 0x82, 0x4e, 0xa8, 0x84, 0xf3, 0x11, 0xd1, 0x82, 0xf5, 0xd9, 0x92, 0x28, 0x97, 0x88, 0xf1,
-    0x09, 0xf4, 0x1c, 0x1c, 0xd8, 0x84, 0xa8, 0xf3, 0xc0, 0xf9, 0xd1, 0xd9, 0x97, 0x82, 0xf1, 0x29,
-    0xf4, 0x0d, 0xd8, 0xf3, 0xf9, 0xf9, 0xd1, 0xd9, 0x82, 0xf4, 0xc2, 0x03, 0xd8, 0xde, 0xdf, 0x1a,
-    0xd8, 0xf1, 0xa2, 0xfa, 0xf9, 0xa8, 0x84, 0x98, 0xd9, 0xc7, 0xdf, 0xf8, 0xf8, 0xf8, 0x83, 0xc7,
-    0xda, 0xdf, 0x69, 0xdf, 0xf8, 0x83, 0xc3, 0xd8, 0xf4, 0x01, 0x14, 0xf1, 0x98, 0xa8, 0x82, 0x2e,
-    0xa8, 0x84, 0xf3, 0x11, 0xd1, 0x82, 0xf5, 0xd9, 0x92, 0x50, 0x97, 0x88, 0xf1, 0x09, 0xf4, 0x1c,
-    0xd8, 0x84, 0xa8, 0xf3, 0xc0, 0xf8, 0xf9, 0xd1, 0xd9, 0x97, 0x82, 0xf1, 0x49, 0xf4, 0x0d, 0xd8,
-    0xf3, 0xf9, 0xf9, 0xd1, 0xd9, 0x82, 0xf4, 0xc4, 0x03, 0xd8, 0xde, 0xdf, 0xd8, 0xf1, 0xad, 0x88,
-    0x98, 0xcc, 0xa8, 0x09, 0xf9, 0xd9, 0x82, 0x92, 0xa8, 0xf5, 0x7c, 0xf1, 0x88, 0x3a, 0xcf, 0x94,
-    0x4a, 0x6e, 0x98, 0xdb, 0x69, 0x31, 0xda, 0xad, 0xf2, 0xde, 0xf9, 0xd8, 0x87, 0x95, 0xa8, 0xf2,
-    0x21, 0xd1, 0xda, 0xa5, 0xf9, 0xf4, 0x17, 0xd9, 0xf1, 0xae, 0x8e, 0xd0, 0xc0, 0xc3, 0xae, 0x82,
-    /* bank # 6 */
-    0xc6, 0x84, 0xc3, 0xa8, 0x85, 0x95, 0xc8, 0xa5, 0x88, 0xf2, 0xc0, 0xf1, 0xf4, 0x01, 0x0e, 0xf1,
-    0x8e, 0x9e, 0xa8, 0xc6, 0x3e, 0x56, 0xf5, 0x54, 0xf1, 0x88, 0x72, 0xf4, 0x01, 0x15, 0xf1, 0x98,
-    0x45, 0x85, 0x6e, 0xf5, 0x8e, 0x9e, 0x04, 0x88, 0xf1, 0x42, 0x98, 0x5a, 0x8e, 0x9e, 0x06, 0x88,
-    0x69, 0xf4, 0x01, 0x1c, 0xf1, 0x98, 0x1e, 0x11, 0x08, 0xd0, 0xf5, 0x04, 0xf1, 0x1e, 0x97, 0x02,
-    0x02, 0x98, 0x36, 0x25, 0xdb, 0xf9, 0xd9, 0x85, 0xa5, 0xf3, 0xc1, 0xda, 0x85, 0xa5, 0xf3, 0xdf,
-    0xd8, 0x85, 0x95, 0xa8, 0xf3, 0x09, 0xda, 0xa5, 0xfa, 0xd8, 0x82, 0x92, 0xa8, 0xf5, 0x78, 0xf1,
-    0x88, 0x1a, 0x84, 0x9f, 0x26, 0x88, 0x98, 0x21, 0xda, 0xf4, 0x1d, 0xf3, 0xd8, 0x87, 0x9f, 0x39,
-    0xd1, 0xaf, 0xd9, 0xdf, 0xdf, 0xfb, 0xf9, 0xf4, 0x0c, 0xf3, 0xd8, 0xfa, 0xd0, 0xf8, 0xda, 0xf9,
-    0xf9, 0xd0, 0xdf, 0xd9, 0xf9, 0xd8, 0xf4, 0x0b, 0xd8, 0xf3, 0x87, 0x9f, 0x39, 0xd1, 0xaf, 0xd9,
-    0xdf, 0xdf, 0xf4, 0x1d, 0xf3, 0xd8, 0xfa, 0xfc, 0xa8, 0x69, 0xf9, 0xf9, 0xaf, 0xd0, 0xda, 0xde,
-    0xfa, 0xd9, 0xf8, 0x8f, 0x9f, 0xa8, 0xf1, 0xcc, 0xf3, 0x98, 0xdb, 0x45, 0xd9, 0xaf, 0xdf, 0xd0,
-    0xf8, 0xd8, 0xf1, 0x8f, 0x9f, 0xa8, 0xca, 0xf3, 0x88, 0x09, 0xda, 0xaf, 0x8f, 0xcb, 0xf8, 0xd8,
-    0xf2, 0xad, 0x97, 0x8d, 0x0c, 0xd9, 0xa5, 0xdf, 0xf9, 0xba, 0xa6, 0xf3, 0xfa, 0xf4, 0x12, 0xf2,
-    0xd8, 0x95, 0x0d, 0xd1, 0xd9, 0xba, 0xa6, 0xf3, 0xfa, 0xda, 0xa5, 0xf2, 0xc1, 0xba, 0xa6, 0xf3,
-    0xdf, 0xd8, 0xf1, 0xba, 0xb2, 0xb6, 0x86, 0x96, 0xa6, 0xd0, 0xca, 0xf3, 0x49, 0xda, 0xa6, 0xcb,
-    0xf8, 0xd8, 0xb0, 0xb4, 0xb8, 0xd8, 0xad, 0x84, 0xf2, 0xc0, 0xdf, 0xf1, 0x8f, 0xcb, 0xc3, 0xa8,
-    /* bank # 7 */
-    0xb2, 0xb6, 0x86, 0x96, 0xc8, 0xc1, 0xcb, 0xc3, 0xf3, 0xb0, 0xb4, 0x88, 0x98, 0xa8, 0x21, 0xdb,
-    0x71, 0x8d, 0x9d, 0x71, 0x85, 0x95, 0x21, 0xd9, 0xad, 0xf2, 0xfa, 0xd8, 0x85, 0x97, 0xa8, 0x28,
-    0xd9, 0xf4, 0x08, 0xd8, 0xf2, 0x8d, 0x29, 0xda, 0xf4, 0x05, 0xd9, 0xf2, 0x85, 0xa4, 0xc2, 0xf2,
-    0xd8, 0xa8, 0x8d, 0x94, 0x01, 0xd1, 0xd9, 0xf4, 0x11, 0xf2, 0xd8, 0x87, 0x21, 0xd8, 0xf4, 0x0a,
-    0xd8, 0xf2, 0x84, 0x98, 0xa8, 0xc8, 0x01, 0xd1, 0xd9, 0xf4, 0x11, 0xd8, 0xf3, 0xa4, 0xc8, 0xbb,
-    0xaf, 0xd0, 0xf2, 0xde, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xd8, 0xf1, 0xb8, 0xf6,
-    0xb5, 0xb9, 0xb0, 0x8a, 0x95, 0xa3, 0xde, 0x3c, 0xa3, 0xd9, 0xf8, 0xd8, 0x5c, 0xa3, 0xd9, 0xf8,
-    0xd8, 0x7c, 0xa3, 0xd9, 0xf8, 0xd8, 0xf8, 0xf9, 0xd1, 0xa5, 0xd9, 0xdf, 0xda, 0xfa, 0xd8, 0xb1,
-    0x85, 0x30, 0xf7, 0xd9, 0xde, 0xd8, 0xf8, 0x30, 0xad, 0xda, 0xde, 0xd8, 0xf2, 0xb4, 0x8c, 0x99,
-    0xa3, 0x2d, 0x55, 0x7d, 0xa0, 0x83, 0xdf, 0xdf, 0xdf, 0xb5, 0x91, 0xa0, 0xf6, 0x29, 0xd9, 0xfb,
-    0xd8, 0xa0, 0xfc, 0x29, 0xd9, 0xfa, 0xd8, 0xa0, 0xd0, 0x51, 0xd9, 0xf8, 0xd8, 0xfc, 0x51, 0xd9,
-    0xf9, 0xd8, 0x79, 0xd9, 0xfb, 0xd8, 0xa0, 0xd0, 0xfc, 0x79, 0xd9, 0xfa, 0xd8, 0xa1, 0xf9, 0xf9,
-    0xf9, 0xf9, 0xf9, 0xa0, 0xda, 0xdf, 0xdf, 0xdf, 0xd8, 0xa1, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xac,
-    0xde, 0xf8, 0xad, 0xde, 0x83, 0x93, 0xac, 0x2c, 0x54, 0x7c, 0xf1, 0xa8, 0xdf, 0xdf, 0xdf, 0xf6,
-    0x9d, 0x2c, 0xda, 0xa0, 0xdf, 0xd9, 0xfa, 0xdb, 0x2d, 0xf8, 0xd8, 0xa8, 0x50, 0xda, 0xa0, 0xd0,
-    0xde, 0xd9, 0xd0, 0xf8, 0xf8, 0xf8, 0xdb, 0x55, 0xf8, 0xd8, 0xa8, 0x78, 0xda, 0xa0, 0xd0, 0xdf,
-    /* bank # 8 */
-    0xd9, 0xd0, 0xfa, 0xf8, 0xf8, 0xf8, 0xf8, 0xdb, 0x7d, 0xf8, 0xd8, 0x9c, 0xa8, 0x8c, 0xf5, 0x30,
-    0xdb, 0x38, 0xd9, 0xd0, 0xde, 0xdf, 0xa0, 0xd0, 0xde, 0xdf, 0xd8, 0xa8, 0x48, 0xdb, 0x58, 0xd9,
-    0xdf, 0xd0, 0xde, 0xa0, 0xdf, 0xd0, 0xde, 0xd8, 0xa8, 0x68, 0xdb, 0x70, 0xd9, 0xdf, 0xdf, 0xa0,
-    0xdf, 0xdf, 0xd8, 0xf1, 0xa8, 0x88, 0x90, 0x2c, 0x54, 0x7c, 0x98, 0xa8, 0xd0, 0x5c, 0x38, 0xd1,
-    0xda, 0xf2, 0xae, 0x8c, 0xdf, 0xf9, 0xd8, 0xb0, 0x87, 0xa8, 0xc1, 0xc1, 0xb1, 0x88, 0xa8, 0xc6,
-    0xf9, 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xa8,
-    0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xf7, 0x8d, 0x9d, 0xad, 0xf8, 0x18, 0xda,
-    0xf2, 0xae, 0xdf, 0xd8, 0xf7, 0xad, 0xfa, 0x30, 0xd9, 0xa4, 0xde, 0xf9, 0xd8, 0xf2, 0xae, 0xde,
-    0xfa, 0xf9, 0x83, 0xa7, 0xd9, 0xc3, 0xc5, 0xc7, 0xf1, 0x88, 0x9b, 0xa7, 0x7a, 0xad, 0xf7, 0xde,
-    0xdf, 0xa4, 0xf8, 0x84, 0x94, 0x08, 0xa7, 0x97, 0xf3, 0x00, 0xae, 0xf2, 0x98, 0x19, 0xa4, 0x88,
-    0xc6, 0xa3, 0x94, 0x88, 0xf6, 0x32, 0xdf, 0xf2, 0x83, 0x93, 0xdb, 0x09, 0xd9, 0xf2, 0xaa, 0xdf,
-    0xd8, 0xd8, 0xae, 0xf8, 0xf9, 0xd1, 0xda, 0xf3, 0xa4, 0xde, 0xa7, 0xf1, 0x88, 0x9b, 0x7a, 0xd8,
-    0xf3, 0x84, 0x94, 0xae, 0x19, 0xf9, 0xda, 0xaa, 0xf1, 0xdf, 0xd8, 0xa8, 0x81, 0xc0, 0xc3, 0xc5,
-    0xc7, 0xa3, 0x92, 0x83, 0xf6, 0x28, 0xad, 0xde, 0xd9, 0xf8, 0xd8, 0xa3, 0x50, 0xad, 0xd9, 0xf8,
-    0xd8, 0xa3, 0x78, 0xad, 0xd9, 0xf8, 0xd8, 0xf8, 0xf9, 0xd1, 0xa1, 0xda, 0xde, 0xc3, 0xc5, 0xc7,
-    0xd8, 0xa1, 0x81, 0x94, 0xf8, 0x18, 0xf2, 0xb0, 0x89, 0xac, 0xc3, 0xc5, 0xc7, 0xf1, 0xd8, 0xb8,
-    /* bank # 9 */
-    0xb4, 0xb0, 0x97, 0x86, 0xa8, 0x31, 0x9b, 0x06, 0x99, 0x07, 0xab, 0x97, 0x28, 0x88, 0x9b, 0xf0,
-    0x0c, 0x20, 0x14, 0x40, 0xb0, 0xb4, 0xb8, 0xf0, 0xa8, 0x8a, 0x9a, 0x28, 0x50, 0x78, 0xb7, 0x9b,
-    0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xf1, 0xbb, 0xab,
-    0x88, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0xb3, 0x8b, 0xb8, 0xa8, 0x04, 0x28, 0x50, 0x78, 0xf1, 0xb0,
-    0x88, 0xb4, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xbb, 0xab, 0xb3, 0x8b, 0x02, 0x26, 0x46, 0x66, 0xb0,
-    0xb8, 0xf0, 0x8a, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x8b, 0x29, 0x51, 0x79, 0x8a, 0x24, 0x70, 0x59,
-    0x8b, 0x20, 0x58, 0x71, 0x8a, 0x44, 0x69, 0x38, 0x8b, 0x39, 0x40, 0x68, 0x8a, 0x64, 0x48, 0x31,
-    0x8b, 0x30, 0x49, 0x60, 0x88, 0xf1, 0xac, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0x8c, 0xa8, 0x04, 0x28,
-    0x50, 0x78, 0xf1, 0x88, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xac, 0x8c, 0x02, 0x26, 0x46, 0x66, 0xf0,
-    0x89, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xa9,
-    0x88, 0x09, 0x20, 0x59, 0x70, 0xab, 0x11, 0x38, 0x40, 0x69, 0xa8, 0x19, 0x31, 0x48, 0x60, 0x8c,
-    0xa8, 0x3c, 0x41, 0x5c, 0x20, 0x7c, 0x00, 0xf1, 0x87, 0x98, 0x19, 0x86, 0xa8, 0x6e, 0x76, 0x7e,
-    0xa9, 0x99, 0x88, 0x2d, 0x55, 0x7d, 0xd8, 0xb1, 0xb5, 0xb9, 0xa3, 0xdf, 0xdf, 0xdf, 0xae, 0xd0,
-    0xdf, 0xaa, 0xd0, 0xde, 0xf2, 0xab, 0xf8, 0xf9, 0xd9, 0xb0, 0x87, 0xc4, 0xaa, 0xf1, 0xdf, 0xdf,
-    0xbb, 0xaf, 0xdf, 0xdf, 0xb9, 0xd8, 0xb1, 0xf1, 0xa3, 0x97, 0x8e, 0x60, 0xdf, 0xb0, 0x84, 0xf2,
-    0xc8, 0xf8, 0xf9, 0xd9, 0xde, 0xd8, 0x93, 0x85, 0xf1, 0x4a, 0xb1, 0x83, 0xa3, 0x08, 0xb5, 0x83,
-    /* bank # 10 */
-    0x9a, 0x08, 0x10, 0xb7, 0x9f, 0x10, 0xd8, 0xf1, 0xb0, 0xba, 0xae, 0xb0, 0x8a, 0xc2, 0xb2, 0xb6,
-    0x8e, 0x9e, 0xf1, 0xfb, 0xd9, 0xf4, 0x1d, 0xd8, 0xf9, 0xd9, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad,
-    0x61, 0xd9, 0xae, 0xfb, 0xd8, 0xf4, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad, 0x19, 0xd9, 0xae, 0xfb,
-    0xdf, 0xd8, 0xf4, 0x16, 0xf1, 0xd8, 0xf8, 0xad, 0x8d, 0x61, 0xd9, 0xf4, 0xf4, 0xac, 0xf5, 0x9c,
-    0x9c, 0x8d, 0xdf, 0x2b, 0xba, 0xb6, 0xae, 0xfa, 0xf8, 0xf4, 0x0b, 0xd8, 0xf1, 0xae, 0xd0, 0xf8,
-    0xad, 0x51, 0xda, 0xae, 0xfa, 0xf8, 0xf1, 0xd8, 0xb9, 0xb1, 0xb6, 0xa3, 0x83, 0x9c, 0x08, 0xb9,
-    0xb1, 0x83, 0x9a, 0xb5, 0xaa, 0xc0, 0xfd, 0x30, 0x83, 0xb7, 0x9f, 0x10, 0xb5, 0x8b, 0x93, 0xf2,
-    0x02, 0x02, 0xd1, 0xab, 0xda, 0xde, 0xd8, 0xf1, 0xb0, 0x80, 0xba, 0xab, 0xc0, 0xc3, 0xb2, 0x84,
-    0xc1, 0xc3, 0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9, 0xab, 0xde, 0xb0,
-    0x87, 0x9c, 0xb9, 0xa3, 0xdd, 0xf1, 0xb3, 0x8b, 0x8b, 0x8b, 0x8b, 0x8b, 0xb0, 0x87, 0xa3, 0xa3,
-    0xa3, 0xa3, 0xb2, 0x8b, 0xb6, 0x9b, 0xf2, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3,
-    0xa3, 0xf1, 0xb0, 0x87, 0xb5, 0x9a, 0xa3, 0xf3, 0x9b, 0xa3, 0xa3, 0xdc, 0xba, 0xac, 0xdf, 0xb9,
-    0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3,
-    0xd8, 0xd8, 0xd8, 0xbb, 0xb3, 0xb7, 0xf1, 0xaa, 0xf9, 0xda, 0xff, 0xd9, 0x80, 0x9a, 0xaa, 0x28,
-    0xb4, 0x80, 0x98, 0xa7, 0x20, 0xb7, 0x97, 0x87, 0xa8, 0x66, 0x88, 0xf0, 0x79, 0x51, 0xf1, 0x90,
-    0x2c, 0x87, 0x0c, 0xa7, 0x81, 0x97, 0x62, 0x93, 0xf0, 0x71, 0x71, 0x60, 0x85, 0x94, 0x01, 0x29,
-    /* bank # 11 */
-    0x51, 0x79, 0x90, 0xa5, 0xf1, 0x28, 0x4c, 0x6c, 0x87, 0x0c, 0x95, 0x18, 0x85, 0x78, 0xa3, 0x83,
-    0x90, 0x28, 0x4c, 0x6c, 0x88, 0x6c, 0xd8, 0xf3, 0xa2, 0x82, 0x00, 0xf2, 0x10, 0xa8, 0x92, 0x19,
-    0x80, 0xa2, 0xf2, 0xd9, 0x26, 0xd8, 0xf1, 0x88, 0xa8, 0x4d, 0xd9, 0x48, 0xd8, 0x96, 0xa8, 0x39,
-    0x80, 0xd9, 0x3c, 0xd8, 0x95, 0x80, 0xa8, 0x39, 0xa6, 0x86, 0x98, 0xd9, 0x2c, 0xda, 0x87, 0xa7,
-    0x2c, 0xd8, 0xa8, 0x89, 0x95, 0x19, 0xa9, 0x80, 0xd9, 0x38, 0xd8, 0xa8, 0x89, 0x39, 0xa9, 0x80,
-    0xda, 0x3c, 0xd8, 0xa8, 0x2e, 0xa8, 0x39, 0x90, 0xd9, 0x0c, 0xd8, 0xa8, 0x95, 0x31, 0x98, 0xd9,
-    0x0c, 0xd8, 0xa8, 0x09, 0xd9, 0xff, 0xd8, 0x01, 0xda, 0xff, 0xd8, 0x95, 0x39, 0xa9, 0xda, 0x26,
-    0xff, 0xd8, 0x90, 0xa8, 0x0d, 0x89, 0x99, 0xa8, 0x10, 0x80, 0x98, 0x21, 0xda, 0x2e, 0xd8, 0x89,
-    0x99, 0xa8, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x86, 0x96, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8,
-    0x87, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x82, 0x92, 0xf3, 0x41, 0x80, 0xf1, 0xd9, 0x2e, 0xd8,
-    0xa8, 0x82, 0xf3, 0x19, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, 0x82, 0xac, 0xf3, 0xc0, 0xa2, 0x80, 0x22,
-    0xf1, 0xa6, 0x2e, 0xa7, 0x2e, 0xa9, 0x22, 0x98, 0xa8, 0x29, 0xda, 0xac, 0xde, 0xff, 0xd8, 0xa2,
-    0xf2, 0x2a, 0xf1, 0xa9, 0x2e, 0x82, 0x92, 0xa8, 0xf2, 0x31, 0x80, 0xa6, 0x96, 0xf1, 0xd9, 0x00,
-    0xac, 0x8c, 0x9c, 0x0c, 0x30, 0xac, 0xde, 0xd0, 0xde, 0xff, 0xd8, 0x8c, 0x9c, 0xac, 0xd0, 0x10,
-    0xac, 0xde, 0x80, 0x92, 0xa2, 0xf2, 0x4c, 0x82, 0xa8, 0xf1, 0xca, 0xf2, 0x35, 0xf1, 0x96, 0x88,
-    0xa6, 0xd9, 0x00, 0xd8, 0xf1, 0xff
-};
-
-static const unsigned short sStartAddress = 0x0400;
-
-/* END OF SECTION COPIED FROM dmpDefaultMPU6050.c */
-
-#define INT_SRC_TAP             (0x01)
-#define INT_SRC_ANDROID_ORIENT  (0x08)
-
-#define DMP_FEATURE_SEND_ANY_GYRO   (DMP_FEATURE_SEND_RAW_GYRO | \
-                                     DMP_FEATURE_SEND_CAL_GYRO)
-
-#define MAX_PACKET_LENGTH   (32)
-
-#define DMP_SAMPLE_RATE     (200)
-#define GYRO_SF             (46850825LL * 200 / DMP_SAMPLE_RATE)
-
-#define FIFO_CORRUPTION_CHECK
-#ifdef FIFO_CORRUPTION_CHECK
-#define QUAT_ERROR_THRESH       (1L<<24)
-#define QUAT_MAG_SQ_NORMALIZED  (1L<<28)
-#define QUAT_MAG_SQ_MIN         (QUAT_MAG_SQ_NORMALIZED - QUAT_ERROR_THRESH)
-#define QUAT_MAG_SQ_MAX         (QUAT_MAG_SQ_NORMALIZED + QUAT_ERROR_THRESH)
-#endif
-
-struct dmp_s {
-    void (*tap_cb)(unsigned char count, unsigned char direction);
-    void (*android_orient_cb)(unsigned char orientation);
-    unsigned short orient;
-    unsigned short feature_mask;
-    unsigned short fifo_rate;
-    unsigned char packet_length;
-};
-
-static struct dmp_s dmp = {
-    .tap_cb = NULL,
-    .android_orient_cb = NULL,
-    .orient = 0,
-    .feature_mask = 0,
-    .fifo_rate = 0,
-    .packet_length = 0
-};
-
-/**
- *  @brief  Load the DMP with this image.
- *  @return 0 if successful.
- */
-int dmp_load_motion_driver_firmware(void)
-{
-    return mpu_load_firmware(DMP_CODE_SIZE, dmp_memory, sStartAddress,
-        DMP_SAMPLE_RATE);
-}
-
-/**
- *  @brief      Push gyro and accel orientation to the DMP.
- *  The orientation is represented here as the output of
- *  @e inv_orientation_matrix_to_scalar.
- *  @param[in]  orient  Gyro and accel orientation in body frame.
- *  @return     0 if successful.
- */
-int dmp_set_orientation(unsigned short orient)
-{
-    unsigned char gyro_regs[3], accel_regs[3];
-    const unsigned char gyro_axes[3] = {DINA4C, DINACD, DINA6C};
-    const unsigned char accel_axes[3] = {DINA0C, DINAC9, DINA2C};
-    const unsigned char gyro_sign[3] = {DINA36, DINA56, DINA76};
-    const unsigned char accel_sign[3] = {DINA26, DINA46, DINA66};
-
-    gyro_regs[0] = gyro_axes[orient & 3];
-    gyro_regs[1] = gyro_axes[(orient >> 3) & 3];
-    gyro_regs[2] = gyro_axes[(orient >> 6) & 3];
-    accel_regs[0] = accel_axes[orient & 3];
-    accel_regs[1] = accel_axes[(orient >> 3) & 3];
-    accel_regs[2] = accel_axes[(orient >> 6) & 3];
-
-    /* Chip-to-body, axes only. */
-    if (mpu_write_mem(FCFG_1, 3, gyro_regs))
-        return -1;
-    if (mpu_write_mem(FCFG_2, 3, accel_regs))
-        return -1;
-
-    memcpy(gyro_regs, gyro_sign, 3);
-    memcpy(accel_regs, accel_sign, 3);
-    if (orient & 4) {
-        gyro_regs[0] |= 1;
-        accel_regs[0] |= 1;
-    }
-    if (orient & 0x20) {
-        gyro_regs[1] |= 1;
-        accel_regs[1] |= 1;
-    }
-    if (orient & 0x100) {
-        gyro_regs[2] |= 1;
-        accel_regs[2] |= 1;
-    }
-
-    /* Chip-to-body, sign only. */
-    if (mpu_write_mem(FCFG_3, 3, gyro_regs))
-        return -1;
-    if (mpu_write_mem(FCFG_7, 3, accel_regs))
-        return -1;
-    dmp.orient = orient;
-    return 0;
-}
-
-/**
- *  @brief      Push gyro biases to the DMP.
- *  Because the gyro integration is handled in the DMP, any gyro biases
- *  calculated by the MPL should be pushed down to DMP memory to remove
- *  3-axis quaternion drift.
- *  \n NOTE: If the DMP-based gyro calibration is enabled, the DMP will
- *  overwrite the biases written to this location once a new one is computed.
- *  @param[in]  bias    Gyro biases in q16.
- *  @return     0 if successful.
- */
-int dmp_set_gyro_bias(long *bias)
-{
-    long gyro_bias_body[3];
-    unsigned char regs[4];
-
-    gyro_bias_body[0] = bias[dmp.orient & 3];
-    if (dmp.orient & 4)
-        gyro_bias_body[0] *= -1;
-    gyro_bias_body[1] = bias[(dmp.orient >> 3) & 3];
-    if (dmp.orient & 0x20)
-        gyro_bias_body[1] *= -1;
-    gyro_bias_body[2] = bias[(dmp.orient >> 6) & 3];
-    if (dmp.orient & 0x100)
-        gyro_bias_body[2] *= -1;
-
-#ifdef EMPL_NO_64BIT
-    gyro_bias_body[0] = (long)(((float)gyro_bias_body[0] * GYRO_SF) / 1073741824.f);
-    gyro_bias_body[1] = (long)(((float)gyro_bias_body[1] * GYRO_SF) / 1073741824.f);
-    gyro_bias_body[2] = (long)(((float)gyro_bias_body[2] * GYRO_SF) / 1073741824.f);
-#else
-    gyro_bias_body[0] = (long)(((long long)gyro_bias_body[0] * GYRO_SF) >> 30);
-    gyro_bias_body[1] = (long)(((long long)gyro_bias_body[1] * GYRO_SF) >> 30);
-    gyro_bias_body[2] = (long)(((long long)gyro_bias_body[2] * GYRO_SF) >> 30);
-#endif
-
-    regs[0] = (unsigned char)((gyro_bias_body[0] >> 24) & 0xFF);
-    regs[1] = (unsigned char)((gyro_bias_body[0] >> 16) & 0xFF);
-    regs[2] = (unsigned char)((gyro_bias_body[0] >> 8) & 0xFF);
-    regs[3] = (unsigned char)(gyro_bias_body[0] & 0xFF);
-    if (mpu_write_mem(D_EXT_GYRO_BIAS_X, 4, regs))
-        return -1;
-
-    regs[0] = (unsigned char)((gyro_bias_body[1] >> 24) & 0xFF);
-    regs[1] = (unsigned char)((gyro_bias_body[1] >> 16) & 0xFF);
-    regs[2] = (unsigned char)((gyro_bias_body[1] >> 8) & 0xFF);
-    regs[3] = (unsigned char)(gyro_bias_body[1] & 0xFF);
-    if (mpu_write_mem(D_EXT_GYRO_BIAS_Y, 4, regs))
-        return -1;
-
-    regs[0] = (unsigned char)((gyro_bias_body[2] >> 24) & 0xFF);
-    regs[1] = (unsigned char)((gyro_bias_body[2] >> 16) & 0xFF);
-    regs[2] = (unsigned char)((gyro_bias_body[2] >> 8) & 0xFF);
-    regs[3] = (unsigned char)(gyro_bias_body[2] & 0xFF);
-    return mpu_write_mem(D_EXT_GYRO_BIAS_Z, 4, regs);
-}
-
-/**
- *  @brief      Push accel biases to the DMP.
- *  These biases will be removed from the DMP 6-axis quaternion.
- *  @param[in]  bias    Accel biases in q16.
- *  @return     0 if successful.
- */
-int dmp_set_accel_bias(long *bias)
-{
-    long accel_bias_body[3];
-    unsigned char regs[12];
-    long long accel_sf;
-    unsigned short accel_sens;
-
-    mpu_get_accel_sens(&accel_sens);
-    accel_sf = (long long)accel_sens << 15;
-//    __no_operation();
-    __NOP();
-
-    accel_bias_body[0] = bias[dmp.orient & 3];
-    if (dmp.orient & 4)
-        accel_bias_body[0] *= -1;
-    accel_bias_body[1] = bias[(dmp.orient >> 3) & 3];
-    if (dmp.orient & 0x20)
-        accel_bias_body[1] *= -1;
-    accel_bias_body[2] = bias[(dmp.orient >> 6) & 3];
-    if (dmp.orient & 0x100)
-        accel_bias_body[2] *= -1;
-
-#ifdef EMPL_NO_64BIT
-    accel_bias_body[0] = (long)(((float)accel_bias_body[0] * accel_sf) / 1073741824.f);
-    accel_bias_body[1] = (long)(((float)accel_bias_body[1] * accel_sf) / 1073741824.f);
-    accel_bias_body[2] = (long)(((float)accel_bias_body[2] * accel_sf) / 1073741824.f);
-#else
-    accel_bias_body[0] = (long)(((long long)accel_bias_body[0] * accel_sf) >> 30);
-    accel_bias_body[1] = (long)(((long long)accel_bias_body[1] * accel_sf) >> 30);
-    accel_bias_body[2] = (long)(((long long)accel_bias_body[2] * accel_sf) >> 30);
-#endif
-
-    regs[0] = (unsigned char)((accel_bias_body[0] >> 24) & 0xFF);
-    regs[1] = (unsigned char)((accel_bias_body[0] >> 16) & 0xFF);
-    regs[2] = (unsigned char)((accel_bias_body[0] >> 8) & 0xFF);
-    regs[3] = (unsigned char)(accel_bias_body[0] & 0xFF);
-    regs[4] = (unsigned char)((accel_bias_body[1] >> 24) & 0xFF);
-    regs[5] = (unsigned char)((accel_bias_body[1] >> 16) & 0xFF);
-    regs[6] = (unsigned char)((accel_bias_body[1] >> 8) & 0xFF);
-    regs[7] = (unsigned char)(accel_bias_body[1] & 0xFF);
-    regs[8] = (unsigned char)((accel_bias_body[2] >> 24) & 0xFF);
-    regs[9] = (unsigned char)((accel_bias_body[2] >> 16) & 0xFF);
-    regs[10] = (unsigned char)((accel_bias_body[2] >> 8) & 0xFF);
-    regs[11] = (unsigned char)(accel_bias_body[2] & 0xFF);
-    return mpu_write_mem(D_ACCEL_BIAS, 12, regs);
-}
-
-/**
- *  @brief      Set DMP output rate.
- *  Only used when DMP is on.
- *  @param[in]  rate    Desired fifo rate (Hz).
- *  @return     0 if successful.
- */
-int dmp_set_fifo_rate(unsigned short rate)
-{
-    const unsigned char regs_end[12] = {DINAFE, DINAF2, DINAAB,
-        0xc4, DINAAA, DINAF1, DINADF, DINADF, 0xBB, 0xAF, DINADF, DINADF};
-    unsigned short div;
-    unsigned char tmp[8];
-
-    if (rate > DMP_SAMPLE_RATE)
-        return -1;
-    div = DMP_SAMPLE_RATE / rate - 1;
-    tmp[0] = (unsigned char)((div >> 8) & 0xFF);
-    tmp[1] = (unsigned char)(div & 0xFF);
-    if (mpu_write_mem(D_0_22, 2, tmp))
-        return -1;
-    if (mpu_write_mem(CFG_6, 12, (unsigned char*)regs_end))
-        return -1;
-
-    dmp.fifo_rate = rate;
-    return 0;
-}
-
-/**
- *  @brief      Get DMP output rate.
- *  @param[out] rate    Current fifo rate (Hz).
- *  @return     0 if successful.
- */
-int dmp_get_fifo_rate(unsigned short *rate)
-{
-    rate[0] = dmp.fifo_rate;
-    return 0;
-}
-
-/**
- *  @brief      Set tap threshold for a specific axis.
- *  @param[in]  axis    1, 2, and 4 for XYZ accel, respectively.
- *  @param[in]  thresh  Tap threshold, in mg/ms.
- *  @return     0 if successful.
- */
-int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh)
-{
-    unsigned char tmp[4], accel_fsr;
-    float scaled_thresh;
-    unsigned short dmp_thresh, dmp_thresh_2;
-    if (!(axis & TAP_XYZ) || thresh > 1600)
-        return -1;
-
-    scaled_thresh = (float)thresh / DMP_SAMPLE_RATE;
-
-    mpu_get_accel_fsr(&accel_fsr);
-    switch (accel_fsr) {
-    case 2:
-        dmp_thresh = (unsigned short)(scaled_thresh * 16384);
-        /* dmp_thresh * 0.75 */
-        dmp_thresh_2 = (unsigned short)(scaled_thresh * 12288);
-        break;
-    case 4:
-        dmp_thresh = (unsigned short)(scaled_thresh * 8192);
-        /* dmp_thresh * 0.75 */
-        dmp_thresh_2 = (unsigned short)(scaled_thresh * 6144);
-        break;
-    case 8:
-        dmp_thresh = (unsigned short)(scaled_thresh * 4096);
-        /* dmp_thresh * 0.75 */
-        dmp_thresh_2 = (unsigned short)(scaled_thresh * 3072);
-        break;
-    case 16:
-        dmp_thresh = (unsigned short)(scaled_thresh * 2048);
-        /* dmp_thresh * 0.75 */
-        dmp_thresh_2 = (unsigned short)(scaled_thresh * 1536);
-        break;
-    default:
-        return -1;
-    }
-    tmp[0] = (unsigned char)(dmp_thresh >> 8);
-    tmp[1] = (unsigned char)(dmp_thresh & 0xFF);
-    tmp[2] = (unsigned char)(dmp_thresh_2 >> 8);
-    tmp[3] = (unsigned char)(dmp_thresh_2 & 0xFF);
-
-    if (axis & TAP_X) {
-        if (mpu_write_mem(DMP_TAP_THX, 2, tmp))
-            return -1;
-        if (mpu_write_mem(D_1_36, 2, tmp+2))
-            return -1;
-    }
-    if (axis & TAP_Y) {
-        if (mpu_write_mem(DMP_TAP_THY, 2, tmp))
-            return -1;
-        if (mpu_write_mem(D_1_40, 2, tmp+2))
-            return -1;
-    }
-    if (axis & TAP_Z) {
-        if (mpu_write_mem(DMP_TAP_THZ, 2, tmp))
-            return -1;
-        if (mpu_write_mem(D_1_44, 2, tmp+2))
-            return -1;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Set which axes will register a tap.
- *  @param[in]  axis    1, 2, and 4 for XYZ, respectively.
- *  @return     0 if successful.
- */
-int dmp_set_tap_axes(unsigned char axis)
-{
-    unsigned char tmp = 0;
-
-    if (axis & TAP_X)
-        tmp |= 0x30;
-    if (axis & TAP_Y)
-        tmp |= 0x0C;
-    if (axis & TAP_Z)
-        tmp |= 0x03;
-    return mpu_write_mem(D_1_72, 1, &tmp);
-}
-
-/**
- *  @brief      Set minimum number of taps needed for an interrupt.
- *  @param[in]  min_taps    Minimum consecutive taps (1-4).
- *  @return     0 if successful.
- */
-int dmp_set_tap_count(unsigned char min_taps)
-{
-    unsigned char tmp;
-
-    if (min_taps < 1)
-        min_taps = 1;
-    else if (min_taps > 4)
-        min_taps = 4;
-
-    tmp = min_taps - 1;
-    return mpu_write_mem(D_1_79, 1, &tmp);
-}
-
-/**
- *  @brief      Set length between valid taps.
- *  @param[in]  time    Milliseconds between taps.
- *  @return     0 if successful.
- */
-int dmp_set_tap_time(unsigned short time)
-{
-    unsigned short dmp_time;
-    unsigned char tmp[2];
-
-    dmp_time = time / (1000 / DMP_SAMPLE_RATE);
-    tmp[0] = (unsigned char)(dmp_time >> 8);
-    tmp[1] = (unsigned char)(dmp_time & 0xFF);
-    return mpu_write_mem(DMP_TAPW_MIN, 2, tmp);
-}
-
-/**
- *  @brief      Set max time between taps to register as a multi-tap.
- *  @param[in]  time    Max milliseconds between taps.
- *  @return     0 if successful.
- */
-int dmp_set_tap_time_multi(unsigned short time)
-{
-    unsigned short dmp_time;
-    unsigned char tmp[2];
-
-    dmp_time = time / (1000 / DMP_SAMPLE_RATE);
-    tmp[0] = (unsigned char)(dmp_time >> 8);
-    tmp[1] = (unsigned char)(dmp_time & 0xFF);
-    return mpu_write_mem(D_1_218, 2, tmp);
-}
-
-/**
- *  @brief      Set shake rejection threshold.
- *  If the DMP detects a gyro sample larger than @e thresh, taps are rejected.
- *  @param[in]  sf      Gyro scale factor.
- *  @param[in]  thresh  Gyro threshold in dps.
- *  @return     0 if successful.
- */
-int dmp_set_shake_reject_thresh(long sf, unsigned short thresh)
-{
-    unsigned char tmp[4];
-    long thresh_scaled = sf / 1000 * thresh;
-    tmp[0] = (unsigned char)(((long)thresh_scaled >> 24) & 0xFF);
-    tmp[1] = (unsigned char)(((long)thresh_scaled >> 16) & 0xFF);
-    tmp[2] = (unsigned char)(((long)thresh_scaled >> 8) & 0xFF);
-    tmp[3] = (unsigned char)((long)thresh_scaled & 0xFF);
-    return mpu_write_mem(D_1_92, 4, tmp);
-}
-
-/**
- *  @brief      Set shake rejection time.
- *  Sets the length of time that the gyro must be outside of the threshold set
- *  by @e gyro_set_shake_reject_thresh before taps are rejected. A mandatory
- *  60 ms is added to this parameter.
- *  @param[in]  time    Time in milliseconds.
- *  @return     0 if successful.
- */
-int dmp_set_shake_reject_time(unsigned short time)
-{
-    unsigned char tmp[2];
-
-    time /= (1000 / DMP_SAMPLE_RATE);
-    tmp[0] = time >> 8;
-    tmp[1] = time & 0xFF;
-    return mpu_write_mem(D_1_90,2,tmp);
-}
-
-/**
- *  @brief      Set shake rejection timeout.
- *  Sets the length of time after a shake rejection that the gyro must stay
- *  inside of the threshold before taps can be detected again. A mandatory
- *  60 ms is added to this parameter.
- *  @param[in]  time    Time in milliseconds.
- *  @return     0 if successful.
- */
-int dmp_set_shake_reject_timeout(unsigned short time)
-{
-    unsigned char tmp[2];
-
-    time /= (1000 / DMP_SAMPLE_RATE);
-    tmp[0] = time >> 8;
-    tmp[1] = time & 0xFF;
-    return mpu_write_mem(D_1_88,2,tmp);
-}
-
-/**
- *  @brief      Get current step count.
- *  @param[out] count   Number of steps detected.
- *  @return     0 if successful.
- */
-int dmp_get_pedometer_step_count(unsigned long *count)
-{
-    unsigned char tmp[4];
-    if (!count)
-        return -1;
-
-    if (mpu_read_mem(D_PEDSTD_STEPCTR, 4, tmp))
-        return -1;
-
-    count[0] = ((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) |
-        ((unsigned long)tmp[2] << 8) | tmp[3];
-    return 0;
-}
-
-/**
- *  @brief      Overwrite current step count.
- *  WARNING: This function writes to DMP memory and could potentially encounter
- *  a race condition if called while the pedometer is enabled.
- *  @param[in]  count   New step count.
- *  @return     0 if successful.
- */
-int dmp_set_pedometer_step_count(unsigned long count)
-{
-    unsigned char tmp[4];
-
-    tmp[0] = (unsigned char)((count >> 24) & 0xFF);
-    tmp[1] = (unsigned char)((count >> 16) & 0xFF);
-    tmp[2] = (unsigned char)((count >> 8) & 0xFF);
-    tmp[3] = (unsigned char)(count & 0xFF);
-    return mpu_write_mem(D_PEDSTD_STEPCTR, 4, tmp);
-}
-
-/**
- *  @brief      Get duration of walking time.
- *  @param[in]  time    Walk time in milliseconds.
- *  @return     0 if successful.
- */
-int dmp_get_pedometer_walk_time(unsigned long *time)
-{
-    unsigned char tmp[4];
-    if (!time)
-        return -1;
-
-    if (mpu_read_mem(D_PEDSTD_TIMECTR, 4, tmp))
-        return -1;
-
-    time[0] = (((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) |
-        ((unsigned long)tmp[2] << 8) | tmp[3]) * 20;
-    return 0;
-}
-
-/**
- *  @brief      Overwrite current walk time.
- *  WARNING: This function writes to DMP memory and could potentially encounter
- *  a race condition if called while the pedometer is enabled.
- *  @param[in]  time    New walk time in milliseconds.
- */
-int dmp_set_pedometer_walk_time(unsigned long time)
-{
-    unsigned char tmp[4];
-
-    time /= 20;
-
-    tmp[0] = (unsigned char)((time >> 24) & 0xFF);
-    tmp[1] = (unsigned char)((time >> 16) & 0xFF);
-    tmp[2] = (unsigned char)((time >> 8) & 0xFF);
-    tmp[3] = (unsigned char)(time & 0xFF);
-    return mpu_write_mem(D_PEDSTD_TIMECTR, 4, tmp);
-}
-
-/**
- *  @brief      Enable DMP features.
- *  The following \#define's are used in the input mask:
- *  \n DMP_FEATURE_TAP
- *  \n DMP_FEATURE_ANDROID_ORIENT
- *  \n DMP_FEATURE_LP_QUAT
- *  \n DMP_FEATURE_6X_LP_QUAT
- *  \n DMP_FEATURE_GYRO_CAL
- *  \n DMP_FEATURE_SEND_RAW_ACCEL
- *  \n DMP_FEATURE_SEND_RAW_GYRO
- *  \n NOTE: DMP_FEATURE_LP_QUAT and DMP_FEATURE_6X_LP_QUAT are mutually
- *  exclusive.
- *  \n NOTE: DMP_FEATURE_SEND_RAW_GYRO and DMP_FEATURE_SEND_CAL_GYRO are also
- *  mutually exclusive.
- *  @param[in]  mask    Mask of features to enable.
- *  @return     0 if successful.
- */
-int dmp_enable_feature(unsigned short mask)
-{
-    unsigned char tmp[10];
-
-    /* TODO: All of these settings can probably be integrated into the default
-     * DMP image.
-     */
-    /* Set integration scale factor. */
-    tmp[0] = (unsigned char)((GYRO_SF >> 24) & 0xFF);
-    tmp[1] = (unsigned char)((GYRO_SF >> 16) & 0xFF);
-    tmp[2] = (unsigned char)((GYRO_SF >> 8) & 0xFF);
-    tmp[3] = (unsigned char)(GYRO_SF & 0xFF);
-    mpu_write_mem(D_0_104, 4, tmp);
-
-    /* Send sensor data to the FIFO. */
-    tmp[0] = 0xA3;
-    if (mask & DMP_FEATURE_SEND_RAW_ACCEL) {
-        tmp[1] = 0xC0;
-        tmp[2] = 0xC8;
-        tmp[3] = 0xC2;
-    } else {
-        tmp[1] = 0xA3;
-        tmp[2] = 0xA3;
-        tmp[3] = 0xA3;
-    }
-    if (mask & DMP_FEATURE_SEND_ANY_GYRO) {
-        tmp[4] = 0xC4;
-        tmp[5] = 0xCC;
-        tmp[6] = 0xC6;
-    } else {
-        tmp[4] = 0xA3;
-        tmp[5] = 0xA3;
-        tmp[6] = 0xA3;
-    }
-    tmp[7] = 0xA3;
-    tmp[8] = 0xA3;
-    tmp[9] = 0xA3;
-    mpu_write_mem(CFG_15,10,tmp);
-
-    /* Send gesture data to the FIFO. */
-    if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT))
-        tmp[0] = DINA20;
-    else
-        tmp[0] = 0xD8;
-    mpu_write_mem(CFG_27,1,tmp);
-
-    if (mask & DMP_FEATURE_GYRO_CAL)
-        dmp_enable_gyro_cal(1);
-    else
-        dmp_enable_gyro_cal(0);
-
-    if (mask & DMP_FEATURE_SEND_ANY_GYRO) {
-        if (mask & DMP_FEATURE_SEND_CAL_GYRO) {
-            tmp[0] = 0xB2;
-            tmp[1] = 0x8B;
-            tmp[2] = 0xB6;
-            tmp[3] = 0x9B;
-        } else {
-            tmp[0] = DINAC0;
-            tmp[1] = DINA80;
-            tmp[2] = DINAC2;
-            tmp[3] = DINA90;
-        }
-        mpu_write_mem(CFG_GYRO_RAW_DATA, 4, tmp);
-    }
-
-    if (mask & DMP_FEATURE_TAP) {
-        /* Enable tap. */
-        tmp[0] = 0xF8;
-        mpu_write_mem(CFG_20, 1, tmp);
-        dmp_set_tap_thresh(TAP_XYZ, 250);
-        dmp_set_tap_axes(TAP_XYZ);
-        dmp_set_tap_count(1);
-        dmp_set_tap_time(100);
-        dmp_set_tap_time_multi(500);
-
-        dmp_set_shake_reject_thresh(GYRO_SF, 200);
-        dmp_set_shake_reject_time(40);
-        dmp_set_shake_reject_timeout(10);
-    } else {
-        tmp[0] = 0xD8;
-        mpu_write_mem(CFG_20, 1, tmp);
-    }
-
-    if (mask & DMP_FEATURE_ANDROID_ORIENT) {
-        tmp[0] = 0xD9;
-    } else
-        tmp[0] = 0xD8;
-    mpu_write_mem(CFG_ANDROID_ORIENT_INT, 1, tmp);
-
-    if (mask & DMP_FEATURE_LP_QUAT)
-        dmp_enable_lp_quat(1);
-    else
-        dmp_enable_lp_quat(0);
-
-    if (mask & DMP_FEATURE_6X_LP_QUAT)
-        dmp_enable_6x_lp_quat(1);
-    else
-        dmp_enable_6x_lp_quat(0);
-
-    /* Pedometer is always enabled. */
-    dmp.feature_mask = mask | DMP_FEATURE_PEDOMETER;
-    mpu_reset_fifo();
-
-    dmp.packet_length = 0;
-    if (mask & DMP_FEATURE_SEND_RAW_ACCEL)
-        dmp.packet_length += 6;
-    if (mask & DMP_FEATURE_SEND_ANY_GYRO)
-        dmp.packet_length += 6;
-    if (mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT))
-        dmp.packet_length += 16;
-    if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT))
-        dmp.packet_length += 4;
-
-    return 0;
-}
-
-/**
- *  @brief      Get list of currently enabled DMP features.
- *  @param[out] Mask of enabled features.
- *  @return     0 if successful.
- */
-int dmp_get_enabled_features(unsigned short *mask)
-{
-    mask[0] = dmp.feature_mask;
-    return 0;
-}
-
-/**
- *  @brief      Calibrate the gyro data in the DMP.
- *  After eight seconds of no motion, the DMP will compute gyro biases and
- *  subtract them from the quaternion output. If @e dmp_enable_feature is
- *  called with @e DMP_FEATURE_SEND_CAL_GYRO, the biases will also be
- *  subtracted from the gyro output.
- *  @param[in]  enable  1 to enable gyro calibration.
- *  @return     0 if successful.
- */
-int dmp_enable_gyro_cal(unsigned char enable)
-{
-    if (enable) {
-        unsigned char regs[9] = {0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35, 0x5d};
-        return mpu_write_mem(CFG_MOTION_BIAS, 9, regs);
-    } else {
-        unsigned char regs[9] = {0xb8, 0xaa, 0xaa, 0xaa, 0xb0, 0x88, 0xc3, 0xc5, 0xc7};
-        return mpu_write_mem(CFG_MOTION_BIAS, 9, regs);
-    }
-}
-
-/**
- *  @brief      Generate 3-axis quaternions from the DMP.
- *  In this driver, the 3-axis and 6-axis DMP quaternion features are mutually
- *  exclusive.
- *  @param[in]  enable  1 to enable 3-axis quaternion.
- *  @return     0 if successful.
- */
-int dmp_enable_lp_quat(unsigned char enable)
-{
-    unsigned char regs[4];
-    if (enable) {
-        regs[0] = DINBC0;
-        regs[1] = DINBC2;
-        regs[2] = DINBC4;
-        regs[3] = DINBC6;
-    }
-    else
-        memset(regs, 0x8B, 4);
-
-    mpu_write_mem(CFG_LP_QUAT, 4, regs);
-
-    return mpu_reset_fifo();
-}
-
-/**
- *  @brief       Generate 6-axis quaternions from the DMP.
- *  In this driver, the 3-axis and 6-axis DMP quaternion features are mutually
- *  exclusive.
- *  @param[in]   enable  1 to enable 6-axis quaternion.
- *  @return      0 if successful.
- */
-int dmp_enable_6x_lp_quat(unsigned char enable)
-{
-    unsigned char regs[4];
-    if (enable) {
-        regs[0] = DINA20;
-        regs[1] = DINA28;
-        regs[2] = DINA30;
-        regs[3] = DINA38;
-    } else
-        memset(regs, 0xA3, 4);
-
-    mpu_write_mem(CFG_8, 4, regs);
-
-    return mpu_reset_fifo();
-}
-
-/**
- *  @brief      Decode the four-byte gesture data and execute any callbacks.
- *  @param[in]  gesture Gesture data from DMP packet.
- *  @return     0 if successful.
- */
-static int decode_gesture(unsigned char *gesture)
-{
-    unsigned char tap, android_orient;
-
-    android_orient = gesture[3] & 0xC0;
-    tap = 0x3F & gesture[3];
-
-    if (gesture[1] & INT_SRC_TAP) {
-        unsigned char direction, count;
-        direction = tap >> 3;
-        count = (tap % 8) + 1;
-        if (dmp.tap_cb)
-            dmp.tap_cb(direction, count);
-    }
-
-    if (gesture[1] & INT_SRC_ANDROID_ORIENT) {
-        if (dmp.android_orient_cb)
-            dmp.android_orient_cb(android_orient >> 6);
-    }
-
-    return 0;
-}
-
-/**
- *  @brief      Specify when a DMP interrupt should occur.
- *  A DMP interrupt can be configured to trigger on either of the two
- *  conditions below:
- *  \n a. One FIFO period has elapsed (set by @e mpu_set_sample_rate).
- *  \n b. A tap event has been detected.
- *  @param[in]  mode    DMP_INT_GESTURE or DMP_INT_CONTINUOUS.
- *  @return     0 if successful.
- */
-int dmp_set_interrupt_mode(unsigned char mode)
-{
-    const unsigned char regs_continuous[11] =
-        {0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9};
-    const unsigned char regs_gesture[11] =
-        {0xda, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0xda, 0xb4, 0xda};
-
-    switch (mode) {
-    case DMP_INT_CONTINUOUS:
-        return mpu_write_mem(CFG_FIFO_ON_EVENT, 11,
-            (unsigned char*)regs_continuous);
-    case DMP_INT_GESTURE:
-        return mpu_write_mem(CFG_FIFO_ON_EVENT, 11,
-            (unsigned char*)regs_gesture);
-    default:
-        return -1;
-    }
-}
-
-/**
- *  @brief      Get one packet from the FIFO.
- *  If @e sensors does not contain a particular sensor, disregard the data
- *  returned to that pointer.
- *  \n @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  \n INV_WXYZ_QUAT
- *  \n If the FIFO has no new data, @e sensors will be zero.
- *  \n If the FIFO is disabled, @e sensors will be zero and this function will
- *  return a non-zero error code.
- *  @param[out] gyro        Gyro data in hardware units.
- *  @param[out] accel       Accel data in hardware units.
- *  @param[out] quat        3-axis quaternion data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds.
- *  @param[out] sensors     Mask of sensors read from FIFO.
- *  @param[out] more        Number of remaining packets.
- *  @return     0 if successful.
- */
-int dmp_read_fifo(short *gyro, short *accel, long *quat,
-    unsigned long *timestamp, short *sensors, unsigned char *more)
-{
-    unsigned char fifo_data[MAX_PACKET_LENGTH];
-    unsigned char ii = 0;
-
-    /* TODO: sensors[0] only changes when dmp_enable_feature is called. We can
-     * cache this value and save some cycles.
-     */
-    sensors[0] = 0;
-
-    /* Get a packet. */
-    if (mpu_read_fifo_stream(dmp.packet_length, fifo_data, more))
-        return -1;
-
-    /* Parse DMP packet. */
-    if (dmp.feature_mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT)) {
-#ifdef FIFO_CORRUPTION_CHECK
-        long quat_q14[4], quat_mag_sq;
-#endif
-        quat[0] = ((long)fifo_data[0] << 24) | ((long)fifo_data[1] << 16) |
-            ((long)fifo_data[2] << 8) | fifo_data[3];
-        quat[1] = ((long)fifo_data[4] << 24) | ((long)fifo_data[5] << 16) |
-            ((long)fifo_data[6] << 8) | fifo_data[7];
-        quat[2] = ((long)fifo_data[8] << 24) | ((long)fifo_data[9] << 16) |
-            ((long)fifo_data[10] << 8) | fifo_data[11];
-        quat[3] = ((long)fifo_data[12] << 24) | ((long)fifo_data[13] << 16) |
-            ((long)fifo_data[14] << 8) | fifo_data[15];
-        ii += 16;
-#ifdef FIFO_CORRUPTION_CHECK
-        /* We can detect a corrupted FIFO by monitoring the quaternion data and
-         * ensuring that the magnitude is always normalized to one. This
-         * shouldn't happen in normal operation, but if an I2C error occurs,
-         * the FIFO reads might become misaligned.
-         *
-         * Let's start by scaling down the quaternion data to avoid long long
-         * math.
-         */
-        quat_q14[0] = quat[0] >> 16;
-        quat_q14[1] = quat[1] >> 16;
-        quat_q14[2] = quat[2] >> 16;
-        quat_q14[3] = quat[3] >> 16;
-        quat_mag_sq = quat_q14[0] * quat_q14[0] + quat_q14[1] * quat_q14[1] +
-            quat_q14[2] * quat_q14[2] + quat_q14[3] * quat_q14[3];
-        if ((quat_mag_sq < QUAT_MAG_SQ_MIN) ||
-            (quat_mag_sq > QUAT_MAG_SQ_MAX)) {
-            /* Quaternion is outside of the acceptable threshold. */
-            mpu_reset_fifo();
-            sensors[0] = 0;
-            return -1;
-        }
-        sensors[0] |= INV_WXYZ_QUAT;
-#endif
-    }
-
-    if (dmp.feature_mask & DMP_FEATURE_SEND_RAW_ACCEL) {
-        accel[0] = ((short)fifo_data[ii+0] << 8) | fifo_data[ii+1];
-        accel[1] = ((short)fifo_data[ii+2] << 8) | fifo_data[ii+3];
-        accel[2] = ((short)fifo_data[ii+4] << 8) | fifo_data[ii+5];
-        ii += 6;
-        sensors[0] |= INV_XYZ_ACCEL;
-    }
-
-    if (dmp.feature_mask & DMP_FEATURE_SEND_ANY_GYRO) {
-        gyro[0] = ((short)fifo_data[ii+0] << 8) | fifo_data[ii+1];
-        gyro[1] = ((short)fifo_data[ii+2] << 8) | fifo_data[ii+3];
-        gyro[2] = ((short)fifo_data[ii+4] << 8) | fifo_data[ii+5];
-        ii += 6;
-        sensors[0] |= INV_XYZ_GYRO;
-    }
-
-    /* Gesture data is at the end of the DMP packet. Parse it and call
-     * the gesture callbacks (if registered).
-     */
-    if (dmp.feature_mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT))
-        decode_gesture(fifo_data + ii);
-
-    get_ms(timestamp);
-    return 0;
-}
-
-/**
- *  @brief      Register a function to be executed on a tap event.
- *  The tap direction is represented by one of the following:
- *  \n TAP_X_UP
- *  \n TAP_X_DOWN
- *  \n TAP_Y_UP
- *  \n TAP_Y_DOWN
- *  \n TAP_Z_UP
- *  \n TAP_Z_DOWN
- *  @param[in]  func    Callback function.
- *  @return     0 if successful.
- */
-int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char))
-{
-    dmp.tap_cb = func;
-    return 0;
-}
-
-/**
- *  @brief      Register a function to be executed on a android orientation event.
- *  @param[in]  func    Callback function.
- *  @return     0 if successful.
- */
-int dmp_register_android_orient_cb(void (*func)(unsigned char))
-{
-    dmp.android_orient_cb = func;
-    return 0;
-}
-
-/**
- *  @}
- */
-

Core备份3/imu1/inv_mpu_dmp_motion_driver1.h

@@ -1,97 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
-    See included License.txt for License information.
- $
- */
-/**
- *  @addtogroup  DRIVERS Sensor Driver Layer
- *  @brief       Hardware drivers to communicate with sensors via I2C.
- *
- *  @{
- *      @file       inv_mpu_dmp_motion_driver.h
- *      @brief      DMP image and interface functions.
- *      @details    All functions are preceded by the dmp_ prefix to
- *                  differentiate among MPL and general driver function calls.
- */
-#ifndef _INV_MPU_DMP_MOTION_DRIVER_H_
-#define _INV_MPU_DMP_MOTION_DRIVER_H_
-
-#define TAP_X               (0x01)
-#define TAP_Y               (0x02)
-#define TAP_Z               (0x04)
-#define TAP_XYZ             (0x07)
-
-#define TAP_X_UP            (0x01)
-#define TAP_X_DOWN          (0x02)
-#define TAP_Y_UP            (0x03)
-#define TAP_Y_DOWN          (0x04)
-#define TAP_Z_UP            (0x05)
-#define TAP_Z_DOWN          (0x06)
-
-#define ANDROID_ORIENT_PORTRAIT             (0x00)
-#define ANDROID_ORIENT_LANDSCAPE            (0x01)
-#define ANDROID_ORIENT_REVERSE_PORTRAIT     (0x02)
-#define ANDROID_ORIENT_REVERSE_LANDSCAPE    (0x03)
-
-#define DMP_INT_GESTURE     (0x01)
-#define DMP_INT_CONTINUOUS  (0x02)
-
-#define DMP_FEATURE_TAP             (0x001)
-#define DMP_FEATURE_ANDROID_ORIENT  (0x002)
-#define DMP_FEATURE_LP_QUAT         (0x004)
-#define DMP_FEATURE_PEDOMETER       (0x008)
-#define DMP_FEATURE_6X_LP_QUAT      (0x010)
-#define DMP_FEATURE_GYRO_CAL        (0x020)
-#define DMP_FEATURE_SEND_RAW_ACCEL  (0x040)
-#define DMP_FEATURE_SEND_RAW_GYRO   (0x080)
-#define DMP_FEATURE_SEND_CAL_GYRO   (0x100)
-
-#define INV_WXYZ_QUAT       (0x100)
-
-/* Set up functions. */
-int dmp_load_motion_driver_firmware(void);
-int dmp_set_fifo_rate(unsigned short rate);
-int dmp_get_fifo_rate(unsigned short *rate);
-int dmp_enable_feature(unsigned short mask);
-int dmp_get_enabled_features(unsigned short *mask);
-int dmp_set_interrupt_mode(unsigned char mode);
-int dmp_set_orientation(unsigned short orient);
-int dmp_set_gyro_bias(long *bias);
-int dmp_set_accel_bias(long *bias);
-
-/* Tap functions. */
-int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char));
-int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh);
-int dmp_set_tap_axes(unsigned char axis);
-int dmp_set_tap_count(unsigned char min_taps);
-int dmp_set_tap_time(unsigned short time);
-int dmp_set_tap_time_multi(unsigned short time);
-int dmp_set_shake_reject_thresh(long sf, unsigned short thresh);
-int dmp_set_shake_reject_time(unsigned short time);
-int dmp_set_shake_reject_timeout(unsigned short time);
-
-/* Android orientation functions. */
-int dmp_register_android_orient_cb(void (*func)(unsigned char));
-
-/* LP quaternion functions. */
-int dmp_enable_lp_quat(unsigned char enable);
-int dmp_enable_6x_lp_quat(unsigned char enable);
-
-/* Pedometer functions. */
-int dmp_get_pedometer_step_count(unsigned long *count);
-int dmp_set_pedometer_step_count(unsigned long count);
-int dmp_get_pedometer_walk_time(unsigned long *time);
-int dmp_set_pedometer_walk_time(unsigned long time);
-
-/* DMP gyro calibration functions. */
-int dmp_enable_gyro_cal(unsigned char enable);
-
-/* Read function. This function should be called whenever the MPU interrupt is
- * detected.
- */
-int dmp_read_fifo(short *gyro, short *accel, long *quat,
-    unsigned long *timestamp, short *sensors, unsigned char *more);
-
-#endif  /* #ifndef _INV_MPU_DMP_MOTION_DRIVER_H_ */
-

Core备份3/imu2/MPU60502.c

@@ -1,542 +0,0 @@
-/*
- * MPU6050.c
- *
- *  Created on: Oct 26, 2021
- *      Author: Administrator
- */
-
-#include "MPU60502.h"
-
-#include <stdio.h>
-
- u8 IIC_Write_Byte(u8 reg, u8 value)
- {
-	 return IIC_Write_Len(MPU_ADDR, reg, 1, &value);
- }
-
- u8 IIC_Read_Byte(u8 reg)
- {
-	 u8 value = 0;
-
-	 IIC_Read_Len(MPU_ADDR, reg, 1, &value);
-
-	 return value;
- }
-
- //IIC连续写
- u8 IIC_Write_Len(u8 addr,u8 reg, u8 len, u8 *buf)
- {
-	 addr = (addr << 1) | 0;
-
-	 u8 data[10] = {0};
-	 data[0] = reg;
-	 for(int i = 0; i < len; i++)
-	 {
-		 data[1 + i] = buf[i];
-	 }
-
-	 if(HAL_I2C_Master_Transmit(&hi2c1, (uint16_t)addr, (uint8_t*)data, len + 1, 10000)!= HAL_OK)
-	 {
-		 printf("++write len byte fail\r\n");
-		 return 1;
-	 }
-
-	 return 0;
- }
-
- //IIC连续读
- u8 IIC_Read_Len(u8 addr,u8 reg,u8 len,u8 *buf)
- {
-	 u8 tmp  = (addr << 1) | 0;
-	 if(HAL_I2C_Master_Transmit(&hi2c1, (uint16_t)tmp, (uint8_t*)&reg, 1, 10000)!= HAL_OK)
-	 {
-		 printf("++write byte fail\r\n");
-		 return 1;
-	 }
-
-	 tmp  = (addr << 1) | 1;
-	 if(HAL_I2C_Master_Receive(&hi2c1, (uint16_t)tmp, (uint8_t *)buf, len, 10000) != HAL_OK)
-	 {
-		 printf("--read byte fail\r\n");
-	 }
-
- }
-
-
-//初始化MPU6050
-//返回值: 0,成功
-//        其他,错误代码
-u8 MPU_Init(void)
-{
-    u8 res = 0;
-
-    IIC_Write_Byte(MPU_PWR_MGMT1_REG,0X80);//复位MPU6050
-
-    HAL_Delay(100);
-
-    IIC_Write_Byte(MPU_PWR_MGMT1_REG,0X00);//唤醒MPU6050
-
-    MPU_Set_Gyro_Fsr(3); //陀螺仪传感器,±2000dps
-    MPU_Set_Accel_Fsr(0); //加速度传感器 ±2g
-    MPU_Set_Rate(50); //设置采样率50HZ
-    IIC_Write_Byte(MPU_INT_EN_REG,0X00); //关闭所有中断
-    IIC_Write_Byte(MPU_USER_CTRL_REG,0X00);//I2C主模式关闭
-    IIC_Write_Byte(MPU_FIFO_EN_REG,0X00);//关闭FIFO
-    IIC_Write_Byte(MPU_INTBP_CFG_REG,0X80);//INT引脚低电平有效
-
-    res=IIC_Read_Byte(MPU_DEVICE_ID_REG);
-
-    printf("the addr is:%d\r\n", res);
-
-    if(res==MPU_ADDR)//器件ID正确
-    {
-        IIC_Write_Byte(MPU_PWR_MGMT1_REG,0X01);//设置CLKSEL,PLL X 轴为参考
-        IIC_Write_Byte(MPU_PWR_MGMT2_REG,0X00);//加速度陀螺仪都工作
-        MPU_Set_Rate(50); //设置采样率为50HZ
-    }
-    else
-    {
-    	return 1;
-    }
-
-    return 0;
-}
-
-//设置MPU6050陀螺仪传感器满量程范围
-//fsr:0,±250dps;1,±500dps;2,±1000dps;3,±2000dps
-//返回值:0,设置成功
-//    其他,设置失败
-u8 MPU_Set_Gyro_Fsr(u8 fsr)
-{
-    return IIC_Write_Byte(MPU_GYRO_CFG_REG, fsr<<3);//设置陀螺仪满量程范围
-}
-
-//设置MPU6050加速度传感器满量程范围
-//fsr:0,±2g;1,±4g;2,±8g;3,±16g
-//返回值:0,设置成功
-//    其他,设置失败
-u8 MPU_Set_Accel_Fsr(u8 fsr)
-{
-    return IIC_Write_Byte(MPU_ACCEL_CFG_REG, fsr<<3);//设置加速度传感器满量程范围
-}
-
-//设置MPU6050的数字低通滤波器
-//lpf:数字低通滤波频率(Hz)
-//返回值:0,设置成功
-//    其他,设置失败
-u8 MPU_Set_LPF(u16 lpf)
-{
-    u8 data=0;
-    if(lpf>=188) data=1;
-    else if(lpf>=98) data=2;
-    else if(lpf>=42) data=2;
-    else if(lpf>=42) data=3;
-    else if(lpf>=20) data=4;
-    else if(lpf>=10) data=5;
-    else data=6;
-    return IIC_Write_Byte(MPU_CFG_REG,data);//设置数字低通滤波器
-}
-
-//设置MPU6050的采样率(假定Fs=1KHz)
-//rate:4~1000(Hz)
-//返回值:0,设置成功
-//    其他,设置失败
-u8 MPU_Set_Rate(u16 rate)
-{
-    u8 data;
-    if(rate>1000)rate=1000;
-    if(rate<4)rate=4;
-    data=1000/rate-1;
-    data=IIC_Write_Byte(MPU_SAMPLE_RATE_REG, data);  //设置数字低通滤波器
-    return MPU_Set_LPF(rate/2); //自动设置LPF为采样率的一半
-}
-
-//得到温度值
-//返回值:温度值(扩大了100倍)
-short MPU_Get_Temperature(void)
-{
-    u8 buf[2];
-    short raw;
-    float temp;
-    IIC_Read_Len(MPU_ADDR, MPU_TEMP_OUTH_REG, 2, buf);
-    raw=((u16)buf[0]<<8)|buf[1];
-    temp=36.53+((double)raw)/340;
-
-    return temp*100;;
-}
-
-//得到陀螺仪值(原始值)
-//gx,gy,gz:陀螺仪x,y,z轴的原始读数(带符号)
-//返回值:0,成功
-// 其他,错误代码
-u8 MPU_Get_Gyroscope(short *gx,short *gy,short *gz)
-{
-    u8 buf[6],res;
-    res=IIC_Read_Len(MPU_ADDR,MPU_GYRO_XOUTH_REG,6,buf);
-    if(res==0)
-    {
-        *gx=((u16)buf[0]<<8)|buf[1];
-        *gy=((u16)buf[2]<<8)|buf[3];
-        *gz=((u16)buf[4]<<8)|buf[5];
-    }
-    return res;
-}
-
-//得到加速度值(原始值)
-//ax,ay,az:陀螺仪x,y,z轴的原始读数(带符号)
-//返回值:0,成功
-//    其他,错误代码
-u8 MPU_Get_Accelerometer(short *ax,short *ay,short *az)
-{
-    u8 buf[6],res;
-    res=IIC_Read_Len(MPU_ADDR,MPU_ACCEL_XOUTH_REG,6,buf);
-    if(res==0)
-    {
-        *ax=((u16)buf[0]<<8)|buf[1];
-        *ay=((u16)buf[2]<<8)|buf[3];
-        *az=((u16)buf[4]<<8)|buf[5];
-    }
-    return res;;
-}
-
-/*--------------------以下为使用板载固件DMP的相关代码，这个融合得到的姿态角效果很好*/
-
-
-/**
-  * @brief  获取当前毫秒值
-  * @param  存储最新毫秒值的变量
-  * @retval 无
-  */
-int get_tick_count(unsigned long *count)
-{
-   count[0] = HAL_GetTick();
-	return 0;
-}
-
-
-#include "inv_mpu2.h"
-#include "inv_mpu_dmp_motion_driver2.h"
-
-/* Data requested by client. */
-#define PRINT_ACCEL     (0x01)
-#define PRINT_GYRO      (0x02)
-#define PRINT_QUAT      (0x04)
-
-#define ACCEL_ON        (0x01)
-#define GYRO_ON         (0x02)
-
-#define MOTION          (0)
-#define NO_MOTION       (1)
-
-/* Starting sampling rate. */ //100
-#define DEFAULT_MPU_HZ  (50)
-
-struct rx_s {
-    unsigned char header[3];
-    unsigned char cmd;
-};
-struct hal_s {
-    unsigned char sensors;
-    unsigned char dmp_on;
-    unsigned char wait_for_tap;
-    volatile unsigned char new_gyro;
-    unsigned short report;
-    unsigned short dmp_features;
-    unsigned char motion_int_mode;
-    struct rx_s rx;
-};
-static struct hal_s hal = {0};
-
-/* USB RX binary semaphore. Actually, it's just a flag. Not included in struct
- * because it's declared extern elsewhere.
- */
-volatile unsigned char rx_new;
-
-/* The sensors can be mounted onto the board in any orientation. The mounting
- * matrix seen below tells the MPL how to rotate the raw data from thei
- * driver(s).
- * TODO: The following matrices refer to the configuration on an internal test
- * board at Invensense. If needed, please modify the matrices to match the
- * chip-to-body matrix for your particular set up.
- */
-static signed char gyro_orientation[9] = {-1, 0, 0,
-                                           0,-1, 0,
-                                           0, 0, 1};
-
-/* Every time new gyro data is available, this function is called in an
- * ISR context. In this example, it sets a flag protecting the FIFO read
- * function.
- */
-static void gyro_data_ready_cb(void)
-{
-    hal.new_gyro = 1;
-}
-
-enum packet_type_e {
-    PACKET_TYPE_ACCEL,
-    PACKET_TYPE_GYRO,
-    PACKET_TYPE_QUAT,
-    PACKET_TYPE_TAP,
-    PACKET_TYPE_ANDROID_ORIENT,
-    PACKET_TYPE_PEDO,
-    PACKET_TYPE_MISC
-};
-
-#define BYTE u_char
-/* Send data to the Python client application.
- * Data is formatted as follows:
- * packet[0]    = $
- * packet[1]    = packet type (see packet_type_e)
- * packet[2+]   = data
- */
-void send_packet(char packet_type, void *data)
-{
-
-	#define MAX_BUF_LENGTH  (18)
-    char buf[MAX_BUF_LENGTH], length;
-
-    memset(buf, 0, MAX_BUF_LENGTH);
-    buf[0] = '$';
-    buf[1] = packet_type;
-
-    if (packet_type == PACKET_TYPE_ACCEL || packet_type == PACKET_TYPE_GYRO) {
-        short *sdata = (short*)data;
-        buf[2] = (char)(sdata[0] >> 8);
-        buf[3] = (char)sdata[0];
-        buf[4] = (char)(sdata[1] >> 8);
-        buf[5] = (char)sdata[1];
-        buf[6] = (char)(sdata[2] >> 8);
-        buf[7] = (char)sdata[2];
-        length = 8;
-    } else if (packet_type == PACKET_TYPE_QUAT) {
-        long *ldata = (long*)data;
-        buf[2] = (char)(ldata[0] >> 24);
-        buf[3] = (char)(ldata[0] >> 16);
-        buf[4] = (char)(ldata[0] >> 8);
-        buf[5] = (char)ldata[0];
-        buf[6] = (char)(ldata[1] >> 24);
-        buf[7] = (char)(ldata[1] >> 16);
-        buf[8] = (char)(ldata[1] >> 8);
-        buf[9] = (char)ldata[1];
-        buf[10] = (char)(ldata[2] >> 24);
-        buf[11] = (char)(ldata[2] >> 16);
-        buf[12] = (char)(ldata[2] >> 8);
-        buf[13] = (char)ldata[2];
-        buf[14] = (char)(ldata[3] >> 24);
-        buf[15] = (char)(ldata[3] >> 16);
-        buf[16] = (char)(ldata[3] >> 8);
-        buf[17] = (char)ldata[3];
-        length = 18;
-    } else if (packet_type == PACKET_TYPE_TAP) {
-        buf[2] = ((char*)data)[0];
-        buf[3] = ((char*)data)[1];
-        length = 4;
-    } else if (packet_type == PACKET_TYPE_ANDROID_ORIENT) {
-        buf[2] = ((char*)data)[0];
-        length = 3;
-    } else if (packet_type == PACKET_TYPE_PEDO) {
-        long *ldata = (long*)data;
-        buf[2] = (char)(ldata[0] >> 24);
-        buf[3] = (char)(ldata[0] >> 16);
-        buf[4] = (char)(ldata[0] >> 8);
-        buf[5] = (char)ldata[0];
-        buf[6] = (char)(ldata[1] >> 24);
-        buf[7] = (char)(ldata[1] >> 16);
-        buf[8] = (char)(ldata[1] >> 8);
-        buf[9] = (char)ldata[1];
-        length = 10;
-    } else if (packet_type == PACKET_TYPE_MISC) {
-        buf[2] = ((char*)data)[0];
-        buf[3] = ((char*)data)[1];
-        buf[4] = ((char*)data)[2];
-        buf[5] = ((char*)data)[3];
-        length = 6;
-    }
-
-//    cdcSendDataWaitTilDone((BYTE*)buf, length, CDC0_INTFNUM, 100);
-}
-
-/* These next two functions converts the orientation matrix (see
- * gyro_orientation) to a scalar representation for use by the DMP.
- * NOTE: These functions are borrowed from Invensense's MPL.
- */
-static inline unsigned short inv_row_2_scale(const signed char *row)
-{
-    unsigned short b;
-
-    if (row[0] > 0)
-        b = 0;
-    else if (row[0] < 0)
-        b = 4;
-    else if (row[1] > 0)
-        b = 1;
-    else if (row[1] < 0)
-        b = 5;
-    else if (row[2] > 0)
-        b = 2;
-    else if (row[2] < 0)
-        b = 6;
-    else
-        b = 7;      // error
-    return b;
-}
-static inline unsigned short inv_orientation_matrix_to_scalar(
-    const signed char *mtx)
-{
-    unsigned short scalar;
-
-    /*
-       XYZ  010_001_000 Identity Matrix
-       XZY  001_010_000
-       YXZ  010_000_001
-       YZX  000_010_001
-       ZXY  001_000_010
-       ZYX  000_001_010
-     */
-
-    scalar = inv_row_2_scale(mtx);
-    scalar |= inv_row_2_scale(mtx + 3) << 3;
-    scalar |= inv_row_2_scale(mtx + 6) << 6;
-
-
-    return scalar;
-}
-
-static inline void run_self_test(void)
-{
-    int result;
-    char test_packet[4] = {0};
-    long gyro[3], accel[3];
-
-    result = mpu_run_self_test(gyro, accel);
-    if (result == 0x7) {
-        /* Test passed. We can trust the gyro data here, so let's push it down
-         * to the DMP.
-         */
-        float sens;
-        unsigned short accel_sens;
-        mpu_get_gyro_sens(&sens);
-        gyro[0] = (long)(gyro[0] * sens);
-        gyro[1] = (long)(gyro[1] * sens);
-        gyro[2] = (long)(gyro[2] * sens);
-        dmp_set_gyro_bias(gyro);
-        mpu_get_accel_sens(&accel_sens);
-        accel[0] *= accel_sens;
-        accel[1] *= accel_sens;
-        accel[2] *= accel_sens;
-        dmp_set_accel_bias(accel);
-    }
-
-    /* Report results. */
-    test_packet[0] = 't';
-    test_packet[1] = result;
-    send_packet(PACKET_TYPE_MISC, test_packet);
-}
-
-
-#define INT_EXIT_LPM0 12
-
-void DMP_Init(void)
-{
-    struct int_param_s int_param;
-
-	/* Set up gyro.
-	 * Every function preceded by mpu_ is a driver function and can be found
-	 * in inv_mpu.h.
-	 */
-	int_param.cb = gyro_data_ready_cb;
-	int_param.pin = 16;
-	int_param.lp_exit = INT_EXIT_LPM0;
-	int_param.active_low = 1;
-
-	int result = mpu_init(&int_param);
-
-	printf("mpu_init, %d\r\n", result);
-
-	if(result == 0)     //mpu初始化
-	{
-		if(!mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL))    //设置需要的传感器
-			printf("mpu_set_sensor complete ......\r\n");
-
-		if(!mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL)) //设置fifo
-			printf("mpu_configure_fifo complete ......\r\n");
-
-		if(!mpu_set_sample_rate(DEFAULT_MPU_HZ))              //设置采集样率
-			printf("mpu_set_sample_rate complete ......\r\n");
-
-
-		unsigned short gyro_rate = 0, gyro_fsr = 0;
-		unsigned char accel_fsr = 0;
-
-	    mpu_get_sample_rate(&gyro_rate);
-	    mpu_get_gyro_fsr(&gyro_fsr);
-	    mpu_get_accel_fsr(&accel_fsr);
-
-	    printf("gyro_rate %d, gyro_fsr %d, accel_fsr %d\r\n", gyro_rate, gyro_fsr, accel_fsr);
-
-
-
-		if(!dmp_load_motion_driver_firmware())                //加载dmp固件
-			printf("dmp_load_motion_driver_firmware complete ......\r\n");
-
-		if(!dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation)))
-			printf("dmp_set_orientation complete ......\r\n"); //设置陀螺仪方向
-
-		if(!dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP |
-				DMP_FEATURE_ANDROID_ORIENT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO |
-				DMP_FEATURE_GYRO_CAL))
-			printf("dmp_enable_feature complete ......\r\n");
-
-		if(!dmp_set_fifo_rate(DEFAULT_MPU_HZ))    //设置速率
-			printf("dmp_set_fifo_rate complete ......\r\n");
-
-		run_self_test();                          //自检(非必要)
-
-		if(!mpu_set_dmp_state(1))                 //使能
-			printf("mpu_set_dmp_state complete ......\r\n");
-	}
-
-}
-
-#define q30 1073741824.0
-
-uint8_t Read_DMP(float* Pitch,float* Roll,float* Yaw)
-{
-	short gyro[3], accel[3], sensors;
-	float q0=1.0f,q1=0.0f,q2=0.0f,q3=0.0f;
-	unsigned long sensor_timestamp;
-	unsigned char more;
-	long quat[4];
-
-	int ret = dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors, &more);
-
-//	printf("dmp_read_fifo, %d\r\n", ret);
-
-	if(ret)
-	{
-		return 1;
-	}
-
-	if (sensors & INV_WXYZ_QUAT)
-	{
-		q0=quat[0] / q30;
-		q1=quat[1] / q30;
-		q2=quat[2] / q30;
-		q3=quat[3] / q30;
-		*Pitch = (float)asin(-2 * q1 * q3 + 2 * q0* q2)* 57.3;
-		*Roll =  (float)atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2* q2 + 1)* 57.3; // roll
-		*Yaw =   (float)atan2(2*(q1*q2 + q0*q3),q0*q0+q1*q1-q2*q2-q3*q3) * 57.3;
-		return 0;
-	}
-	else
-	{
-		return 2;
-	}
-
-}
-
-
-
-
-
-

Core备份3/imu2/MPU60502.h

@@ -1,117 +0,0 @@
-/*
- * MPU6050.h
- *
- *  Created on: Oct 26, 2021
- *      Author: Administrator
- */
-
-#ifndef INC_MPU6050_H_
-#define INC_MPU6050_H_
-
-#include "i2c.h"
-#include "inv_mpu2.h"
-
-//#define MPU_ACCEL_OFFS_REG		0X06	//accel_offs寄存器,可读取版本号,寄存器手册未提到
-//#define MPU_PROD_ID_REG			0X0C	//prod id寄存器,在寄存器手册未提到
-#define MPU_SELF_TESTX_REG		0X0D	//自检寄存器X
-#define MPU_SELF_TESTY_REG		0X0E	//自检寄存器Y
-#define MPU_SELF_TESTZ_REG		0X0F	//自检寄存器Z
-#define MPU_SELF_TESTA_REG		0X10	//自检寄存器A
-#define MPU_SAMPLE_RATE_REG		0X19	//采样频率分频器
-#define MPU_CFG_REG				0X1A	//配置寄存器
-#define MPU_GYRO_CFG_REG		0X1B	//陀螺仪配置寄存器
-#define MPU_ACCEL_CFG_REG		0X1C	//加速度计配置寄存器
-#define MPU_MOTION_DET_REG		0X1F	//运动检测阀值设置寄存器
-#define MPU_FIFO_EN_REG			0X23	//FIFO使能寄存器
-#define MPU_I2CMST_CTRL_REG		0X24	//IIC主机控制寄存器
-#define MPU_I2CSLV0_ADDR_REG	0X25	//IIC从机0器件地址寄存器
-#define MPU_I2CSLV0_REG			0X26	//IIC从机0数据地址寄存器
-#define MPU_I2CSLV0_CTRL_REG	0X27	//IIC从机0控制寄存器
-#define MPU_I2CSLV1_ADDR_REG	0X28	//IIC从机1器件地址寄存器
-#define MPU_I2CSLV1_REG			0X29	//IIC从机1数据地址寄存器
-#define MPU_I2CSLV1_CTRL_REG	0X2A	//IIC从机1控制寄存器
-#define MPU_I2CSLV2_ADDR_REG	0X2B	//IIC从机2器件地址寄存器
-#define MPU_I2CSLV2_REG			0X2C	//IIC从机2数据地址寄存器
-#define MPU_I2CSLV2_CTRL_REG	0X2D	//IIC从机2控制寄存器
-#define MPU_I2CSLV3_ADDR_REG	0X2E	//IIC从机3器件地址寄存器
-#define MPU_I2CSLV3_REG			0X2F	//IIC从机3数据地址寄存器
-#define MPU_I2CSLV3_CTRL_REG	0X30	//IIC从机3控制寄存器
-#define MPU_I2CSLV4_ADDR_REG	0X31	//IIC从机4器件地址寄存器
-#define MPU_I2CSLV4_REG			0X32	//IIC从机4数据地址寄存器
-#define MPU_I2CSLV4_DO_REG		0X33	//IIC从机4写数据寄存器
-#define MPU_I2CSLV4_CTRL_REG	0X34	//IIC从机4控制寄存器
-#define MPU_I2CSLV4_DI_REG		0X35	//IIC从机4读数据寄存器
-
-#define MPU_I2CMST_STA_REG		0X36	//IIC主机状态寄存器
-#define MPU_INTBP_CFG_REG		0X37	//中断/旁路设置寄存器
-#define MPU_INT_EN_REG			0X38	//中断使能寄存器
-#define MPU_INT_STA_REG			0X3A	//中断状态寄存器
-
-#define MPU_ACCEL_XOUTH_REG		0X3B	//加速度值,X轴高8位寄存器
-#define MPU_ACCEL_XOUTL_REG		0X3C	//加速度值,X轴低8位寄存器
-#define MPU_ACCEL_YOUTH_REG		0X3D	//加速度值,Y轴高8位寄存器
-#define MPU_ACCEL_YOUTL_REG		0X3E	//加速度值,Y轴低8位寄存器
-#define MPU_ACCEL_ZOUTH_REG		0X3F	//加速度值,Z轴高8位寄存器
-#define MPU_ACCEL_ZOUTL_REG		0X40	//加速度值,Z轴低8位寄存器
-
-#define MPU_TEMP_OUTH_REG		0X41	//温度值高八位寄存器
-#define MPU_TEMP_OUTL_REG		0X42	//温度值低8位寄存器
-
-#define MPU_GYRO_XOUTH_REG		0X43	//陀螺仪值,X轴高8位寄存器
-#define MPU_GYRO_XOUTL_REG		0X44	//陀螺仪值,X轴低8位寄存器
-#define MPU_GYRO_YOUTH_REG		0X45	//陀螺仪值,Y轴高8位寄存器
-#define MPU_GYRO_YOUTL_REG		0X46	//陀螺仪值,Y轴低8位寄存器
-#define MPU_GYRO_ZOUTH_REG		0X47	//陀螺仪值,Z轴高8位寄存器
-#define MPU_GYRO_ZOUTL_REG		0X48	//陀螺仪值,Z轴低8位寄存器
-
-#define MPU_I2CSLV0_DO_REG		0X63	//IIC从机0数据寄存器
-#define MPU_I2CSLV1_DO_REG		0X64	//IIC从机1数据寄存器
-#define MPU_I2CSLV2_DO_REG		0X65	//IIC从机2数据寄存器
-#define MPU_I2CSLV3_DO_REG		0X66	//IIC从机3数据寄存器
-
-#define MPU_I2CMST_DELAY_REG	0X67	//IIC主机延时管理寄存器
-#define MPU_SIGPATH_RST_REG		0X68	//信号通道复位寄存器
-#define MPU_MDETECT_CTRL_REG	0X69	//运动检测控制寄存器
-#define MPU_USER_CTRL_REG		0X6A	//用户控制寄存器
-#define MPU_PWR_MGMT1_REG		0X6B	//电源管理寄存器1
-#define MPU_PWR_MGMT2_REG		0X6C	//电源管理寄存器2
-#define MPU_FIFO_CNTH_REG		0X72	//FIFO计数寄存器高八位
-#define MPU_FIFO_CNTL_REG		0X73	//FIFO计数寄存器低八位
-#define MPU_FIFO_RW_REG			0X74	//FIFO读写寄存器
-#define MPU_DEVICE_ID_REG		0X75	//器件ID寄存器
-
-//如果AD0脚接地,IIC地址为0X68(不包含最低位).
-//如果接V3.3,则IIC地址为0X69(不包含最低位).
-#define MPU_ADDR				0X68
-
-
-//因为模块AD0默认接GND,所以转为读写地址后,为0XD1和0XD0(如果接VCC,则为0XD3和0XD2)
-#define MPU_READ    0XD1
-#define MPU_WRITE   0XD0
-
-#define u8 uint8_t
-#define u16 uint16_t
-
-u8 MPU_Init(void); 								//初始化MPU6050
-u8 IIC_Write_Len(u8 addr,u8 reg,u8 len,u8 *buf);//IIC连续写
-u8 IIC_Read_Len(u8 addr,u8 reg,u8 len,u8 *buf); //IIC连续读
-u8 IIC_Write_Byte(u8 reg,u8 data);				//IIC写一个字节
-u8 IIC_Read_Byte(u8 reg);						//IIC读一个字节
-
-u8 MPU_Set_Gyro_Fsr(u8 fsr);
-u8 MPU_Set_Accel_Fsr(u8 fsr);
-u8 MPU_Set_LPF(u16 lpf);
-u8 MPU_Set_Rate(u16 rate);
-u8 MPU_Set_Fifo(u8 sens);
-
-
-short MPU_Get_Temperature(void);
-u8 MPU_Get_Gyroscope(short *gx,short *gy,short *gz);
-u8 MPU_Get_Accelerometer(short *ax,short *ay,short *az);
-
-//----------------------DMP-------------------------------
-void DMP_Init(void);
-uint8_t Read_DMP(float* Pitch,float* Roll,float* Yaw);
-int get_tick_count(unsigned long *count);
-
-#endif /* INC_MPU6050_H_ */

Core备份3/imu2/dmpKey2.h

@@ -1,494 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-#ifndef DMPKEY_H__
-#define DMPKEY_H__
-
-#define KEY_CFG_25                  (0)
-#define KEY_CFG_24                  (KEY_CFG_25 + 1)
-#define KEY_CFG_26                  (KEY_CFG_24 + 1)
-#define KEY_CFG_27                  (KEY_CFG_26 + 1)
-#define KEY_CFG_21                  (KEY_CFG_27 + 1)
-#define KEY_CFG_20                  (KEY_CFG_21 + 1)
-#define KEY_CFG_TAP4                (KEY_CFG_20 + 1)
-#define KEY_CFG_TAP5                (KEY_CFG_TAP4 + 1)
-#define KEY_CFG_TAP6                (KEY_CFG_TAP5 + 1)
-#define KEY_CFG_TAP7                (KEY_CFG_TAP6 + 1)
-#define KEY_CFG_TAP0                (KEY_CFG_TAP7 + 1)
-#define KEY_CFG_TAP1                (KEY_CFG_TAP0 + 1)
-#define KEY_CFG_TAP2                (KEY_CFG_TAP1 + 1)
-#define KEY_CFG_TAP3                (KEY_CFG_TAP2 + 1)
-#define KEY_CFG_TAP_QUANTIZE        (KEY_CFG_TAP3 + 1)
-#define KEY_CFG_TAP_JERK            (KEY_CFG_TAP_QUANTIZE + 1)
-#define KEY_CFG_DR_INT              (KEY_CFG_TAP_JERK + 1)
-#define KEY_CFG_AUTH                (KEY_CFG_DR_INT + 1)
-#define KEY_CFG_TAP_SAVE_ACCB       (KEY_CFG_AUTH + 1)
-#define KEY_CFG_TAP_CLEAR_STICKY    (KEY_CFG_TAP_SAVE_ACCB + 1)
-#define KEY_CFG_FIFO_ON_EVENT       (KEY_CFG_TAP_CLEAR_STICKY + 1)
-#define KEY_FCFG_ACCEL_INPUT        (KEY_CFG_FIFO_ON_EVENT + 1)
-#define KEY_FCFG_ACCEL_INIT         (KEY_FCFG_ACCEL_INPUT + 1)
-#define KEY_CFG_23                  (KEY_FCFG_ACCEL_INIT + 1)
-#define KEY_FCFG_1                  (KEY_CFG_23 + 1)
-#define KEY_FCFG_3                  (KEY_FCFG_1 + 1)
-#define KEY_FCFG_2                  (KEY_FCFG_3 + 1)
-#define KEY_CFG_3D                  (KEY_FCFG_2 + 1)
-#define KEY_CFG_3B                  (KEY_CFG_3D + 1)
-#define KEY_CFG_3C                  (KEY_CFG_3B + 1)
-#define KEY_FCFG_5                  (KEY_CFG_3C + 1)
-#define KEY_FCFG_4                  (KEY_FCFG_5 + 1)
-#define KEY_FCFG_7                  (KEY_FCFG_4 + 1)
-#define KEY_FCFG_FSCALE             (KEY_FCFG_7 + 1)
-#define KEY_FCFG_AZ                 (KEY_FCFG_FSCALE + 1)
-#define KEY_FCFG_6                  (KEY_FCFG_AZ + 1)
-#define KEY_FCFG_LSB4               (KEY_FCFG_6 + 1)
-#define KEY_CFG_12                  (KEY_FCFG_LSB4 + 1)
-#define KEY_CFG_14                  (KEY_CFG_12 + 1)
-#define KEY_CFG_15                  (KEY_CFG_14 + 1)
-#define KEY_CFG_16                  (KEY_CFG_15 + 1)
-#define KEY_CFG_18                  (KEY_CFG_16 + 1)
-#define KEY_CFG_6                   (KEY_CFG_18 + 1)
-#define KEY_CFG_7                   (KEY_CFG_6 + 1)
-#define KEY_CFG_4                   (KEY_CFG_7 + 1)
-#define KEY_CFG_5                   (KEY_CFG_4 + 1)
-#define KEY_CFG_2                   (KEY_CFG_5 + 1)
-#define KEY_CFG_3                   (KEY_CFG_2 + 1)
-#define KEY_CFG_1                   (KEY_CFG_3 + 1)
-#define KEY_CFG_EXTERNAL            (KEY_CFG_1 + 1)
-#define KEY_CFG_8                   (KEY_CFG_EXTERNAL + 1)
-#define KEY_CFG_9                   (KEY_CFG_8 + 1)
-#define KEY_CFG_ORIENT_3            (KEY_CFG_9 + 1)
-#define KEY_CFG_ORIENT_2            (KEY_CFG_ORIENT_3 + 1)
-#define KEY_CFG_ORIENT_1            (KEY_CFG_ORIENT_2 + 1)
-#define KEY_CFG_GYRO_SOURCE         (KEY_CFG_ORIENT_1 + 1)
-#define KEY_CFG_ORIENT_IRQ_1        (KEY_CFG_GYRO_SOURCE + 1)
-#define KEY_CFG_ORIENT_IRQ_2        (KEY_CFG_ORIENT_IRQ_1 + 1)
-#define KEY_CFG_ORIENT_IRQ_3        (KEY_CFG_ORIENT_IRQ_2 + 1)
-#define KEY_FCFG_MAG_VAL            (KEY_CFG_ORIENT_IRQ_3 + 1)
-#define KEY_FCFG_MAG_MOV            (KEY_FCFG_MAG_VAL + 1)
-#define KEY_CFG_LP_QUAT             (KEY_FCFG_MAG_MOV + 1)
-
-/* MPU6050 keys */
-#define KEY_CFG_ACCEL_FILTER        (KEY_CFG_LP_QUAT + 1)
-#define KEY_CFG_MOTION_BIAS         (KEY_CFG_ACCEL_FILTER + 1)
-#define KEY_TEMPLABEL               (KEY_CFG_MOTION_BIAS + 1)
-
-#define KEY_D_0_22                  (KEY_TEMPLABEL + 1)
-#define KEY_D_0_24                  (KEY_D_0_22 + 1)
-#define KEY_D_0_36                  (KEY_D_0_24 + 1)
-#define KEY_D_0_52                  (KEY_D_0_36 + 1)
-#define KEY_D_0_96                  (KEY_D_0_52 + 1)
-#define KEY_D_0_104                 (KEY_D_0_96 + 1)
-#define KEY_D_0_108                 (KEY_D_0_104 + 1)
-#define KEY_D_0_163                 (KEY_D_0_108 + 1)
-#define KEY_D_0_188                 (KEY_D_0_163 + 1)
-#define KEY_D_0_192                 (KEY_D_0_188 + 1)
-#define KEY_D_0_224                 (KEY_D_0_192 + 1)
-#define KEY_D_0_228                 (KEY_D_0_224 + 1)
-#define KEY_D_0_232                 (KEY_D_0_228 + 1)
-#define KEY_D_0_236                 (KEY_D_0_232 + 1)
-
-#define KEY_DMP_PREVPTAT            (KEY_D_0_236 + 1)
-#define KEY_D_1_2                   (KEY_DMP_PREVPTAT + 1)
-#define KEY_D_1_4                   (KEY_D_1_2 + 1)
-#define KEY_D_1_8                   (KEY_D_1_4 + 1)
-#define KEY_D_1_10                  (KEY_D_1_8 + 1)
-#define KEY_D_1_24                  (KEY_D_1_10 + 1)
-#define KEY_D_1_28                  (KEY_D_1_24 + 1)
-#define KEY_D_1_36                  (KEY_D_1_28 + 1)
-#define KEY_D_1_40                  (KEY_D_1_36 + 1)
-#define KEY_D_1_44                  (KEY_D_1_40 + 1)
-#define KEY_D_1_72                  (KEY_D_1_44 + 1)
-#define KEY_D_1_74                  (KEY_D_1_72 + 1)
-#define KEY_D_1_79                  (KEY_D_1_74 + 1)
-#define KEY_D_1_88                  (KEY_D_1_79 + 1)
-#define KEY_D_1_90                  (KEY_D_1_88 + 1)
-#define KEY_D_1_92                  (KEY_D_1_90 + 1)
-#define KEY_D_1_96                  (KEY_D_1_92 + 1)
-#define KEY_D_1_98                  (KEY_D_1_96 + 1)
-#define KEY_D_1_100                 (KEY_D_1_98 + 1)
-#define KEY_D_1_106                 (KEY_D_1_100 + 1)
-#define KEY_D_1_108                 (KEY_D_1_106 + 1)
-#define KEY_D_1_112                 (KEY_D_1_108 + 1)
-#define KEY_D_1_128                 (KEY_D_1_112 + 1)
-#define KEY_D_1_152                 (KEY_D_1_128 + 1)
-#define KEY_D_1_160                 (KEY_D_1_152 + 1)
-#define KEY_D_1_168                 (KEY_D_1_160 + 1)
-#define KEY_D_1_175                 (KEY_D_1_168 + 1)
-#define KEY_D_1_176                 (KEY_D_1_175 + 1)
-#define KEY_D_1_178                 (KEY_D_1_176 + 1)
-#define KEY_D_1_179                 (KEY_D_1_178 + 1)
-#define KEY_D_1_218                 (KEY_D_1_179 + 1)
-#define KEY_D_1_232                 (KEY_D_1_218 + 1)
-#define KEY_D_1_236                 (KEY_D_1_232 + 1)
-#define KEY_D_1_240                 (KEY_D_1_236 + 1)
-#define KEY_D_1_244                 (KEY_D_1_240 + 1)
-#define KEY_D_1_250                 (KEY_D_1_244 + 1)
-#define KEY_D_1_252                 (KEY_D_1_250 + 1)
-#define KEY_D_2_12                  (KEY_D_1_252 + 1)
-#define KEY_D_2_96                  (KEY_D_2_12 + 1)
-#define KEY_D_2_108                 (KEY_D_2_96 + 1)
-#define KEY_D_2_208                 (KEY_D_2_108 + 1)
-#define KEY_FLICK_MSG               (KEY_D_2_208 + 1)
-#define KEY_FLICK_COUNTER           (KEY_FLICK_MSG + 1)
-#define KEY_FLICK_LOWER             (KEY_FLICK_COUNTER + 1)
-#define KEY_CFG_FLICK_IN            (KEY_FLICK_LOWER + 1)
-#define KEY_FLICK_UPPER             (KEY_CFG_FLICK_IN + 1)
-#define KEY_CGNOTICE_INTR           (KEY_FLICK_UPPER + 1)
-#define KEY_D_2_224                 (KEY_CGNOTICE_INTR + 1)
-#define KEY_D_2_244                 (KEY_D_2_224 + 1)
-#define KEY_D_2_248                 (KEY_D_2_244 + 1)
-#define KEY_D_2_252                 (KEY_D_2_248 + 1)
-
-#define KEY_D_GYRO_BIAS_X               (KEY_D_2_252 + 1)
-#define KEY_D_GYRO_BIAS_Y               (KEY_D_GYRO_BIAS_X + 1)
-#define KEY_D_GYRO_BIAS_Z               (KEY_D_GYRO_BIAS_Y + 1)
-#define KEY_D_ACC_BIAS_X                (KEY_D_GYRO_BIAS_Z + 1)
-#define KEY_D_ACC_BIAS_Y                (KEY_D_ACC_BIAS_X + 1)
-#define KEY_D_ACC_BIAS_Z                (KEY_D_ACC_BIAS_Y + 1)
-#define KEY_D_GYRO_ENABLE               (KEY_D_ACC_BIAS_Z + 1)
-#define KEY_D_ACCEL_ENABLE              (KEY_D_GYRO_ENABLE + 1)
-#define KEY_D_QUAT_ENABLE               (KEY_D_ACCEL_ENABLE +1)
-#define KEY_D_OUTPUT_ENABLE             (KEY_D_QUAT_ENABLE + 1)
-#define KEY_D_CR_TIME_G                 (KEY_D_OUTPUT_ENABLE + 1)
-#define KEY_D_CR_TIME_A                 (KEY_D_CR_TIME_G + 1)
-#define KEY_D_CR_TIME_Q                 (KEY_D_CR_TIME_A + 1)
-#define KEY_D_CS_TAX                    (KEY_D_CR_TIME_Q + 1)
-#define KEY_D_CS_TAY                    (KEY_D_CS_TAX + 1)
-#define KEY_D_CS_TAZ                    (KEY_D_CS_TAY + 1)
-#define KEY_D_CS_TGX                    (KEY_D_CS_TAZ + 1)
-#define KEY_D_CS_TGY                    (KEY_D_CS_TGX + 1)
-#define KEY_D_CS_TGZ                    (KEY_D_CS_TGY + 1)
-#define KEY_D_CS_TQ0                    (KEY_D_CS_TGZ + 1)
-#define KEY_D_CS_TQ1                    (KEY_D_CS_TQ0 + 1)
-#define KEY_D_CS_TQ2                    (KEY_D_CS_TQ1 + 1)
-#define KEY_D_CS_TQ3                    (KEY_D_CS_TQ2 + 1)
-
-/* Compass keys */
-#define KEY_CPASS_BIAS_X            (KEY_D_CS_TQ3 + 1)
-#define KEY_CPASS_BIAS_Y            (KEY_CPASS_BIAS_X + 1)
-#define KEY_CPASS_BIAS_Z            (KEY_CPASS_BIAS_Y + 1)
-#define KEY_CPASS_MTX_00            (KEY_CPASS_BIAS_Z + 1)
-#define KEY_CPASS_MTX_01            (KEY_CPASS_MTX_00 + 1)
-#define KEY_CPASS_MTX_02            (KEY_CPASS_MTX_01 + 1)
-#define KEY_CPASS_MTX_10            (KEY_CPASS_MTX_02 + 1)
-#define KEY_CPASS_MTX_11            (KEY_CPASS_MTX_10 + 1)
-#define KEY_CPASS_MTX_12            (KEY_CPASS_MTX_11 + 1)
-#define KEY_CPASS_MTX_20            (KEY_CPASS_MTX_12 + 1)
-#define KEY_CPASS_MTX_21            (KEY_CPASS_MTX_20 + 1)
-#define KEY_CPASS_MTX_22            (KEY_CPASS_MTX_21 + 1)
-
-/* Gesture Keys */
-#define KEY_DMP_TAPW_MIN            (KEY_CPASS_MTX_22 + 1)
-#define KEY_DMP_TAP_THR_X           (KEY_DMP_TAPW_MIN + 1)
-#define KEY_DMP_TAP_THR_Y           (KEY_DMP_TAP_THR_X + 1)
-#define KEY_DMP_TAP_THR_Z           (KEY_DMP_TAP_THR_Y + 1)
-#define KEY_DMP_SH_TH_Y             (KEY_DMP_TAP_THR_Z + 1)
-#define KEY_DMP_SH_TH_X             (KEY_DMP_SH_TH_Y + 1)
-#define KEY_DMP_SH_TH_Z             (KEY_DMP_SH_TH_X + 1)
-#define KEY_DMP_ORIENT              (KEY_DMP_SH_TH_Z + 1)
-#define KEY_D_ACT0                  (KEY_DMP_ORIENT + 1)
-#define KEY_D_ACSX                  (KEY_D_ACT0 + 1)
-#define KEY_D_ACSY                  (KEY_D_ACSX + 1)
-#define KEY_D_ACSZ                  (KEY_D_ACSY + 1)
-
-#define KEY_X_GRT_Y_TMP             (KEY_D_ACSZ + 1)
-#define KEY_SKIP_X_GRT_Y_TMP        (KEY_X_GRT_Y_TMP + 1)
-#define KEY_SKIP_END_COMPARE        (KEY_SKIP_X_GRT_Y_TMP + 1)
-#define KEY_END_COMPARE_Y_X_TMP2    (KEY_SKIP_END_COMPARE + 1)       
-#define KEY_CFG_ANDROID_ORIENT_INT  (KEY_END_COMPARE_Y_X_TMP2 + 1)
-#define KEY_NO_ORIENT_INTERRUPT     (KEY_CFG_ANDROID_ORIENT_INT + 1)
-#define KEY_END_COMPARE_Y_X_TMP     (KEY_NO_ORIENT_INTERRUPT + 1)
-#define KEY_END_ORIENT_1            (KEY_END_COMPARE_Y_X_TMP + 1)
-#define KEY_END_COMPARE_Y_X         (KEY_END_ORIENT_1 + 1) 
-#define KEY_END_ORIENT              (KEY_END_COMPARE_Y_X + 1)
-#define KEY_X_GRT_Y                 (KEY_END_ORIENT + 1)
-#define KEY_NOT_TIME_MINUS_1        (KEY_X_GRT_Y + 1)       
-#define KEY_END_COMPARE_Y_X_TMP3    (KEY_NOT_TIME_MINUS_1 + 1) 
-#define KEY_X_GRT_Y_TMP2            (KEY_END_COMPARE_Y_X_TMP3 + 1)
-
-/* Authenticate Keys */
-#define KEY_D_AUTH_OUT              (KEY_X_GRT_Y_TMP2 + 1)
-#define KEY_D_AUTH_IN               (KEY_D_AUTH_OUT + 1)
-#define KEY_D_AUTH_A                (KEY_D_AUTH_IN + 1)
-#define KEY_D_AUTH_B                (KEY_D_AUTH_A + 1)
-
-/* Pedometer standalone only keys */
-#define KEY_D_PEDSTD_BP_B           (KEY_D_AUTH_B + 1)
-#define KEY_D_PEDSTD_HP_A           (KEY_D_PEDSTD_BP_B + 1)
-#define KEY_D_PEDSTD_HP_B           (KEY_D_PEDSTD_HP_A + 1)
-#define KEY_D_PEDSTD_BP_A4          (KEY_D_PEDSTD_HP_B + 1)
-#define KEY_D_PEDSTD_BP_A3          (KEY_D_PEDSTD_BP_A4 + 1)
-#define KEY_D_PEDSTD_BP_A2          (KEY_D_PEDSTD_BP_A3 + 1)
-#define KEY_D_PEDSTD_BP_A1          (KEY_D_PEDSTD_BP_A2 + 1)
-#define KEY_D_PEDSTD_INT_THRSH      (KEY_D_PEDSTD_BP_A1 + 1)
-#define KEY_D_PEDSTD_CLIP           (KEY_D_PEDSTD_INT_THRSH + 1)
-#define KEY_D_PEDSTD_SB             (KEY_D_PEDSTD_CLIP + 1)
-#define KEY_D_PEDSTD_SB_TIME        (KEY_D_PEDSTD_SB + 1)
-#define KEY_D_PEDSTD_PEAKTHRSH      (KEY_D_PEDSTD_SB_TIME + 1)
-#define KEY_D_PEDSTD_TIML           (KEY_D_PEDSTD_PEAKTHRSH + 1)
-#define KEY_D_PEDSTD_TIMH           (KEY_D_PEDSTD_TIML + 1)
-#define KEY_D_PEDSTD_PEAK           (KEY_D_PEDSTD_TIMH + 1)
-#define KEY_D_PEDSTD_TIMECTR        (KEY_D_PEDSTD_PEAK + 1)
-#define KEY_D_PEDSTD_STEPCTR        (KEY_D_PEDSTD_TIMECTR + 1)
-#define KEY_D_PEDSTD_WALKTIME       (KEY_D_PEDSTD_STEPCTR + 1)
-#define KEY_D_PEDSTD_DECI           (KEY_D_PEDSTD_WALKTIME + 1)
-
-/*Host Based No Motion*/
-#define KEY_D_HOST_NO_MOT           (KEY_D_PEDSTD_DECI + 1)
-
-/* EIS keys */
-#define KEY_P_EIS_FIFO_FOOTER       (KEY_D_HOST_NO_MOT + 1)
-#define KEY_P_EIS_FIFO_YSHIFT       (KEY_P_EIS_FIFO_FOOTER + 1)
-#define KEY_P_EIS_DATA_RATE         (KEY_P_EIS_FIFO_YSHIFT + 1)
-#define KEY_P_EIS_FIFO_XSHIFT       (KEY_P_EIS_DATA_RATE + 1)
-#define KEY_P_EIS_FIFO_SYNC         (KEY_P_EIS_FIFO_XSHIFT + 1)
-#define KEY_P_EIS_FIFO_ZSHIFT       (KEY_P_EIS_FIFO_SYNC + 1)
-#define KEY_P_EIS_FIFO_READY        (KEY_P_EIS_FIFO_ZSHIFT + 1)
-#define KEY_DMP_FOOTER              (KEY_P_EIS_FIFO_READY + 1)
-#define KEY_DMP_INTX_HC             (KEY_DMP_FOOTER + 1)
-#define KEY_DMP_INTX_PH             (KEY_DMP_INTX_HC + 1)
-#define KEY_DMP_INTX_SH             (KEY_DMP_INTX_PH + 1)
-#define KEY_DMP_AINV_SH             (KEY_DMP_INTX_SH + 1)
-#define KEY_DMP_A_INV_XH            (KEY_DMP_AINV_SH + 1)
-#define KEY_DMP_AINV_PH             (KEY_DMP_A_INV_XH + 1)
-#define KEY_DMP_CTHX_H              (KEY_DMP_AINV_PH + 1)
-#define KEY_DMP_CTHY_H              (KEY_DMP_CTHX_H + 1)
-#define KEY_DMP_CTHZ_H              (KEY_DMP_CTHY_H + 1)
-#define KEY_DMP_NCTHX_H             (KEY_DMP_CTHZ_H + 1)
-#define KEY_DMP_NCTHY_H             (KEY_DMP_NCTHX_H + 1)
-#define KEY_DMP_NCTHZ_H             (KEY_DMP_NCTHY_H + 1)
-#define KEY_DMP_CTSQ_XH             (KEY_DMP_NCTHZ_H + 1)
-#define KEY_DMP_CTSQ_YH             (KEY_DMP_CTSQ_XH + 1)
-#define KEY_DMP_CTSQ_ZH             (KEY_DMP_CTSQ_YH + 1)
-#define KEY_DMP_INTX_H              (KEY_DMP_CTSQ_ZH + 1)
-#define KEY_DMP_INTY_H              (KEY_DMP_INTX_H + 1)
-#define KEY_DMP_INTZ_H              (KEY_DMP_INTY_H + 1)
-//#define KEY_DMP_HPX_H               (KEY_DMP_INTZ_H + 1)
-//#define KEY_DMP_HPY_H               (KEY_DMP_HPX_H + 1)
-//#define KEY_DMP_HPZ_H               (KEY_DMP_HPY_H + 1)
-
-/* Stream keys */
-#define KEY_STREAM_P_GYRO_Z         (KEY_DMP_INTZ_H + 1)
-#define KEY_STREAM_P_GYRO_Y         (KEY_STREAM_P_GYRO_Z + 1)
-#define KEY_STREAM_P_GYRO_X         (KEY_STREAM_P_GYRO_Y + 1)
-#define KEY_STREAM_P_TEMP           (KEY_STREAM_P_GYRO_X + 1)
-#define KEY_STREAM_P_AUX_Y          (KEY_STREAM_P_TEMP + 1)
-#define KEY_STREAM_P_AUX_X          (KEY_STREAM_P_AUX_Y + 1)
-#define KEY_STREAM_P_AUX_Z          (KEY_STREAM_P_AUX_X + 1)
-#define KEY_STREAM_P_ACCEL_Y        (KEY_STREAM_P_AUX_Z + 1)
-#define KEY_STREAM_P_ACCEL_X        (KEY_STREAM_P_ACCEL_Y + 1)
-#define KEY_STREAM_P_FOOTER         (KEY_STREAM_P_ACCEL_X + 1)
-#define KEY_STREAM_P_ACCEL_Z        (KEY_STREAM_P_FOOTER + 1)
-
-#define NUM_KEYS                    (KEY_STREAM_P_ACCEL_Z + 1)
-
-typedef struct {
-    unsigned short key;
-    unsigned short addr;
-} tKeyLabel;
-
-#define DINA0A 0x0a
-#define DINA22 0x22
-#define DINA42 0x42
-#define DINA5A 0x5a
-
-#define DINA06 0x06
-#define DINA0E 0x0e
-#define DINA16 0x16
-#define DINA1E 0x1e
-#define DINA26 0x26
-#define DINA2E 0x2e
-#define DINA36 0x36
-#define DINA3E 0x3e
-#define DINA46 0x46
-#define DINA4E 0x4e
-#define DINA56 0x56
-#define DINA5E 0x5e
-#define DINA66 0x66
-#define DINA6E 0x6e
-#define DINA76 0x76
-#define DINA7E 0x7e
-
-#define DINA00 0x00
-#define DINA08 0x08
-#define DINA10 0x10
-#define DINA18 0x18
-#define DINA20 0x20
-#define DINA28 0x28
-#define DINA30 0x30
-#define DINA38 0x38
-#define DINA40 0x40
-#define DINA48 0x48
-#define DINA50 0x50
-#define DINA58 0x58
-#define DINA60 0x60
-#define DINA68 0x68
-#define DINA70 0x70
-#define DINA78 0x78
-
-#define DINA04 0x04
-#define DINA0C 0x0c
-#define DINA14 0x14
-#define DINA1C 0x1C
-#define DINA24 0x24
-#define DINA2C 0x2c
-#define DINA34 0x34
-#define DINA3C 0x3c
-#define DINA44 0x44
-#define DINA4C 0x4c
-#define DINA54 0x54
-#define DINA5C 0x5c
-#define DINA64 0x64
-#define DINA6C 0x6c
-#define DINA74 0x74
-#define DINA7C 0x7c
-
-#define DINA01 0x01
-#define DINA09 0x09
-#define DINA11 0x11
-#define DINA19 0x19
-#define DINA21 0x21
-#define DINA29 0x29
-#define DINA31 0x31
-#define DINA39 0x39
-#define DINA41 0x41
-#define DINA49 0x49
-#define DINA51 0x51
-#define DINA59 0x59
-#define DINA61 0x61
-#define DINA69 0x69
-#define DINA71 0x71
-#define DINA79 0x79
-
-#define DINA25 0x25
-#define DINA2D 0x2d
-#define DINA35 0x35
-#define DINA3D 0x3d
-#define DINA4D 0x4d
-#define DINA55 0x55
-#define DINA5D 0x5D
-#define DINA6D 0x6d
-#define DINA75 0x75
-#define DINA7D 0x7d
-
-#define DINADC 0xdc
-#define DINAF2 0xf2
-#define DINAAB 0xab
-#define DINAAA 0xaa
-#define DINAF1 0xf1
-#define DINADF 0xdf
-#define DINADA 0xda
-#define DINAB1 0xb1
-#define DINAB9 0xb9
-#define DINAF3 0xf3
-#define DINA8B 0x8b
-#define DINAA3 0xa3
-#define DINA91 0x91
-#define DINAB6 0xb6
-#define DINAB4 0xb4
-
-
-#define DINC00 0x00
-#define DINC01 0x01
-#define DINC02 0x02
-#define DINC03 0x03
-#define DINC08 0x08
-#define DINC09 0x09
-#define DINC0A 0x0a
-#define DINC0B 0x0b
-#define DINC10 0x10
-#define DINC11 0x11
-#define DINC12 0x12
-#define DINC13 0x13
-#define DINC18 0x18
-#define DINC19 0x19
-#define DINC1A 0x1a
-#define DINC1B 0x1b
-
-#define DINC20 0x20
-#define DINC21 0x21
-#define DINC22 0x22
-#define DINC23 0x23
-#define DINC28 0x28
-#define DINC29 0x29
-#define DINC2A 0x2a
-#define DINC2B 0x2b
-#define DINC30 0x30
-#define DINC31 0x31
-#define DINC32 0x32
-#define DINC33 0x33
-#define DINC38 0x38
-#define DINC39 0x39
-#define DINC3A 0x3a
-#define DINC3B 0x3b
-
-#define DINC40 0x40
-#define DINC41 0x41
-#define DINC42 0x42
-#define DINC43 0x43
-#define DINC48 0x48
-#define DINC49 0x49
-#define DINC4A 0x4a
-#define DINC4B 0x4b
-#define DINC50 0x50
-#define DINC51 0x51
-#define DINC52 0x52
-#define DINC53 0x53
-#define DINC58 0x58
-#define DINC59 0x59
-#define DINC5A 0x5a
-#define DINC5B 0x5b
-
-#define DINC60 0x60
-#define DINC61 0x61
-#define DINC62 0x62
-#define DINC63 0x63
-#define DINC68 0x68
-#define DINC69 0x69
-#define DINC6A 0x6a
-#define DINC6B 0x6b
-#define DINC70 0x70
-#define DINC71 0x71
-#define DINC72 0x72
-#define DINC73 0x73
-#define DINC78 0x78
-#define DINC79 0x79
-#define DINC7A 0x7a
-#define DINC7B 0x7b
-
-#define DIND40 0x40
-
-
-#define DINA80 0x80
-#define DINA90 0x90
-#define DINAA0 0xa0
-#define DINAC9 0xc9
-#define DINACB 0xcb
-#define DINACD 0xcd
-#define DINACF 0xcf
-#define DINAC8 0xc8
-#define DINACA 0xca
-#define DINACC 0xcc
-#define DINACE 0xce
-#define DINAD8 0xd8
-#define DINADD 0xdd
-#define DINAF8 0xf0
-#define DINAFE 0xfe
-
-#define DINBF8 0xf8
-#define DINAC0 0xb0
-#define DINAC1 0xb1
-#define DINAC2 0xb4
-#define DINAC3 0xb5
-#define DINAC4 0xb8
-#define DINAC5 0xb9
-#define DINBC0 0xc0
-#define DINBC2 0xc2
-#define DINBC4 0xc4
-#define DINBC6 0xc6
-
-
-
-#endif // DMPKEY_H__

Core备份3/imu2/dmpmap2.h

@@ -1,264 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-#ifndef DMPMAP_H
-#define DMPMAP_H
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#define DMP_PTAT    0
-#define DMP_XGYR    2
-#define DMP_YGYR    4
-#define DMP_ZGYR    6
-#define DMP_XACC    8
-#define DMP_YACC    10
-#define DMP_ZACC    12
-#define DMP_ADC1    14
-#define DMP_ADC2    16
-#define DMP_ADC3    18
-#define DMP_BIASUNC    20
-#define DMP_FIFORT    22
-#define DMP_INVGSFH    24
-#define DMP_INVGSFL    26
-#define DMP_1H    28
-#define DMP_1L    30
-#define DMP_BLPFSTCH    32
-#define DMP_BLPFSTCL    34
-#define DMP_BLPFSXH    36
-#define DMP_BLPFSXL    38
-#define DMP_BLPFSYH    40
-#define DMP_BLPFSYL    42
-#define DMP_BLPFSZH    44
-#define DMP_BLPFSZL    46
-#define DMP_BLPFMTC    48
-#define DMP_SMC    50
-#define DMP_BLPFMXH    52
-#define DMP_BLPFMXL    54
-#define DMP_BLPFMYH    56
-#define DMP_BLPFMYL    58
-#define DMP_BLPFMZH    60
-#define DMP_BLPFMZL    62
-#define DMP_BLPFC    64
-#define DMP_SMCTH    66
-#define DMP_0H2    68
-#define DMP_0L2    70
-#define DMP_BERR2H    72
-#define DMP_BERR2L    74
-#define DMP_BERR2NH    76
-#define DMP_SMCINC    78
-#define DMP_ANGVBXH    80
-#define DMP_ANGVBXL    82
-#define DMP_ANGVBYH    84
-#define DMP_ANGVBYL    86
-#define DMP_ANGVBZH    88
-#define DMP_ANGVBZL    90
-#define DMP_BERR1H    92
-#define DMP_BERR1L    94
-#define DMP_ATCH    96
-#define DMP_BIASUNCSF    98
-#define DMP_ACT2H    100
-#define DMP_ACT2L    102
-#define DMP_GSFH    104
-#define DMP_GSFL    106
-#define DMP_GH    108
-#define DMP_GL    110
-#define DMP_0_5H    112
-#define DMP_0_5L    114
-#define DMP_0_0H    116
-#define DMP_0_0L    118
-#define DMP_1_0H    120
-#define DMP_1_0L    122
-#define DMP_1_5H    124
-#define DMP_1_5L    126
-#define DMP_TMP1AH    128
-#define DMP_TMP1AL    130
-#define DMP_TMP2AH    132
-#define DMP_TMP2AL    134
-#define DMP_TMP3AH    136
-#define DMP_TMP3AL    138
-#define DMP_TMP4AH    140
-#define DMP_TMP4AL    142
-#define DMP_XACCW    144
-#define DMP_TMP5    146
-#define DMP_XACCB    148
-#define DMP_TMP8    150
-#define DMP_YACCB    152
-#define DMP_TMP9    154
-#define DMP_ZACCB    156
-#define DMP_TMP10    158
-#define DMP_DZH    160
-#define DMP_DZL    162
-#define DMP_XGCH    164
-#define DMP_XGCL    166
-#define DMP_YGCH    168
-#define DMP_YGCL    170
-#define DMP_ZGCH    172
-#define DMP_ZGCL    174
-#define DMP_YACCW    176
-#define DMP_TMP7    178
-#define DMP_AFB1H    180
-#define DMP_AFB1L    182
-#define DMP_AFB2H    184
-#define DMP_AFB2L    186
-#define DMP_MAGFBH    188
-#define DMP_MAGFBL    190
-#define DMP_QT1H    192
-#define DMP_QT1L    194
-#define DMP_QT2H    196
-#define DMP_QT2L    198
-#define DMP_QT3H    200
-#define DMP_QT3L    202
-#define DMP_QT4H    204
-#define DMP_QT4L    206
-#define DMP_CTRL1H    208
-#define DMP_CTRL1L    210
-#define DMP_CTRL2H    212
-#define DMP_CTRL2L    214
-#define DMP_CTRL3H    216
-#define DMP_CTRL3L    218
-#define DMP_CTRL4H    220
-#define DMP_CTRL4L    222
-#define DMP_CTRLS1    224
-#define DMP_CTRLSF1    226
-#define DMP_CTRLS2    228
-#define DMP_CTRLSF2    230
-#define DMP_CTRLS3    232
-#define DMP_CTRLSFNLL    234
-#define DMP_CTRLS4    236
-#define DMP_CTRLSFNL2    238
-#define DMP_CTRLSFNL    240
-#define DMP_TMP30    242
-#define DMP_CTRLSFJT    244
-#define DMP_TMP31    246
-#define DMP_TMP11    248
-#define DMP_CTRLSF2_2    250
-#define DMP_TMP12    252
-#define DMP_CTRLSF1_2    254
-#define DMP_PREVPTAT    256
-#define DMP_ACCZB    258
-#define DMP_ACCXB    264
-#define DMP_ACCYB    266
-#define DMP_1HB    272
-#define DMP_1LB    274
-#define DMP_0H    276
-#define DMP_0L    278
-#define DMP_ASR22H    280
-#define DMP_ASR22L    282
-#define DMP_ASR6H    284
-#define DMP_ASR6L    286
-#define DMP_TMP13    288
-#define DMP_TMP14    290
-#define DMP_FINTXH    292
-#define DMP_FINTXL    294
-#define DMP_FINTYH    296
-#define DMP_FINTYL    298
-#define DMP_FINTZH    300
-#define DMP_FINTZL    302
-#define DMP_TMP1BH    304
-#define DMP_TMP1BL    306
-#define DMP_TMP2BH    308
-#define DMP_TMP2BL    310
-#define DMP_TMP3BH    312
-#define DMP_TMP3BL    314
-#define DMP_TMP4BH    316
-#define DMP_TMP4BL    318
-#define DMP_STXG    320
-#define DMP_ZCTXG    322
-#define DMP_STYG    324
-#define DMP_ZCTYG    326
-#define DMP_STZG    328
-#define DMP_ZCTZG    330
-#define DMP_CTRLSFJT2    332
-#define DMP_CTRLSFJTCNT    334
-#define DMP_PVXG    336
-#define DMP_TMP15    338
-#define DMP_PVYG    340
-#define DMP_TMP16    342
-#define DMP_PVZG    344
-#define DMP_TMP17    346
-#define DMP_MNMFLAGH    352
-#define DMP_MNMFLAGL    354
-#define DMP_MNMTMH    356
-#define DMP_MNMTML    358
-#define DMP_MNMTMTHRH    360
-#define DMP_MNMTMTHRL    362
-#define DMP_MNMTHRH    364
-#define DMP_MNMTHRL    366
-#define DMP_ACCQD4H    368
-#define DMP_ACCQD4L    370
-#define DMP_ACCQD5H    372
-#define DMP_ACCQD5L    374
-#define DMP_ACCQD6H    376
-#define DMP_ACCQD6L    378
-#define DMP_ACCQD7H    380
-#define DMP_ACCQD7L    382
-#define DMP_ACCQD0H    384
-#define DMP_ACCQD0L    386
-#define DMP_ACCQD1H    388
-#define DMP_ACCQD1L    390
-#define DMP_ACCQD2H    392
-#define DMP_ACCQD2L    394
-#define DMP_ACCQD3H    396
-#define DMP_ACCQD3L    398
-#define DMP_XN2H    400
-#define DMP_XN2L    402
-#define DMP_XN1H    404
-#define DMP_XN1L    406
-#define DMP_YN2H    408
-#define DMP_YN2L    410
-#define DMP_YN1H    412
-#define DMP_YN1L    414
-#define DMP_YH    416
-#define DMP_YL    418
-#define DMP_B0H    420
-#define DMP_B0L    422
-#define DMP_A1H    424
-#define DMP_A1L    426
-#define DMP_A2H    428
-#define DMP_A2L    430
-#define DMP_SEM1    432
-#define DMP_FIFOCNT    434
-#define DMP_SH_TH_X    436
-#define DMP_PACKET    438
-#define DMP_SH_TH_Y    440
-#define DMP_FOOTER    442
-#define DMP_SH_TH_Z    444
-#define DMP_TEMP29    448
-#define DMP_TEMP30    450
-#define DMP_XACCB_PRE    452
-#define DMP_XACCB_PREL    454
-#define DMP_YACCB_PRE    456
-#define DMP_YACCB_PREL    458
-#define DMP_ZACCB_PRE    460
-#define DMP_ZACCB_PREL    462
-#define DMP_TMP22    464
-#define DMP_TAP_TIMER    466
-#define DMP_TAP_THX    468
-#define DMP_TAP_THY    472
-#define DMP_TAP_THZ    476
-#define DMP_TAPW_MIN    478
-#define DMP_TMP25    480
-#define DMP_TMP26    482
-#define DMP_TMP27    484
-#define DMP_TMP28    486
-#define DMP_ORIENT    488
-#define DMP_THRSH    490
-#define DMP_ENDIANH    492
-#define DMP_ENDIANL    494
-#define DMP_BLPFNMTCH    496
-#define DMP_BLPFNMTCL    498
-#define DMP_BLPFNMXH    500
-#define DMP_BLPFNMXL    502
-#define DMP_BLPFNMYH    504
-#define DMP_BLPFNMYL    506
-#define DMP_BLPFNMZH    508
-#define DMP_BLPFNMZL    510
-#ifdef __cplusplus
-}
-#endif
-#endif // DMPMAP_H

Core备份3/imu2/inv_mpu2.c

@@ -1,2774 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
-    See included License.txt for License information.
- $
- */
-/**
- *  @addtogroup  DRIVERS Sensor Driver Layer
- *  @brief       Hardware drivers to communicate with sensors via I2C.
- *
- *  @{
- *      @file       inv_mpu.c
- *      @brief      An I2C-based driver for Invensense gyroscopes.
- *      @details    This driver currently works for the following devices:
- *                  MPU6050
- *                  MPU6500
- *                  MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus)
- *                  MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus)
- */
-#include <stdio.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-#include "inv_mpu2.h"
-
-#include "MPU60502.h"
-
-
-/* The following functions must be defined for this platform:
- * i2c_write(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char const *data)
- * i2c_read(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char *data)
- * delay_ms(unsigned long num_ms)
- * get_ms(unsigned long *count)
- * reg_int_cb(void (*cb)(void), unsigned char port, unsigned char pin)
- * labs(long x)
- * fabsf(float x)
- * min(int a, int b)
- */
-#if defined MOTION_DRIVER_TARGET_MSP430
-#include "msp430.h"
-#include "msp430_i2c.h"
-#include "msp430_clock.h"
-#include "msp430_interrupt.h"
-#define i2c_write   msp430_i2c_write
-#define i2c_read    msp430_i2c_read
-#define delay_ms    msp430_delay_ms
-#define get_ms      msp430_get_clock_ms
-static inline int reg_int_cb(struct int_param_s *int_param)
-{
-    return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit,
-        int_param->active_low);
-}
-#define log_i(...)     do {} while (0)
-#define log_e(...)     do {} while (0)
-/* labs is already defined by TI's toolchain. */
-/* fabs is for doubles. fabsf is for floats. */
-#define fabs        fabsf
-#define min(a,b) ((a<b)?a:b)
-#elif defined EMPL_TARGET_MSP430
-#include "msp430.h"
-#include "msp430_i2c.h"
-#include "msp430_clock.h"
-#include "msp430_interrupt.h"
-#include "log.h"
-#define i2c_write   msp430_i2c_write
-#define i2c_read    msp430_i2c_read
-#define delay_ms    msp430_delay_ms
-#define get_ms      msp430_get_clock_ms
-static inline int reg_int_cb(struct int_param_s *int_param)
-{
-    return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit,
-        int_param->active_low);
-}
-#define log_i       MPL_LOGI
-#define log_e       MPL_LOGE
-/* labs is already defined by TI's toolchain. */
-/* fabs is for doubles. fabsf is for floats. */
-#define fabs        fabsf
-#define min(a,b) ((a<b)?a:b)
-#elif defined EMPL_TARGET_UC3L0
-/* Instead of using the standard TWI driver from the ASF library, we're using
- * a TWI driver that follows the slave address + register address convention.
- */
-#include "twi.h"
-#include "delay.h"
-#include "sysclk.h"
-#include "log.h"
-#include "sensors_xplained.h"
-#include "uc3l0_clock.h"
-#define i2c_write(a, b, c, d)   twi_write(a, b, d, c)
-#define i2c_read(a, b, c, d)    twi_read(a, b, d, c)
-/* delay_ms is a function already defined in ASF. */
-#define get_ms  uc3l0_get_clock_ms
-static inline int reg_int_cb(struct int_param_s *int_param)
-{
-    sensor_board_irq_connect(int_param->pin, int_param->cb, int_param->arg);
-    return 0;
-}
-#define log_i       MPL_LOGI
-#define log_e       MPL_LOGE
-/* UC3 is a 32-bit processor, so abs and labs are equivalent. */
-#define labs        abs
-#define fabs(x)     (((x)>0)?(x):-(x))
-#elif defined MOTION_DRIVER_TARGET_STM32
-
-/* The following functions must be defined for this platform:
- * i2c_write(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char const *data)
- * i2c_read(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char *data)
- * delay_ms(unsigned long num_ms)
- * get_ms(unsigned long *count)
- * reg_int_cb(void (*cb)(void), unsigned char port, unsigned char pin)
- * labs(long x)
- * fabsf(float x)
- * min(int a, int b)
- */
-
-#define i2c_write   IIC_Write_Len
-#define i2c_read    IIC_Read_Len
-#define delay_ms    HAL_Delay
-#define get_ms      get_tick_count
-//static inline int reg_int_cb(struct int_param_s *int_param)
-//{
-////    return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit,
-////        int_param->active_low);
-//}
-//#define log_i(...)     do {} while (0)
-//#define log_e(...)     do {} while (0)
-
-#define log_i     printf
-#define log_e     printf
-
-/* labs is already defined by TI's toolchain. */
-/* fabs is for doubles. fabsf is for floats. */
-#define fabs        fabsf
-#define min(a,b) ((a<b)?a:b)
-
-#else
-#error  Gyro driver is missing the system layer implementations.
-#endif
-
-#if !defined MPU6050 && !defined MPU9150 && !defined MPU6500 && !defined MPU9250
-#error  Which gyro are you using? Define MPUxxxx in your compiler options.
-#endif
-
-/* Time for some messy macro work. =]
- * #define MPU9150
- * is equivalent to..
- * #define MPU6050
- * #define AK8975_SECONDARY
- *
- * #define MPU9250
- * is equivalent to..
- * #define MPU6500
- * #define AK8963_SECONDARY
- */
-#if defined MPU9150
-#ifndef MPU6050
-#define MPU6050
-#endif                          /* #ifndef MPU6050 */
-#if defined AK8963_SECONDARY
-#error "MPU9150 and AK8963_SECONDARY cannot both be defined."
-#elif !defined AK8975_SECONDARY /* #if defined AK8963_SECONDARY */
-#define AK8975_SECONDARY
-#endif                          /* #if defined AK8963_SECONDARY */
-#elif defined MPU9250           /* #if defined MPU9150 */
-#ifndef MPU6500
-#define MPU6500
-#endif                          /* #ifndef MPU6500 */
-#if defined AK8975_SECONDARY
-#error "MPU9250 and AK8975_SECONDARY cannot both be defined."
-#elif !defined AK8963_SECONDARY /* #if defined AK8975_SECONDARY */
-#define AK8963_SECONDARY
-#endif                          /* #if defined AK8975_SECONDARY */
-#endif                          /* #if defined MPU9150 */
-
-#if defined AK8975_SECONDARY || defined AK8963_SECONDARY
-#define AK89xx_SECONDARY
-#else
-/* #warning "No compass = less profit for Invensense. Lame." */
-#endif
-
-static int set_int_enable(unsigned char enable);
-
-/* Hardware registers needed by driver. */
-struct gyro_reg_s {
-    unsigned char who_am_i;
-    unsigned char rate_div;
-    unsigned char lpf;
-    unsigned char prod_id;
-    unsigned char user_ctrl;
-    unsigned char fifo_en;
-    unsigned char gyro_cfg;
-    unsigned char accel_cfg;
-    unsigned char accel_cfg2;
-    unsigned char lp_accel_odr;
-    unsigned char motion_thr;
-    unsigned char motion_dur;
-    unsigned char fifo_count_h;
-    unsigned char fifo_r_w;
-    unsigned char raw_gyro;
-    unsigned char raw_accel;
-    unsigned char temp;
-    unsigned char int_enable;
-    unsigned char dmp_int_status;
-    unsigned char int_status;
-    unsigned char accel_intel;
-    unsigned char pwr_mgmt_1;
-    unsigned char pwr_mgmt_2;
-    unsigned char int_pin_cfg;
-    unsigned char mem_r_w;
-    unsigned char accel_offs;
-    unsigned char i2c_mst;
-    unsigned char bank_sel;
-    unsigned char mem_start_addr;
-    unsigned char prgm_start_h;
-#if defined AK89xx_SECONDARY
-    unsigned char s0_addr;
-    unsigned char s0_reg;
-    unsigned char s0_ctrl;
-    unsigned char s1_addr;
-    unsigned char s1_reg;
-    unsigned char s1_ctrl;
-    unsigned char s4_ctrl;
-    unsigned char s0_do;
-    unsigned char s1_do;
-    unsigned char i2c_delay_ctrl;
-    unsigned char raw_compass;
-    /* The I2C_MST_VDDIO bit is in this register. */
-    unsigned char yg_offs_tc;
-#endif
-};
-
-/* Information specific to a particular device. */
-struct hw_s {
-    unsigned char addr;
-    unsigned short max_fifo;
-    unsigned char num_reg;
-    unsigned short temp_sens;
-    short temp_offset;
-    unsigned short bank_size;
-#if defined AK89xx_SECONDARY
-    unsigned short compass_fsr;
-#endif
-};
-
-/* When entering motion interrupt mode, the driver keeps track of the
- * previous state so that it can be restored at a later time.
- * TODO: This is tacky. Fix it.
- */
-struct motion_int_cache_s {
-    unsigned short gyro_fsr;
-    unsigned char accel_fsr;
-    unsigned short lpf;
-    unsigned short sample_rate;
-    unsigned char sensors_on;
-    unsigned char fifo_sensors;
-    unsigned char dmp_on;
-};
-
-/* Cached chip configuration data.
- * TODO: A lot of these can be handled with a bitmask.
- */
-struct chip_cfg_s {
-    /* Matches gyro_cfg >> 3 & 0x03 */
-    unsigned char gyro_fsr;
-    /* Matches accel_cfg >> 3 & 0x03 */
-    unsigned char accel_fsr;
-    /* Enabled sensors. Uses same masks as fifo_en, NOT pwr_mgmt_2. */
-    unsigned char sensors;
-    /* Matches config register. */
-    unsigned char lpf;
-    unsigned char clk_src;
-    /* Sample rate, NOT rate divider. */
-    unsigned short sample_rate;
-    /* Matches fifo_en register. */
-    unsigned char fifo_enable;
-    /* Matches int enable register. */
-    unsigned char int_enable;
-    /* 1 if devices on auxiliary I2C bus appear on the primary. */
-    unsigned char bypass_mode;
-    /* 1 if half-sensitivity.
-     * NOTE: This doesn't belong here, but everything else in hw_s is const,
-     * and this allows us to save some precious RAM.
-     */
-    unsigned char accel_half;
-    /* 1 if device in low-power accel-only mode. */
-    unsigned char lp_accel_mode;
-    /* 1 if interrupts are only triggered on motion events. */
-    unsigned char int_motion_only;
-    struct motion_int_cache_s cache;
-    /* 1 for active low interrupts. */
-    unsigned char active_low_int;
-    /* 1 for latched interrupts. */
-    unsigned char latched_int;
-    /* 1 if DMP is enabled. */
-    unsigned char dmp_on;
-    /* Ensures that DMP will only be loaded once. */
-    unsigned char dmp_loaded;
-    /* Sampling rate used when DMP is enabled. */
-    unsigned short dmp_sample_rate;
-#ifdef AK89xx_SECONDARY
-    /* Compass sample rate. */
-    unsigned short compass_sample_rate;
-    unsigned char compass_addr;
-    short mag_sens_adj[3];
-#endif
-};
-
-/* Information for self-test. */
-struct test_s {
-    unsigned long gyro_sens;
-    unsigned long accel_sens;
-    unsigned char reg_rate_div;
-    unsigned char reg_lpf;
-    unsigned char reg_gyro_fsr;
-    unsigned char reg_accel_fsr;
-    unsigned short wait_ms;
-    unsigned char packet_thresh;
-    float min_dps;
-    float max_dps;
-    float max_gyro_var;
-    float min_g;
-    float max_g;
-    float max_accel_var;
-};
-
-/* Gyro driver state variables. */
-struct gyro_state_s {
-    const struct gyro_reg_s *reg;
-    const struct hw_s *hw;
-    struct chip_cfg_s chip_cfg;
-    const struct test_s *test;
-};
-
-/* Filter configurations. */
-enum lpf_e {
-    INV_FILTER_256HZ_NOLPF2 = 0,
-    INV_FILTER_188HZ,
-    INV_FILTER_98HZ,
-    INV_FILTER_42HZ,
-    INV_FILTER_20HZ,
-    INV_FILTER_10HZ,
-    INV_FILTER_5HZ,
-    INV_FILTER_2100HZ_NOLPF,
-    NUM_FILTER
-};
-
-/* Full scale ranges. */
-enum gyro_fsr_e {
-    INV_FSR_250DPS = 0,
-    INV_FSR_500DPS,
-    INV_FSR_1000DPS,
-    INV_FSR_2000DPS,
-    NUM_GYRO_FSR
-};
-
-/* Full scale ranges. */
-enum accel_fsr_e {
-    INV_FSR_2G = 0,
-    INV_FSR_4G,
-    INV_FSR_8G,
-    INV_FSR_16G,
-    NUM_ACCEL_FSR
-};
-
-/* Clock sources. */
-enum clock_sel_e {
-    INV_CLK_INTERNAL = 0,
-    INV_CLK_PLL,
-    NUM_CLK
-};
-
-/* Low-power accel wakeup rates. */
-enum lp_accel_rate_e {
-#if defined MPU6050
-    INV_LPA_1_25HZ,
-    INV_LPA_5HZ,
-    INV_LPA_20HZ,
-    INV_LPA_40HZ
-#elif defined MPU6500
-    INV_LPA_0_3125HZ,
-    INV_LPA_0_625HZ,
-    INV_LPA_1_25HZ,
-    INV_LPA_2_5HZ,
-    INV_LPA_5HZ,
-    INV_LPA_10HZ,
-    INV_LPA_20HZ,
-    INV_LPA_40HZ,
-    INV_LPA_80HZ,
-    INV_LPA_160HZ,
-    INV_LPA_320HZ,
-    INV_LPA_640HZ
-#endif
-};
-
-#define BIT_I2C_MST_VDDIO   (0x80)
-#define BIT_FIFO_EN         (0x40)
-#define BIT_DMP_EN          (0x80)
-#define BIT_FIFO_RST        (0x04)
-#define BIT_DMP_RST         (0x08)
-#define BIT_FIFO_OVERFLOW   (0x10)
-#define BIT_DATA_RDY_EN     (0x01)
-#define BIT_DMP_INT_EN      (0x02)
-#define BIT_MOT_INT_EN      (0x40)
-#define BITS_FSR            (0x18)
-#define BITS_LPF            (0x07)
-#define BITS_HPF            (0x07)
-#define BITS_CLK            (0x07)
-#define BIT_FIFO_SIZE_1024  (0x40)
-#define BIT_FIFO_SIZE_2048  (0x80)
-#define BIT_FIFO_SIZE_4096  (0xC0)
-#define BIT_RESET           (0x80)
-#define BIT_SLEEP           (0x40)
-#define BIT_S0_DELAY_EN     (0x01)
-#define BIT_S2_DELAY_EN     (0x04)
-#define BITS_SLAVE_LENGTH   (0x0F)
-#define BIT_SLAVE_BYTE_SW   (0x40)
-#define BIT_SLAVE_GROUP     (0x10)
-#define BIT_SLAVE_EN        (0x80)
-#define BIT_I2C_READ        (0x80)
-#define BITS_I2C_MASTER_DLY (0x1F)
-#define BIT_AUX_IF_EN       (0x20)
-#define BIT_ACTL            (0x80)
-#define BIT_LATCH_EN        (0x20)
-#define BIT_ANY_RD_CLR      (0x10)
-#define BIT_BYPASS_EN       (0x02)
-#define BITS_WOM_EN         (0xC0)
-#define BIT_LPA_CYCLE       (0x20)
-#define BIT_STBY_XA         (0x20)
-#define BIT_STBY_YA         (0x10)
-#define BIT_STBY_ZA         (0x08)
-#define BIT_STBY_XG         (0x04)
-#define BIT_STBY_YG         (0x02)
-#define BIT_STBY_ZG         (0x01)
-#define BIT_STBY_XYZA       (BIT_STBY_XA | BIT_STBY_YA | BIT_STBY_ZA)
-#define BIT_STBY_XYZG       (BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG)
-
-#if defined AK8975_SECONDARY
-#define SUPPORTS_AK89xx_HIGH_SENS   (0x00)
-#define AK89xx_FSR                  (9830)
-#elif defined AK8963_SECONDARY
-#define SUPPORTS_AK89xx_HIGH_SENS   (0x10)
-#define AK89xx_FSR                  (4915)
-#endif
-
-#ifdef AK89xx_SECONDARY
-#define AKM_REG_WHOAMI      (0x00)
-
-#define AKM_REG_ST1         (0x02)
-#define AKM_REG_HXL         (0x03)
-#define AKM_REG_ST2         (0x09)
-
-#define AKM_REG_CNTL        (0x0A)
-#define AKM_REG_ASTC        (0x0C)
-#define AKM_REG_ASAX        (0x10)
-#define AKM_REG_ASAY        (0x11)
-#define AKM_REG_ASAZ        (0x12)
-
-#define AKM_DATA_READY      (0x01)
-#define AKM_DATA_OVERRUN    (0x02)
-#define AKM_OVERFLOW        (0x80)
-#define AKM_DATA_ERROR      (0x40)
-
-#define AKM_BIT_SELF_TEST   (0x40)
-
-#define AKM_POWER_DOWN          (0x00 | SUPPORTS_AK89xx_HIGH_SENS)
-#define AKM_SINGLE_MEASUREMENT  (0x01 | SUPPORTS_AK89xx_HIGH_SENS)
-#define AKM_FUSE_ROM_ACCESS     (0x0F | SUPPORTS_AK89xx_HIGH_SENS)
-#define AKM_MODE_SELF_TEST      (0x08 | SUPPORTS_AK89xx_HIGH_SENS)
-
-#define AKM_WHOAMI      (0x48)
-#endif
-
-#if defined MPU6050
-const struct gyro_reg_s reg = {
-    .who_am_i       = 0x75,
-    .rate_div       = 0x19,
-    .lpf            = 0x1A,
-    .prod_id        = 0x0C,
-    .user_ctrl      = 0x6A,
-    .fifo_en        = 0x23,
-    .gyro_cfg       = 0x1B,
-    .accel_cfg      = 0x1C,
-    .motion_thr     = 0x1F,
-    .motion_dur     = 0x20,
-    .fifo_count_h   = 0x72,
-    .fifo_r_w       = 0x74,
-    .raw_gyro       = 0x43,
-    .raw_accel      = 0x3B,
-    .temp           = 0x41,
-    .int_enable     = 0x38,
-    .dmp_int_status = 0x39,
-    .int_status     = 0x3A,
-    .pwr_mgmt_1     = 0x6B,
-    .pwr_mgmt_2     = 0x6C,
-    .int_pin_cfg    = 0x37,
-    .mem_r_w        = 0x6F,
-    .accel_offs     = 0x06,
-    .i2c_mst        = 0x24,
-    .bank_sel       = 0x6D,
-    .mem_start_addr = 0x6E,
-    .prgm_start_h   = 0x70
-#ifdef AK89xx_SECONDARY
-    ,.raw_compass   = 0x49,
-    .yg_offs_tc     = 0x01,
-    .s0_addr        = 0x25,
-    .s0_reg         = 0x26,
-    .s0_ctrl        = 0x27,
-    .s1_addr        = 0x28,
-    .s1_reg         = 0x29,
-    .s1_ctrl        = 0x2A,
-    .s4_ctrl        = 0x34,
-    .s0_do          = 0x63,
-    .s1_do          = 0x64,
-    .i2c_delay_ctrl = 0x67
-#endif
-};
-const struct hw_s hw = {
-    .addr           = 0x68,
-    .max_fifo       = 1024,
-    .num_reg        = 118,
-    .temp_sens      = 340,
-    .temp_offset    = -521,
-    .bank_size      = 256
-#if defined AK89xx_SECONDARY
-    ,.compass_fsr    = AK89xx_FSR
-#endif
-};
-
-const struct test_s test = {
-    .gyro_sens      = 32768/250,
-    .accel_sens     = 32768/16,
-    .reg_rate_div   = 0,    /* 1kHz. */
-    .reg_lpf        = 1,    /* 188Hz. */
-    .reg_gyro_fsr   = 0,    /* 250dps. */
-    .reg_accel_fsr  = 0x18, /* 16g. */
-    .wait_ms        = 50,
-    .packet_thresh  = 5,    /* 5% */
-    .min_dps        = 10.f,
-    .max_dps        = 105.f,
-    .max_gyro_var   = 0.14f,
-    .min_g          = 0.3f,
-    .max_g          = 0.95f,
-    .max_accel_var  = 0.14f
-};
-
-static struct gyro_state_s st = {
-    .reg = &reg,
-    .hw = &hw,
-    .test = &test
-};
-#elif defined MPU6500
-const struct gyro_reg_s reg = {
-    .who_am_i       = 0x75,
-    .rate_div       = 0x19,
-    .lpf            = 0x1A,
-    .prod_id        = 0x0C,
-    .user_ctrl      = 0x6A,
-    .fifo_en        = 0x23,
-    .gyro_cfg       = 0x1B,
-    .accel_cfg      = 0x1C,
-    .accel_cfg2     = 0x1D,
-    .lp_accel_odr   = 0x1E,
-    .motion_thr     = 0x1F,
-    .motion_dur     = 0x20,
-    .fifo_count_h   = 0x72,
-    .fifo_r_w       = 0x74,
-    .raw_gyro       = 0x43,
-    .raw_accel      = 0x3B,
-    .temp           = 0x41,
-    .int_enable     = 0x38,
-    .dmp_int_status = 0x39,
-    .int_status     = 0x3A,
-    .accel_intel    = 0x69,
-    .pwr_mgmt_1     = 0x6B,
-    .pwr_mgmt_2     = 0x6C,
-    .int_pin_cfg    = 0x37,
-    .mem_r_w        = 0x6F,
-    .accel_offs     = 0x77,
-    .i2c_mst        = 0x24,
-    .bank_sel       = 0x6D,
-    .mem_start_addr = 0x6E,
-    .prgm_start_h   = 0x70
-#ifdef AK89xx_SECONDARY
-    ,.raw_compass   = 0x49,
-    .s0_addr        = 0x25,
-    .s0_reg         = 0x26,
-    .s0_ctrl        = 0x27,
-    .s1_addr        = 0x28,
-    .s1_reg         = 0x29,
-    .s1_ctrl        = 0x2A,
-    .s4_ctrl        = 0x34,
-    .s0_do          = 0x63,
-    .s1_do          = 0x64,
-    .i2c_delay_ctrl = 0x67
-#endif
-};
-const struct hw_s hw = {
-    .addr           = 0x68,
-    .max_fifo       = 1024,
-    .num_reg        = 128,
-    .temp_sens      = 321,
-    .temp_offset    = 0,
-    .bank_size      = 256
-#if defined AK89xx_SECONDARY
-    ,.compass_fsr    = AK89xx_FSR
-#endif
-};
-
-const struct test_s test = {
-    .gyro_sens      = 32768/250,
-    .accel_sens     = 32768/16,
-    .reg_rate_div   = 0,    /* 1kHz. */
-    .reg_lpf        = 1,    /* 188Hz. */
-    .reg_gyro_fsr   = 0,    /* 250dps. */
-    .reg_accel_fsr  = 0x18, /* 16g. */
-    .wait_ms        = 50,
-    .packet_thresh  = 5,    /* 5% */
-    .min_dps        = 10.f,
-    .max_dps        = 105.f,
-    .max_gyro_var   = 0.14f,
-    .min_g          = 0.3f,
-    .max_g          = 0.95f,
-    .max_accel_var  = 0.14f
-};
-
-static struct gyro_state_s st = {
-    .reg = &reg,
-    .hw = &hw,
-    .test = &test
-};
-#endif
-
-#define MAX_PACKET_LENGTH (12)
-
-#ifdef AK89xx_SECONDARY
-static int setup_compass(void);
-#define MAX_COMPASS_SAMPLE_RATE (100)
-#endif
-
-/**
- *  @brief      Enable/disable data ready interrupt.
- *  If the DMP is on, the DMP interrupt is enabled. Otherwise, the data ready
- *  interrupt is used.
- *  @param[in]  enable      1 to enable interrupt.
- *  @return     0 if successful.
- */
-static int set_int_enable(unsigned char enable)
-{
-    unsigned char tmp;
-
-    if (st.chip_cfg.dmp_on) {
-        if (enable)
-            tmp = BIT_DMP_INT_EN;
-        else
-            tmp = 0x00;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp))
-            return -1;
-        st.chip_cfg.int_enable = tmp;
-    } else {
-        if (!st.chip_cfg.sensors)
-            return -1;
-        if (enable && st.chip_cfg.int_enable)
-            return 0;
-        if (enable)
-            tmp = BIT_DATA_RDY_EN;
-        else
-            tmp = 0x00;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp))
-            return -1;
-        st.chip_cfg.int_enable = tmp;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Register dump for testing.
- *  @return     0 if successful.
- */
-int mpu_reg_dump(void)
-{
-    unsigned char ii;
-    unsigned char data;
-
-    for (ii = 0; ii < st.hw->num_reg; ii++) {
-        if (ii == st.reg->fifo_r_w || ii == st.reg->mem_r_w)
-            continue;
-        if (i2c_read(st.hw->addr, ii, 1, &data))
-            return -1;
-        log_i("%#5x: %#5x\r\n", ii, data);
-    }
-    return 0;
-}
-
-/**
- *  @brief      Read from a single register.
- *  NOTE: The memory and FIFO read/write registers cannot be accessed.
- *  @param[in]  reg     Register address.
- *  @param[out] data    Register data.
- *  @return     0 if successful.
- */
-int mpu_read_reg(unsigned char reg, unsigned char *data)
-{
-    if (reg == st.reg->fifo_r_w || reg == st.reg->mem_r_w)
-        return -1;
-    if (reg >= st.hw->num_reg)
-        return -1;
-    return i2c_read(st.hw->addr, reg, 1, data);
-}
-
-/**
- *  @brief      Initialize hardware.
- *  Initial configuration:\n
- *  Gyro FSR: +/- 2000DPS\n
- *  Accel FSR +/- 2G\n
- *  DLPF: 42Hz\n
- *  FIFO rate: 50Hz\n
- *  Clock source: Gyro PLL\n
- *  FIFO: Disabled.\n
- *  Data ready interrupt: Disabled, active low, unlatched.
- *  @param[in]  int_param   Platform-specific parameters to interrupt API.
- *  @return     0 if successful.
- */
-int mpu_init(struct int_param_s *int_param)
-{
-    unsigned char data[6], rev;
-
-    /* Reset device. */
-    data[0] = BIT_RESET;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
-        return -1;
-    delay_ms(100);
-
-    /* Wake up chip. */
-    data[0] = 0x00;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
-        return -1;
-
-#if defined MPU6050
-    /* Check product revision. */
-    if (i2c_read(st.hw->addr, st.reg->accel_offs, 6, data))
-        return -1;
-    rev = ((data[5] & 0x01) << 2) | ((data[3] & 0x01) << 1) |
-        (data[1] & 0x01);
-
-    if (rev) {
-        /* Congrats, these parts are better. */
-        if (rev == 1)
-            st.chip_cfg.accel_half = 1;
-        else if (rev == 2)
-            st.chip_cfg.accel_half = 0;
-        else {
-            log_e("Unsupported software product rev %d.\n", rev);
-            return -1;
-        }
-    } else {
-        if (i2c_read(st.hw->addr, st.reg->prod_id, 1, data))
-            return -1;
-        rev = data[0] & 0x0F;
-        if (!rev) {
-            log_e("Product ID read as 0 indicates device is either "
-                "incompatible or an MPU3050.\n");
-            return -1;
-        } else if (rev == 4) {
-            log_i("Half sensitivity part found.\n");
-            st.chip_cfg.accel_half = 1;
-        } else
-            st.chip_cfg.accel_half = 0;
-    }
-#elif defined MPU6500
-#define MPU6500_MEM_REV_ADDR    (0x17)
-    if (mpu_read_mem(MPU6500_MEM_REV_ADDR, 1, &rev))
-        return -1;
-    if (rev == 0x1)
-        st.chip_cfg.accel_half = 0;
-    else {
-        log_e("Unsupported software product rev %d.\n", rev);
-        return -1;
-    }
-
-    /* MPU6500 shares 4kB of memory between the DMP and the FIFO. Since the
-     * first 3kB are needed by the DMP, we'll use the last 1kB for the FIFO.
-     */
-    data[0] = BIT_FIFO_SIZE_1024 | 0x8;
-    if (i2c_write(st.hw->addr, st.reg->accel_cfg2, 1, data))
-        return -1;
-#endif
-
-    /* Set to invalid values to ensure no I2C writes are skipped. */
-    st.chip_cfg.sensors = 0xFF;
-    st.chip_cfg.gyro_fsr = 0xFF;
-    st.chip_cfg.accel_fsr = 0xFF;
-    st.chip_cfg.lpf = 0xFF;
-    st.chip_cfg.sample_rate = 0xFFFF;
-    st.chip_cfg.fifo_enable = 0xFF;
-    st.chip_cfg.bypass_mode = 0xFF;
-#ifdef AK89xx_SECONDARY
-    st.chip_cfg.compass_sample_rate = 0xFFFF;
-#endif
-    /* mpu_set_sensors always preserves this setting. */
-    st.chip_cfg.clk_src = INV_CLK_PLL;
-    /* Handled in next call to mpu_set_bypass. */
-    st.chip_cfg.active_low_int = 1;
-    st.chip_cfg.latched_int = 0;
-    st.chip_cfg.int_motion_only = 0;
-    st.chip_cfg.lp_accel_mode = 0;
-    memset(&st.chip_cfg.cache, 0, sizeof(st.chip_cfg.cache));
-    st.chip_cfg.dmp_on = 0;
-    st.chip_cfg.dmp_loaded = 0;
-    st.chip_cfg.dmp_sample_rate = 0;
-
-    if (mpu_set_gyro_fsr(2000))
-        return -1;
-    if (mpu_set_accel_fsr(2))
-        return -1;
-    if (mpu_set_lpf(42))
-        return -1;
-    if (mpu_set_sample_rate(50))
-        return -1;
-    if (mpu_configure_fifo(0))
-        return -1;
-
-#ifndef MOTION_DRIVER_TARGET_STM32
-    if (int_param)
-        reg_int_cb(int_param);
-#endif
-
-#ifdef AK89xx_SECONDARY
-    setup_compass();
-    if (mpu_set_compass_sample_rate(10))
-        return -1;
-#else
-    /* Already disabled by setup_compass. */
-    if (mpu_set_bypass(0))
-        return -1;
-#endif
-
-    mpu_set_sensors(0);
-    return 0;
-}
-
-/**
- *  @brief      Enter low-power accel-only mode.
- *  In low-power accel mode, the chip goes to sleep and only wakes up to sample
- *  the accelerometer at one of the following frequencies:
- *  \n MPU6050: 1.25Hz, 5Hz, 20Hz, 40Hz
- *  \n MPU6500: 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz
- *  \n If the requested rate is not one listed above, the device will be set to
- *  the next highest rate. Requesting a rate above the maximum supported
- *  frequency will result in an error.
- *  \n To select a fractional wake-up frequency, round down the value passed to
- *  @e rate.
- *  @param[in]  rate        Minimum sampling rate, or zero to disable LP
- *                          accel mode.
- *  @return     0 if successful.
- */
-int mpu_lp_accel_mode(unsigned char rate)
-{
-    unsigned char tmp[2];
-
-    if (rate > 40)
-        return -1;
-
-    if (!rate) {
-        mpu_set_int_latched(0);
-        tmp[0] = 0;
-        tmp[1] = BIT_STBY_XYZG;
-        if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp))
-            return -1;
-        st.chip_cfg.lp_accel_mode = 0;
-        return 0;
-    }
-    /* For LP accel, we automatically configure the hardware to produce latched
-     * interrupts. In LP accel mode, the hardware cycles into sleep mode before
-     * it gets a chance to deassert the interrupt pin; therefore, we shift this
-     * responsibility over to the MCU.
-     *
-     * Any register read will clear the interrupt.
-     */
-    mpu_set_int_latched(1);
-#if defined MPU6050
-    tmp[0] = BIT_LPA_CYCLE;
-    if (rate == 1) {
-        tmp[1] = INV_LPA_1_25HZ;
-        mpu_set_lpf(5);
-    } else if (rate <= 5) {
-        tmp[1] = INV_LPA_5HZ;
-        mpu_set_lpf(5);
-    } else if (rate <= 20) {
-        tmp[1] = INV_LPA_20HZ;
-        mpu_set_lpf(10);
-    } else {
-        tmp[1] = INV_LPA_40HZ;
-        mpu_set_lpf(20);
-    }
-    tmp[1] = (tmp[1] << 6) | BIT_STBY_XYZG;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp))
-        return -1;
-#elif defined MPU6500
-    /* Set wake frequency. */
-    if (rate == 1)
-        tmp[0] = INV_LPA_1_25HZ;
-    else if (rate == 2)
-        tmp[0] = INV_LPA_2_5HZ;
-    else if (rate <= 5)
-        tmp[0] = INV_LPA_5HZ;
-    else if (rate <= 10)
-        tmp[0] = INV_LPA_10HZ;
-    else if (rate <= 20)
-        tmp[0] = INV_LPA_20HZ;
-    else if (rate <= 40)
-        tmp[0] = INV_LPA_40HZ;
-    else if (rate <= 80)
-        tmp[0] = INV_LPA_80HZ;
-    else if (rate <= 160)
-        tmp[0] = INV_LPA_160HZ;
-    else if (rate <= 320)
-        tmp[0] = INV_LPA_320HZ;
-    else
-        tmp[0] = INV_LPA_640HZ;
-    if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, tmp))
-        return -1;
-    tmp[0] = BIT_LPA_CYCLE;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, tmp))
-        return -1;
-#endif
-    st.chip_cfg.sensors = INV_XYZ_ACCEL;
-    st.chip_cfg.clk_src = 0;
-    st.chip_cfg.lp_accel_mode = 1;
-    mpu_configure_fifo(0);
-
-    return 0;
-}
-
-/**
- *  @brief      Read raw gyro data directly from the registers.
- *  @param[out] data        Raw data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds. Null if not needed.
- *  @return     0 if successful.
- */
-int mpu_get_gyro_reg(short *data, unsigned long *timestamp)
-{
-    unsigned char tmp[6];
-
-    if (!(st.chip_cfg.sensors & INV_XYZ_GYRO))
-        return -1;
-
-    if (i2c_read(st.hw->addr, st.reg->raw_gyro, 6, tmp))
-        return -1;
-    data[0] = (tmp[0] << 8) | tmp[1];
-    data[1] = (tmp[2] << 8) | tmp[3];
-    data[2] = (tmp[4] << 8) | tmp[5];
-    if (timestamp)
-        get_ms(timestamp);
-    return 0;
-}
-
-/**
- *  @brief      Read raw accel data directly from the registers.
- *  @param[out] data        Raw data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds. Null if not needed.
- *  @return     0 if successful.
- */
-int mpu_get_accel_reg(short *data, unsigned long *timestamp)
-{
-    unsigned char tmp[6];
-
-    if (!(st.chip_cfg.sensors & INV_XYZ_ACCEL))
-        return -1;
-
-    if (i2c_read(st.hw->addr, st.reg->raw_accel, 6, tmp))
-        return -1;
-    data[0] = (tmp[0] << 8) | tmp[1];
-    data[1] = (tmp[2] << 8) | tmp[3];
-    data[2] = (tmp[4] << 8) | tmp[5];
-    if (timestamp)
-        get_ms(timestamp);
-    return 0;
-}
-
-/**
- *  @brief      Read temperature data directly from the registers.
- *  @param[out] data        Data in q16 format.
- *  @param[out] timestamp   Timestamp in milliseconds. Null if not needed.
- *  @return     0 if successful.
- */
-int mpu_get_temperature(long *data, unsigned long *timestamp)
-{
-    unsigned char tmp[2];
-    short raw;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    if (i2c_read(st.hw->addr, st.reg->temp, 2, tmp))
-        return -1;
-    raw = (tmp[0] << 8) | tmp[1];
-    if (timestamp)
-        get_ms(timestamp);
-
-    data[0] = (long)((35 + ((raw - (float)st.hw->temp_offset) / st.hw->temp_sens)) * 65536L);
-    return 0;
-}
-
-/**
- *  @brief      Push biases to the accel bias registers.
- *  This function expects biases relative to the current sensor output, and
- *  these biases will be added to the factory-supplied values.
- *  @param[in]  accel_bias  New biases.
- *  @return     0 if successful.
- */
-int mpu_set_accel_bias(const long *accel_bias)
-{
-    unsigned char data[6];
-    short accel_hw[3];
-    short got_accel[3];
-    short fg[3];
-
-    if (!accel_bias)
-        return -1;
-    if (!accel_bias[0] && !accel_bias[1] && !accel_bias[2])
-        return 0;
-
-    if (i2c_read(st.hw->addr, 3, 3, data))
-        return -1;
-    fg[0] = ((data[0] >> 4) + 8) & 0xf;
-    fg[1] = ((data[1] >> 4) + 8) & 0xf;
-    fg[2] = ((data[2] >> 4) + 8) & 0xf;
-
-    accel_hw[0] = (short)(accel_bias[0] * 2 / (64 + fg[0]));
-    accel_hw[1] = (short)(accel_bias[1] * 2 / (64 + fg[1]));
-    accel_hw[2] = (short)(accel_bias[2] * 2 / (64 + fg[2]));
-
-    if (i2c_read(st.hw->addr, 0x06, 6, data))
-        return -1;
-
-    got_accel[0] = ((short)data[0] << 8) | data[1];
-    got_accel[1] = ((short)data[2] << 8) | data[3];
-    got_accel[2] = ((short)data[4] << 8) | data[5];
-
-    accel_hw[0] += got_accel[0];
-    accel_hw[1] += got_accel[1];
-    accel_hw[2] += got_accel[2];
-
-    data[0] = (accel_hw[0] >> 8) & 0xff;
-    data[1] = (accel_hw[0]) & 0xff;
-    data[2] = (accel_hw[1] >> 8) & 0xff;
-    data[3] = (accel_hw[1]) & 0xff;
-    data[4] = (accel_hw[2] >> 8) & 0xff;
-    data[5] = (accel_hw[2]) & 0xff;
-
-    if (i2c_write(st.hw->addr, 0x06, 6, data))
-        return -1;
-    return 0;
-}
-
-/**
- *  @brief  Reset FIFO read/write pointers.
- *  @return 0 if successful.
- */
-int mpu_reset_fifo(void)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    data = 0;
-    if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-        return -1;
-
-    if (st.chip_cfg.dmp_on) {
-        data = BIT_FIFO_RST | BIT_DMP_RST;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-            return -1;
-        delay_ms(50);
-        data = BIT_DMP_EN | BIT_FIFO_EN;
-        if (st.chip_cfg.sensors & INV_XYZ_COMPASS)
-            data |= BIT_AUX_IF_EN;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-            return -1;
-        if (st.chip_cfg.int_enable)
-            data = BIT_DMP_INT_EN;
-        else
-            data = 0;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data))
-            return -1;
-        data = 0;
-        if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &data))
-            return -1;
-    } else {
-        data = BIT_FIFO_RST;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-            return -1;
-        if (st.chip_cfg.bypass_mode || !(st.chip_cfg.sensors & INV_XYZ_COMPASS))
-            data = BIT_FIFO_EN;
-        else
-            data = BIT_FIFO_EN | BIT_AUX_IF_EN;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-            return -1;
-        delay_ms(50);
-        if (st.chip_cfg.int_enable)
-            data = BIT_DATA_RDY_EN;
-        else
-            data = 0;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data))
-            return -1;
-        if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &st.chip_cfg.fifo_enable))
-            return -1;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Get the gyro full-scale range.
- *  @param[out] fsr Current full-scale range.
- *  @return     0 if successful.
- */
-int mpu_get_gyro_fsr(unsigned short *fsr)
-{
-    switch (st.chip_cfg.gyro_fsr) {
-    case INV_FSR_250DPS:
-        fsr[0] = 250;
-        break;
-    case INV_FSR_500DPS:
-        fsr[0] = 500;
-        break;
-    case INV_FSR_1000DPS:
-        fsr[0] = 1000;
-        break;
-    case INV_FSR_2000DPS:
-        fsr[0] = 2000;
-        break;
-    default:
-        fsr[0] = 0;
-        break;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Set the gyro full-scale range.
- *  @param[in]  fsr Desired full-scale range.
- *  @return     0 if successful.
- */
-int mpu_set_gyro_fsr(unsigned short fsr)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    switch (fsr) {
-    case 250:
-        data = INV_FSR_250DPS << 3;
-        break;
-    case 500:
-        data = INV_FSR_500DPS << 3;
-        break;
-    case 1000:
-        data = INV_FSR_1000DPS << 3;
-        break;
-    case 2000:
-        data = INV_FSR_2000DPS << 3;
-        break;
-    default:
-        return -1;
-    }
-
-    if (st.chip_cfg.gyro_fsr == (data >> 3))
-        return 0;
-    if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, &data))
-        return -1;
-    st.chip_cfg.gyro_fsr = data >> 3;
-    return 0;
-}
-
-/**
- *  @brief      Get the accel full-scale range.
- *  @param[out] fsr Current full-scale range.
- *  @return     0 if successful.
- */
-int mpu_get_accel_fsr(unsigned char *fsr)
-{
-    switch (st.chip_cfg.accel_fsr) {
-    case INV_FSR_2G:
-        fsr[0] = 2;
-        break;
-    case INV_FSR_4G:
-        fsr[0] = 4;
-        break;
-    case INV_FSR_8G:
-        fsr[0] = 8;
-        break;
-    case INV_FSR_16G:
-        fsr[0] = 16;
-        break;
-    default:
-        return -1;
-    }
-    if (st.chip_cfg.accel_half)
-        fsr[0] <<= 1;
-    return 0;
-}
-
-/**
- *  @brief      Set the accel full-scale range.
- *  @param[in]  fsr Desired full-scale range.
- *  @return     0 if successful.
- */
-int mpu_set_accel_fsr(unsigned char fsr)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    switch (fsr) {
-    case 2:
-        data = INV_FSR_2G << 3;
-        break;
-    case 4:
-        data = INV_FSR_4G << 3;
-        break;
-    case 8:
-        data = INV_FSR_8G << 3;
-        break;
-    case 16:
-        data = INV_FSR_16G << 3;
-        break;
-    default:
-        return -1;
-    }
-
-    if (st.chip_cfg.accel_fsr == (data >> 3))
-        return 0;
-    if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, &data))
-        return -1;
-    st.chip_cfg.accel_fsr = data >> 3;
-    return 0;
-}
-
-/**
- *  @brief      Get the current DLPF setting.
- *  @param[out] lpf Current LPF setting.
- *  0 if successful.
- */
-int mpu_get_lpf(unsigned short *lpf)
-{
-    switch (st.chip_cfg.lpf) {
-    case INV_FILTER_188HZ:
-        lpf[0] = 188;
-        break;
-    case INV_FILTER_98HZ:
-        lpf[0] = 98;
-        break;
-    case INV_FILTER_42HZ:
-        lpf[0] = 42;
-        break;
-    case INV_FILTER_20HZ:
-        lpf[0] = 20;
-        break;
-    case INV_FILTER_10HZ:
-        lpf[0] = 10;
-        break;
-    case INV_FILTER_5HZ:
-        lpf[0] = 5;
-        break;
-    case INV_FILTER_256HZ_NOLPF2:
-    case INV_FILTER_2100HZ_NOLPF:
-    default:
-        lpf[0] = 0;
-        break;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Set digital low pass filter.
- *  The following LPF settings are supported: 188, 98, 42, 20, 10, 5.
- *  @param[in]  lpf Desired LPF setting.
- *  @return     0 if successful.
- */
-int mpu_set_lpf(unsigned short lpf)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    if (lpf >= 188)
-        data = INV_FILTER_188HZ;
-    else if (lpf >= 98)
-        data = INV_FILTER_98HZ;
-    else if (lpf >= 42)
-        data = INV_FILTER_42HZ;
-    else if (lpf >= 20)
-        data = INV_FILTER_20HZ;
-    else if (lpf >= 10)
-        data = INV_FILTER_10HZ;
-    else
-        data = INV_FILTER_5HZ;
-
-    if (st.chip_cfg.lpf == data)
-        return 0;
-    if (i2c_write(st.hw->addr, st.reg->lpf, 1, &data))
-        return -1;
-    st.chip_cfg.lpf = data;
-    return 0;
-}
-
-/**
- *  @brief      Get sampling rate.
- *  @param[out] rate    Current sampling rate (Hz).
- *  @return     0 if successful.
- */
-int mpu_get_sample_rate(unsigned short *rate)
-{
-    if (st.chip_cfg.dmp_on)
-        return -1;
-    else
-        rate[0] = st.chip_cfg.sample_rate;
-
-    return 0;
-}
-
-/**
- *  @brief      Set sampling rate.
- *  Sampling rate must be between 4Hz and 1kHz.
- *  @param[in]  rate    Desired sampling rate (Hz).
- *  @return     0 if successful.
- */
-int mpu_set_sample_rate(unsigned short rate)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    if (st.chip_cfg.dmp_on)
-        return -1;
-    else {
-        if (st.chip_cfg.lp_accel_mode) {
-            if (rate && (rate <= 40)) {
-                /* Just stay in low-power accel mode. */
-                mpu_lp_accel_mode(rate);
-                return 0;
-            }
-            /* Requested rate exceeds the allowed frequencies in LP accel mode,
-             * switch back to full-power mode.
-             */
-            mpu_lp_accel_mode(0);
-        }
-        if (rate < 4)
-            rate = 4;
-        else if (rate > 1000)
-            rate = 1000;
-
-        data = 1000 / rate - 1;
-        if (i2c_write(st.hw->addr, st.reg->rate_div, 1, &data))
-            return -1;
-
-        st.chip_cfg.sample_rate = 1000 / (1 + data);
-
-#ifdef AK89xx_SECONDARY
-        mpu_set_compass_sample_rate(min(st.chip_cfg.compass_sample_rate, MAX_COMPASS_SAMPLE_RATE));
-#endif
-
-        /* Automatically set LPF to 1/2 sampling rate. */
-        mpu_set_lpf(st.chip_cfg.sample_rate >> 1);
-        return 0;
-    }
-}
-
-/**
- *  @brief      Get compass sampling rate.
- *  @param[out] rate    Current compass sampling rate (Hz).
- *  @return     0 if successful.
- */
-int mpu_get_compass_sample_rate(unsigned short *rate)
-{
-#ifdef AK89xx_SECONDARY
-    rate[0] = st.chip_cfg.compass_sample_rate;
-    return 0;
-#else
-    rate[0] = 0;
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Set compass sampling rate.
- *  The compass on the auxiliary I2C bus is read by the MPU hardware at a
- *  maximum of 100Hz. The actual rate can be set to a fraction of the gyro
- *  sampling rate.
- *
- *  \n WARNING: The new rate may be different than what was requested. Call
- *  mpu_get_compass_sample_rate to check the actual setting.
- *  @param[in]  rate    Desired compass sampling rate (Hz).
- *  @return     0 if successful.
- */
-int mpu_set_compass_sample_rate(unsigned short rate)
-{
-#ifdef AK89xx_SECONDARY
-    unsigned char div;
-    if (!rate || rate > st.chip_cfg.sample_rate || rate > MAX_COMPASS_SAMPLE_RATE)
-        return -1;
-
-    div = st.chip_cfg.sample_rate / rate - 1;
-    if (i2c_write(st.hw->addr, st.reg->s4_ctrl, 1, &div))
-        return -1;
-    st.chip_cfg.compass_sample_rate = st.chip_cfg.sample_rate / (div + 1);
-    return 0;
-#else
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Get gyro sensitivity scale factor.
- *  @param[out] sens    Conversion from hardware units to dps.
- *  @return     0 if successful.
- */
-int mpu_get_gyro_sens(float *sens)
-{
-    switch (st.chip_cfg.gyro_fsr) {
-    case INV_FSR_250DPS:
-        sens[0] = 131.f;
-        break;
-    case INV_FSR_500DPS:
-        sens[0] = 65.5f;
-        break;
-    case INV_FSR_1000DPS:
-        sens[0] = 32.8f;
-        break;
-    case INV_FSR_2000DPS:
-        sens[0] = 16.4f;
-        break;
-    default:
-        return -1;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Get accel sensitivity scale factor.
- *  @param[out] sens    Conversion from hardware units to g's.
- *  @return     0 if successful.
- */
-int mpu_get_accel_sens(unsigned short *sens)
-{
-    switch (st.chip_cfg.accel_fsr) {
-    case INV_FSR_2G:
-        sens[0] = 16384;
-        break;
-    case INV_FSR_4G:
-        sens[0] = 8092;
-        break;
-    case INV_FSR_8G:
-        sens[0] = 4096;
-        break;
-    case INV_FSR_16G:
-        sens[0] = 2048;
-        break;
-    default:
-        return -1;
-    }
-    if (st.chip_cfg.accel_half)
-        sens[0] >>= 1;
-    return 0;
-}
-
-/**
- *  @brief      Get current FIFO configuration.
- *  @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  @param[out] sensors Mask of sensors in FIFO.
- *  @return     0 if successful.
- */
-int mpu_get_fifo_config(unsigned char *sensors)
-{
-    sensors[0] = st.chip_cfg.fifo_enable;
-    return 0;
-}
-
-/**
- *  @brief      Select which sensors are pushed to FIFO.
- *  @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  @param[in]  sensors Mask of sensors to push to FIFO.
- *  @return     0 if successful.
- */
-int mpu_configure_fifo(unsigned char sensors)
-{
-    unsigned char prev;
-    int result = 0;
-
-    /* Compass data isn't going into the FIFO. Stop trying. */
-    sensors &= ~INV_XYZ_COMPASS;
-
-    if (st.chip_cfg.dmp_on)
-        return 0;
-    else {
-        if (!(st.chip_cfg.sensors))
-            return -1;
-        prev = st.chip_cfg.fifo_enable;
-        st.chip_cfg.fifo_enable = sensors & st.chip_cfg.sensors;
-        if (st.chip_cfg.fifo_enable != sensors)
-            /* You're not getting what you asked for. Some sensors are
-             * asleep.
-             */
-            result = -1;
-        else
-            result = 0;
-        if (sensors || st.chip_cfg.lp_accel_mode)
-            set_int_enable(1);
-        else
-            set_int_enable(0);
-        if (sensors) {
-            if (mpu_reset_fifo()) {
-                st.chip_cfg.fifo_enable = prev;
-                return -1;
-            }
-        }
-    }
-
-    return result;
-}
-
-/**
- *  @brief      Get current power state.
- *  @param[in]  power_on    1 if turned on, 0 if suspended.
- *  @return     0 if successful.
- */
-int mpu_get_power_state(unsigned char *power_on)
-{
-    if (st.chip_cfg.sensors)
-        power_on[0] = 1;
-    else
-        power_on[0] = 0;
-    return 0;
-}
-
-/**
- *  @brief      Turn specific sensors on/off.
- *  @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  \n INV_XYZ_COMPASS
- *  @param[in]  sensors    Mask of sensors to wake.
- *  @return     0 if successful.
- */
-int mpu_set_sensors(unsigned char sensors)
-{
-    unsigned char data;
-#ifdef AK89xx_SECONDARY
-    unsigned char user_ctrl;
-#endif
-
-    if (sensors & INV_XYZ_GYRO)
-        data = INV_CLK_PLL;
-    else if (sensors)
-        data = 0;
-    else
-        data = BIT_SLEEP;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, &data)) {
-        st.chip_cfg.sensors = 0;
-        return -1;
-    }
-    st.chip_cfg.clk_src = data & ~BIT_SLEEP;
-
-    data = 0;
-    if (!(sensors & INV_X_GYRO))
-        data |= BIT_STBY_XG;
-    if (!(sensors & INV_Y_GYRO))
-        data |= BIT_STBY_YG;
-    if (!(sensors & INV_Z_GYRO))
-        data |= BIT_STBY_ZG;
-    if (!(sensors & INV_XYZ_ACCEL))
-        data |= BIT_STBY_XYZA;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_2, 1, &data)) {
-        st.chip_cfg.sensors = 0;
-        return -1;
-    }
-
-    if (sensors && (sensors != INV_XYZ_ACCEL))
-        /* Latched interrupts only used in LP accel mode. */
-        mpu_set_int_latched(0);
-
-#ifdef AK89xx_SECONDARY
-#ifdef AK89xx_BYPASS
-    if (sensors & INV_XYZ_COMPASS)
-        mpu_set_bypass(1);
-    else
-        mpu_set_bypass(0);
-#else
-    if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &user_ctrl))
-        return -1;
-    /* Handle AKM power management. */
-    if (sensors & INV_XYZ_COMPASS) {
-        data = AKM_SINGLE_MEASUREMENT;
-        user_ctrl |= BIT_AUX_IF_EN;
-    } else {
-        data = AKM_POWER_DOWN;
-        user_ctrl &= ~BIT_AUX_IF_EN;
-    }
-    if (st.chip_cfg.dmp_on)
-        user_ctrl |= BIT_DMP_EN;
-    else
-        user_ctrl &= ~BIT_DMP_EN;
-    if (i2c_write(st.hw->addr, st.reg->s1_do, 1, &data))
-        return -1;
-    /* Enable/disable I2C master mode. */
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &user_ctrl))
-        return -1;
-#endif
-#endif
-
-    st.chip_cfg.sensors = sensors;
-    st.chip_cfg.lp_accel_mode = 0;
-    delay_ms(50);
-    return 0;
-}
-
-/**
- *  @brief      Read the MPU interrupt status registers.
- *  @param[out] status  Mask of interrupt bits.
- *  @return     0 if successful.
- */
-int mpu_get_int_status(short *status)
-{
-    unsigned char tmp[2];
-    if (!st.chip_cfg.sensors)
-        return -1;
-    if (i2c_read(st.hw->addr, st.reg->dmp_int_status, 2, tmp))
-        return -1;
-    status[0] = (tmp[0] << 8) | tmp[1];
-    return 0;
-}
-
-/**
- *  @brief      Get one packet from the FIFO.
- *  If @e sensors does not contain a particular sensor, disregard the data
- *  returned to that pointer.
- *  \n @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  \n If the FIFO has no new data, @e sensors will be zero.
- *  \n If the FIFO is disabled, @e sensors will be zero and this function will
- *  return a non-zero error code.
- *  @param[out] gyro        Gyro data in hardware units.
- *  @param[out] accel       Accel data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds.
- *  @param[out] sensors     Mask of sensors read from FIFO.
- *  @param[out] more        Number of remaining packets.
- *  @return     0 if successful.
- */
-int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
-        unsigned char *sensors, unsigned char *more)
-{
-    /* Assumes maximum packet size is gyro (6) + accel (6). */
-    unsigned char data[MAX_PACKET_LENGTH];
-    unsigned char packet_size = 0;
-    unsigned short fifo_count, index = 0;
-
-    if (st.chip_cfg.dmp_on)
-        return -1;
-
-    sensors[0] = 0;
-    if (!st.chip_cfg.sensors)
-        return -1;
-    if (!st.chip_cfg.fifo_enable)
-        return -1;
-
-    if (st.chip_cfg.fifo_enable & INV_X_GYRO)
-        packet_size += 2;
-    if (st.chip_cfg.fifo_enable & INV_Y_GYRO)
-        packet_size += 2;
-    if (st.chip_cfg.fifo_enable & INV_Z_GYRO)
-        packet_size += 2;
-    if (st.chip_cfg.fifo_enable & INV_XYZ_ACCEL)
-        packet_size += 6;
-
-    if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data))
-        return -1;
-    fifo_count = (data[0] << 8) | data[1];
-    if (fifo_count < packet_size)
-        return 0;
-//    log_i("FIFO count: %hd\n", fifo_count);
-    if (fifo_count > (st.hw->max_fifo >> 1)) {
-        /* FIFO is 50% full, better check overflow bit. */
-        if (i2c_read(st.hw->addr, st.reg->int_status, 1, data))
-            return -1;
-        if (data[0] & BIT_FIFO_OVERFLOW) {
-            mpu_reset_fifo();
-            return -2;
-        }
-    }
-    get_ms((unsigned long*)timestamp);
-
-    if (i2c_read(st.hw->addr, st.reg->fifo_r_w, packet_size, data))
-        return -1;
-    more[0] = fifo_count / packet_size - 1;
-    sensors[0] = 0;
-
-    if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_XYZ_ACCEL) {
-        accel[0] = (data[index+0] << 8) | data[index+1];
-        accel[1] = (data[index+2] << 8) | data[index+3];
-        accel[2] = (data[index+4] << 8) | data[index+5];
-        sensors[0] |= INV_XYZ_ACCEL;
-        index += 6;
-    }
-    if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_X_GYRO) {
-        gyro[0] = (data[index+0] << 8) | data[index+1];
-        sensors[0] |= INV_X_GYRO;
-        index += 2;
-    }
-    if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_Y_GYRO) {
-        gyro[1] = (data[index+0] << 8) | data[index+1];
-        sensors[0] |= INV_Y_GYRO;
-        index += 2;
-    }
-    if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_Z_GYRO) {
-        gyro[2] = (data[index+0] << 8) | data[index+1];
-        sensors[0] |= INV_Z_GYRO;
-        index += 2;
-    }
-
-    return 0;
-}
-
-/**
- *  @brief      Get one unparsed packet from the FIFO.
- *  This function should be used if the packet is to be parsed elsewhere.
- *  @param[in]  length  Length of one FIFO packet.
- *  @param[in]  data    FIFO packet.
- *  @param[in]  more    Number of remaining packets.
- */
-int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
-    unsigned char *more)
-{
-    unsigned char tmp[2];
-    unsigned short fifo_count;
-
-//    printf("addr %d, dmp_on %d, sensors %d\r\n", st.hw->addr, st.chip_cfg.dmp_on, st.chip_cfg.sensors);
-
-    if (!st.chip_cfg.dmp_on)
-        return -1;
-    if (!st.chip_cfg.sensors)
-        return -1;
-
-//    printf("----1\r\n");
-
-    if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, tmp))
-        return -1;
-
-//    printf("----2\r\n");
-
-    fifo_count = (tmp[0] << 8) | tmp[1];
-    if (fifo_count < length) {
-        more[0] = 0;
-        return -1;
-    }
-
-//    printf("----3\r\n");
-    if (fifo_count > (st.hw->max_fifo >> 1)) {
-
-//        printf("----3.1\r\n");
-        /* FIFO is 50% full, better check overflow bit. */
-        if (i2c_read(st.hw->addr, st.reg->int_status, 1, tmp))
-            return -1;
-
-//        printf("----3.2\r\n");
-        if (tmp[0] & BIT_FIFO_OVERFLOW) {
-            mpu_reset_fifo();
-            return -2;
-        }
-    }
-
-//    printf("----4\r\n");
-    if (i2c_read(st.hw->addr, st.reg->fifo_r_w, length, data))
-        return -1;
-
-    more[0] = fifo_count / length - 1;
-    return 0;
-}
-
-/**
- *  @brief      Set device to bypass mode.
- *  @param[in]  bypass_on   1 to enable bypass mode.
- *  @return     0 if successful.
- */
-int mpu_set_bypass(unsigned char bypass_on)
-{
-    unsigned char tmp;
-
-    if (st.chip_cfg.bypass_mode == bypass_on)
-        return 0;
-
-    if (bypass_on) {
-        if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
-            return -1;
-        tmp &= ~BIT_AUX_IF_EN;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
-            return -1;
-        delay_ms(3);
-        tmp = BIT_BYPASS_EN;
-        if (st.chip_cfg.active_low_int)
-            tmp |= BIT_ACTL;
-        if (st.chip_cfg.latched_int)
-            tmp |= BIT_LATCH_EN | BIT_ANY_RD_CLR;
-        if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp))
-            return -1;
-    } else {
-        /* Enable I2C master mode if compass is being used. */
-        if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
-            return -1;
-        if (st.chip_cfg.sensors & INV_XYZ_COMPASS)
-            tmp |= BIT_AUX_IF_EN;
-        else
-            tmp &= ~BIT_AUX_IF_EN;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
-            return -1;
-        delay_ms(3);
-        if (st.chip_cfg.active_low_int)
-            tmp = BIT_ACTL;
-        else
-            tmp = 0;
-        if (st.chip_cfg.latched_int)
-            tmp |= BIT_LATCH_EN | BIT_ANY_RD_CLR;
-        if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp))
-            return -1;
-    }
-    st.chip_cfg.bypass_mode = bypass_on;
-    return 0;
-}
-
-/**
- *  @brief      Set interrupt level.
- *  @param[in]  active_low  1 for active low, 0 for active high.
- *  @return     0 if successful.
- */
-int mpu_set_int_level(unsigned char active_low)
-{
-    st.chip_cfg.active_low_int = active_low;
-    return 0;
-}
-
-/**
- *  @brief      Enable latched interrupts.
- *  Any MPU register will clear the interrupt.
- *  @param[in]  enable  1 to enable, 0 to disable.
- *  @return     0 if successful.
- */
-int mpu_set_int_latched(unsigned char enable)
-{
-    unsigned char tmp;
-    if (st.chip_cfg.latched_int == enable)
-        return 0;
-
-    if (enable)
-        tmp = BIT_LATCH_EN | BIT_ANY_RD_CLR;
-    else
-        tmp = 0;
-    if (st.chip_cfg.bypass_mode)
-        tmp |= BIT_BYPASS_EN;
-    if (st.chip_cfg.active_low_int)
-        tmp |= BIT_ACTL;
-    if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp))
-        return -1;
-    st.chip_cfg.latched_int = enable;
-    return 0;
-}
-
-#ifdef MPU6050
-static int get_accel_prod_shift(float *st_shift)
-{
-    unsigned char tmp[4], shift_code[3], ii;
-
-    if (i2c_read(st.hw->addr, 0x0D, 4, tmp))
-        return 0x07;
-
-    shift_code[0] = ((tmp[0] & 0xE0) >> 3) | ((tmp[3] & 0x30) >> 4);
-    shift_code[1] = ((tmp[1] & 0xE0) >> 3) | ((tmp[3] & 0x0C) >> 2);
-    shift_code[2] = ((tmp[2] & 0xE0) >> 3) | (tmp[3] & 0x03);
-    for (ii = 0; ii < 3; ii++) {
-        if (!shift_code[ii]) {
-            st_shift[ii] = 0.f;
-            continue;
-        }
-        /* Equivalent to..
-         * st_shift[ii] = 0.34f * powf(0.92f/0.34f, (shift_code[ii]-1) / 30.f)
-         */
-        st_shift[ii] = 0.34f;
-        while (--shift_code[ii])
-            st_shift[ii] *= 1.034f;
-    }
-    return 0;
-}
-
-static int accel_self_test(long *bias_regular, long *bias_st)
-{
-    int jj, result = 0;
-    float st_shift[3], st_shift_cust, st_shift_var;
-
-    get_accel_prod_shift(st_shift);
-    for(jj = 0; jj < 3; jj++) {
-        st_shift_cust = labs(bias_regular[jj] - bias_st[jj]) / 65536.f;
-        if (st_shift[jj]) {
-            st_shift_var = st_shift_cust / st_shift[jj] - 1.f;
-            if (fabs(st_shift_var) > test.max_accel_var)
-                result |= 1 << jj;
-        } else if ((st_shift_cust < test.min_g) ||
-            (st_shift_cust > test.max_g))
-            result |= 1 << jj;
-    }
-
-    return result;
-}
-
-static int gyro_self_test(long *bias_regular, long *bias_st)
-{
-    int jj, result = 0;
-    unsigned char tmp[3];
-    float st_shift, st_shift_cust, st_shift_var;
-
-    if (i2c_read(st.hw->addr, 0x0D, 3, tmp))
-        return 0x07;
-
-    tmp[0] &= 0x1F;
-    tmp[1] &= 0x1F;
-    tmp[2] &= 0x1F;
-
-    for (jj = 0; jj < 3; jj++) {
-        st_shift_cust = labs(bias_regular[jj] - bias_st[jj]) / 65536.f;
-        if (tmp[jj]) {
-            st_shift = 3275.f / test.gyro_sens;
-            while (--tmp[jj])
-                st_shift *= 1.046f;
-            st_shift_var = st_shift_cust / st_shift - 1.f;
-            if (fabs(st_shift_var) > test.max_gyro_var)
-                result |= 1 << jj;
-        } else if ((st_shift_cust < test.min_dps) ||
-            (st_shift_cust > test.max_dps))
-            result |= 1 << jj;
-    }
-    return result;
-}
-
-#ifdef AK89xx_SECONDARY
-static int compass_self_test(void)
-{
-    unsigned char tmp[6];
-    unsigned char tries = 10;
-    int result = 0x07;
-    short data;
-
-    mpu_set_bypass(1);
-
-    tmp[0] = AKM_POWER_DOWN;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp))
-        return 0x07;
-    tmp[0] = AKM_BIT_SELF_TEST;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_ASTC, 1, tmp))
-        goto AKM_restore;
-    tmp[0] = AKM_MODE_SELF_TEST;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp))
-        goto AKM_restore;
-
-    do {
-        delay_ms(10);
-        if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ST1, 1, tmp))
-            goto AKM_restore;
-        if (tmp[0] & AKM_DATA_READY)
-            break;
-    } while (tries--);
-    if (!(tmp[0] & AKM_DATA_READY))
-        goto AKM_restore;
-
-    if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_HXL, 6, tmp))
-        goto AKM_restore;
-
-    result = 0;
-    data = (short)(tmp[1] << 8) | tmp[0];
-    if ((data > 100) || (data < -100))
-        result |= 0x01;
-    data = (short)(tmp[3] << 8) | tmp[2];
-    if ((data > 100) || (data < -100))
-        result |= 0x02;
-    data = (short)(tmp[5] << 8) | tmp[4];
-    if ((data > -300) || (data < -1000))
-        result |= 0x04;
-
-AKM_restore:
-    tmp[0] = 0 | SUPPORTS_AK89xx_HIGH_SENS;
-    i2c_write(st.chip_cfg.compass_addr, AKM_REG_ASTC, 1, tmp);
-    tmp[0] = SUPPORTS_AK89xx_HIGH_SENS;
-    i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp);
-    mpu_set_bypass(0);
-    return result;
-}
-#endif
-#endif
-
-static int get_st_biases(long *gyro, long *accel, unsigned char hw_test)
-{
-    unsigned char data[MAX_PACKET_LENGTH];
-    unsigned char packet_count, ii;
-    unsigned short fifo_count;
-
-    data[0] = 0x01;
-    data[1] = 0;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, data))
-        return -1;
-    delay_ms(200);
-    data[0] = 0;
-    if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
-        return -1;
-    data[0] = BIT_FIFO_RST | BIT_DMP_RST;
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
-        return -1;
-    delay_ms(15);
-    data[0] = st.test->reg_lpf;
-    if (i2c_write(st.hw->addr, st.reg->lpf, 1, data))
-        return -1;
-    data[0] = st.test->reg_rate_div;
-    if (i2c_write(st.hw->addr, st.reg->rate_div, 1, data))
-        return -1;
-    if (hw_test)
-        data[0] = st.test->reg_gyro_fsr | 0xE0;
-    else
-        data[0] = st.test->reg_gyro_fsr;
-    if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, data))
-        return -1;
-
-    if (hw_test)
-        data[0] = st.test->reg_accel_fsr | 0xE0;
-    else
-        data[0] = test.reg_accel_fsr;
-    if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, data))
-        return -1;
-    if (hw_test)
-        delay_ms(200);
-
-    /* Fill FIFO for test.wait_ms milliseconds. */
-    data[0] = BIT_FIFO_EN;
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
-        return -1;
-
-    data[0] = INV_XYZ_GYRO | INV_XYZ_ACCEL;
-    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
-        return -1;
-    delay_ms(test.wait_ms);
-    data[0] = 0;
-    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
-        return -1;
-
-    if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data))
-        return -1;
-
-    fifo_count = (data[0] << 8) | data[1];
-    packet_count = fifo_count / MAX_PACKET_LENGTH;
-    gyro[0] = gyro[1] = gyro[2] = 0;
-    accel[0] = accel[1] = accel[2] = 0;
-
-    for (ii = 0; ii < packet_count; ii++) {
-        short accel_cur[3], gyro_cur[3];
-        if (i2c_read(st.hw->addr, st.reg->fifo_r_w, MAX_PACKET_LENGTH, data))
-            return -1;
-        accel_cur[0] = ((short)data[0] << 8) | data[1];
-        accel_cur[1] = ((short)data[2] << 8) | data[3];
-        accel_cur[2] = ((short)data[4] << 8) | data[5];
-        accel[0] += (long)accel_cur[0];
-        accel[1] += (long)accel_cur[1];
-        accel[2] += (long)accel_cur[2];
-        gyro_cur[0] = (((short)data[6] << 8) | data[7]);
-        gyro_cur[1] = (((short)data[8] << 8) | data[9]);
-        gyro_cur[2] = (((short)data[10] << 8) | data[11]);
-        gyro[0] += (long)gyro_cur[0];
-        gyro[1] += (long)gyro_cur[1];
-        gyro[2] += (long)gyro_cur[2];
-    }
-#ifdef EMPL_NO_64BIT
-    gyro[0] = (long)(((float)gyro[0]*65536.f) / test.gyro_sens / packet_count);
-    gyro[1] = (long)(((float)gyro[1]*65536.f) / test.gyro_sens / packet_count);
-    gyro[2] = (long)(((float)gyro[2]*65536.f) / test.gyro_sens / packet_count);
-    if (has_accel) {
-        accel[0] = (long)(((float)accel[0]*65536.f) / test.accel_sens /
-            packet_count);
-        accel[1] = (long)(((float)accel[1]*65536.f) / test.accel_sens /
-            packet_count);
-        accel[2] = (long)(((float)accel[2]*65536.f) / test.accel_sens /
-            packet_count);
-        /* Don't remove gravity! */
-        accel[2] -= 65536L;
-    }
-#else
-    gyro[0] = (long)(((long long)gyro[0]<<16) / test.gyro_sens / packet_count);
-    gyro[1] = (long)(((long long)gyro[1]<<16) / test.gyro_sens / packet_count);
-    gyro[2] = (long)(((long long)gyro[2]<<16) / test.gyro_sens / packet_count);
-    accel[0] = (long)(((long long)accel[0]<<16) / test.accel_sens /
-        packet_count);
-    accel[1] = (long)(((long long)accel[1]<<16) / test.accel_sens /
-        packet_count);
-    accel[2] = (long)(((long long)accel[2]<<16) / test.accel_sens /
-        packet_count);
-    /* Don't remove gravity! */
-    if (accel[2] > 0L)
-        accel[2] -= 65536L;
-    else
-        accel[2] += 65536L;
-#endif
-
-    return 0;
-}
-
-/**
- *  @brief      Trigger gyro/accel/compass self-test.
- *  On success/error, the self-test returns a mask representing the sensor(s)
- *  that failed. For each bit, a one (1) represents a "pass" case; conversely,
- *  a zero (0) indicates a failure.
- *
- *  \n The mask is defined as follows:
- *  \n Bit 0:   Gyro.
- *  \n Bit 1:   Accel.
- *  \n Bit 2:   Compass.
- *
- *  \n Currently, the hardware self-test is unsupported for MPU6500. However,
- *  this function can still be used to obtain the accel and gyro biases.
- *
- *  \n This function must be called with the device either face-up or face-down
- *  (z-axis is parallel to gravity).
- *  @param[out] gyro        Gyro biases in q16 format.
- *  @param[out] accel       Accel biases (if applicable) in q16 format.
- *  @return     Result mask (see above).
- */
-int mpu_run_self_test(long *gyro, long *accel)
-{
-#ifdef MPU6050
-    const unsigned char tries = 2;
-    long gyro_st[3], accel_st[3];
-    unsigned char accel_result, gyro_result;
-#ifdef AK89xx_SECONDARY
-    unsigned char compass_result;
-#endif
-    int ii;
-#endif
-    int result;
-    unsigned char accel_fsr, fifo_sensors, sensors_on;
-    unsigned short gyro_fsr, sample_rate, lpf;
-    unsigned char dmp_was_on;
-
-    if (st.chip_cfg.dmp_on) {
-        mpu_set_dmp_state(0);
-        dmp_was_on = 1;
-    } else
-        dmp_was_on = 0;
-
-    /* Get initial settings. */
-    mpu_get_gyro_fsr(&gyro_fsr);
-    mpu_get_accel_fsr(&accel_fsr);
-    mpu_get_lpf(&lpf);
-    mpu_get_sample_rate(&sample_rate);
-    sensors_on = st.chip_cfg.sensors;
-    mpu_get_fifo_config(&fifo_sensors);
-
-    /* For older chips, the self-test will be different. */
-#if defined MPU6050
-    for (ii = 0; ii < tries; ii++)
-        if (!get_st_biases(gyro, accel, 0))
-            break;
-    if (ii == tries) {
-        /* If we reach this point, we most likely encountered an I2C error.
-         * We'll just report an error for all three sensors.
-         */
-        result = 0;
-        goto restore;
-    }
-    for (ii = 0; ii < tries; ii++)
-        if (!get_st_biases(gyro_st, accel_st, 1))
-            break;
-    if (ii == tries) {
-        /* Again, probably an I2C error. */
-        result = 0;
-        goto restore;
-    }
-    accel_result = accel_self_test(accel, accel_st);
-    gyro_result = gyro_self_test(gyro, gyro_st);
-
-    result = 0;
-    if (!gyro_result)
-        result |= 0x01;
-    if (!accel_result)
-        result |= 0x02;
-
-#ifdef AK89xx_SECONDARY
-    compass_result = compass_self_test();
-    if (!compass_result)
-        result |= 0x04;
-#endif
-restore:
-#elif defined MPU6500
-    /* For now, this function will return a "pass" result for all three sensors
-     * for compatibility with current test applications.
-     */
-    get_st_biases(gyro, accel, 0);
-    result = 0x7;
-#endif
-    /* Set to invalid values to ensure no I2C writes are skipped. */
-    st.chip_cfg.gyro_fsr = 0xFF;
-    st.chip_cfg.accel_fsr = 0xFF;
-    st.chip_cfg.lpf = 0xFF;
-    st.chip_cfg.sample_rate = 0xFFFF;
-    st.chip_cfg.sensors = 0xFF;
-    st.chip_cfg.fifo_enable = 0xFF;
-    st.chip_cfg.clk_src = INV_CLK_PLL;
-    mpu_set_gyro_fsr(gyro_fsr);
-    mpu_set_accel_fsr(accel_fsr);
-    mpu_set_lpf(lpf);
-    mpu_set_sample_rate(sample_rate);
-    mpu_set_sensors(sensors_on);
-    mpu_configure_fifo(fifo_sensors);
-
-    if (dmp_was_on)
-        mpu_set_dmp_state(1);
-
-    return result;
-}
-
-/**
- *  @brief      Write to the DMP memory.
- *  This function prevents I2C writes past the bank boundaries. The DMP memory
- *  is only accessible when the chip is awake.
- *  @param[in]  mem_addr    Memory location (bank << 8 | start address)
- *  @param[in]  length      Number of bytes to write.
- *  @param[in]  data        Bytes to write to memory.
- *  @return     0 if successful.
- */
-int mpu_write_mem(unsigned short mem_addr, unsigned short length,
-        unsigned char *data)
-{
-    unsigned char tmp[2];
-
-    if (!data)
-        return -1;
-    if (!st.chip_cfg.sensors)
-        return -1;
-
-    tmp[0] = (unsigned char)(mem_addr >> 8);
-    tmp[1] = (unsigned char)(mem_addr & 0xFF);
-
-    /* Check bank boundaries. */
-    if (tmp[1] + length > st.hw->bank_size)
-        return -1;
-
-    if (i2c_write(st.hw->addr, st.reg->bank_sel, 2, tmp))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->mem_r_w, length, data))
-        return -1;
-    return 0;
-}
-
-/**
- *  @brief      Read from the DMP memory.
- *  This function prevents I2C reads past the bank boundaries. The DMP memory
- *  is only accessible when the chip is awake.
- *  @param[in]  mem_addr    Memory location (bank << 8 | start address)
- *  @param[in]  length      Number of bytes to read.
- *  @param[out] data        Bytes read from memory.
- *  @return     0 if successful.
- */
-int mpu_read_mem(unsigned short mem_addr, unsigned short length,
-        unsigned char *data)
-{
-    unsigned char tmp[2];
-
-    if (!data)
-        return -1;
-    if (!st.chip_cfg.sensors)
-        return -1;
-
-    tmp[0] = (unsigned char)(mem_addr >> 8);
-    tmp[1] = (unsigned char)(mem_addr & 0xFF);
-
-    /* Check bank boundaries. */
-    if (tmp[1] + length > st.hw->bank_size)
-        return -1;
-
-    if (i2c_write(st.hw->addr, st.reg->bank_sel, 2, tmp))
-        return -1;
-    if (i2c_read(st.hw->addr, st.reg->mem_r_w, length, data))
-        return -1;
-    return 0;
-}
-
-/**
- *  @brief      Load and verify DMP image.
- *  @param[in]  length      Length of DMP image.
- *  @param[in]  firmware    DMP code.
- *  @param[in]  start_addr  Starting address of DMP code memory.
- *  @param[in]  sample_rate Fixed sampling rate used when DMP is enabled.
- *  @return     0 if successful.
- */
-int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
-    unsigned short start_addr, unsigned short sample_rate)
-{
-    unsigned short ii;
-    unsigned short this_write;
-    /* Must divide evenly into st.hw->bank_size to avoid bank crossings. */
-#define LOAD_CHUNK  (16)
-    unsigned char cur[LOAD_CHUNK], tmp[2];
-
-    if (st.chip_cfg.dmp_loaded)
-        /* DMP should only be loaded once. */
-        return -1;
-
-    if (!firmware)
-        return -1;
-    for (ii = 0; ii < length; ii += this_write) {
-        this_write = min(LOAD_CHUNK, length - ii);
-        if (mpu_write_mem(ii, this_write, (unsigned char*)&firmware[ii]))
-            return -1;
-        if (mpu_read_mem(ii, this_write, cur))
-            return -1;
-        if (memcmp(firmware+ii, cur, this_write))
-            return -2;
-    }
-
-    /* Set program start address. */
-    tmp[0] = start_addr >> 8;
-    tmp[1] = start_addr & 0xFF;
-    if (i2c_write(st.hw->addr, st.reg->prgm_start_h, 2, tmp))
-        return -1;
-
-    st.chip_cfg.dmp_loaded = 1;
-    st.chip_cfg.dmp_sample_rate = sample_rate;
-    return 0;
-}
-
-/**
- *  @brief      Enable/disable DMP support.
- *  @param[in]  enable  1 to turn on the DMP.
- *  @return     0 if successful.
- */
-int mpu_set_dmp_state(unsigned char enable)
-{
-    unsigned char tmp;
-    if (st.chip_cfg.dmp_on == enable)
-        return 0;
-
-    if (enable) {
-        if (!st.chip_cfg.dmp_loaded)
-            return -1;
-        /* Disable data ready interrupt. */
-        set_int_enable(0);
-        /* Disable bypass mode. */
-        mpu_set_bypass(0);
-        /* Keep constant sample rate, FIFO rate controlled by DMP. */
-        mpu_set_sample_rate(st.chip_cfg.dmp_sample_rate);
-        /* Remove FIFO elements. */
-        tmp = 0;
-        i2c_write(st.hw->addr, 0x23, 1, &tmp);
-        st.chip_cfg.dmp_on = 1;
-        /* Enable DMP interrupt. */
-        set_int_enable(1);
-        mpu_reset_fifo();
-    } else {
-        /* Disable DMP interrupt. */
-        set_int_enable(0);
-        /* Restore FIFO settings. */
-        tmp = st.chip_cfg.fifo_enable;
-        i2c_write(st.hw->addr, 0x23, 1, &tmp);
-        st.chip_cfg.dmp_on = 0;
-        mpu_reset_fifo();
-    }
-    return 0;
-}
-
-/**
- *  @brief      Get DMP state.
- *  @param[out] enabled 1 if enabled.
- *  @return     0 if successful.
- */
-int mpu_get_dmp_state(unsigned char *enabled)
-{
-    enabled[0] = st.chip_cfg.dmp_on;
-    return 0;
-}
-
-
-/* This initialization is similar to the one in ak8975.c. */
-static int setup_compass(void)
-{
-#ifdef AK89xx_SECONDARY
-    unsigned char data[4], akm_addr;
-
-    mpu_set_bypass(1);
-
-    /* Find compass. Possible addresses range from 0x0C to 0x0F. */
-    for (akm_addr = 0x0C; akm_addr <= 0x0F; akm_addr++) {
-        int result;
-        result = i2c_read(akm_addr, AKM_REG_WHOAMI, 1, data);
-        if (!result && (data[0] == AKM_WHOAMI))
-            break;
-    }
-
-    if (akm_addr > 0x0F) {
-        /* TODO: Handle this case in all compass-related functions. */
-        log_e("Compass not found.\n");
-        return -1;
-    }
-
-    st.chip_cfg.compass_addr = akm_addr;
-
-    data[0] = AKM_POWER_DOWN;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data))
-        return -1;
-    delay_ms(1);
-
-    data[0] = AKM_FUSE_ROM_ACCESS;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data))
-        return -1;
-    delay_ms(1);
-
-    /* Get sensitivity adjustment data from fuse ROM. */
-    if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ASAX, 3, data))
-        return -1;
-    st.chip_cfg.mag_sens_adj[0] = (long)data[0] + 128;
-    st.chip_cfg.mag_sens_adj[1] = (long)data[1] + 128;
-    st.chip_cfg.mag_sens_adj[2] = (long)data[2] + 128;
-
-    data[0] = AKM_POWER_DOWN;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data))
-        return -1;
-    delay_ms(1);
-
-    mpu_set_bypass(0);
-
-    /* Set up master mode, master clock, and ES bit. */
-    data[0] = 0x40;
-    if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data))
-        return -1;
-
-    /* Slave 0 reads from AKM data registers. */
-    data[0] = BIT_I2C_READ | st.chip_cfg.compass_addr;
-    if (i2c_write(st.hw->addr, st.reg->s0_addr, 1, data))
-        return -1;
-
-    /* Compass reads start at this register. */
-    data[0] = AKM_REG_ST1;
-    if (i2c_write(st.hw->addr, st.reg->s0_reg, 1, data))
-        return -1;
-
-    /* Enable slave 0, 8-byte reads. */
-    data[0] = BIT_SLAVE_EN | 8;
-    if (i2c_write(st.hw->addr, st.reg->s0_ctrl, 1, data))
-        return -1;
-
-    /* Slave 1 changes AKM measurement mode. */
-    data[0] = st.chip_cfg.compass_addr;
-    if (i2c_write(st.hw->addr, st.reg->s1_addr, 1, data))
-        return -1;
-
-    /* AKM measurement mode register. */
-    data[0] = AKM_REG_CNTL;
-    if (i2c_write(st.hw->addr, st.reg->s1_reg, 1, data))
-        return -1;
-
-    /* Enable slave 1, 1-byte writes. */
-    data[0] = BIT_SLAVE_EN | 1;
-    if (i2c_write(st.hw->addr, st.reg->s1_ctrl, 1, data))
-        return -1;
-
-    /* Set slave 1 data. */
-    data[0] = AKM_SINGLE_MEASUREMENT;
-    if (i2c_write(st.hw->addr, st.reg->s1_do, 1, data))
-        return -1;
-
-    /* Trigger slave 0 and slave 1 actions at each sample. */
-    data[0] = 0x03;
-    if (i2c_write(st.hw->addr, st.reg->i2c_delay_ctrl, 1, data))
-        return -1;
-
-#ifdef MPU9150
-    /* For the MPU9150, the auxiliary I2C bus needs to be set to VDD. */
-    data[0] = BIT_I2C_MST_VDDIO;
-    if (i2c_write(st.hw->addr, st.reg->yg_offs_tc, 1, data))
-        return -1;
-#endif
-
-    return 0;
-#else
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Read raw compass data.
- *  @param[out] data        Raw data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds. Null if not needed.
- *  @return     0 if successful.
- */
-int mpu_get_compass_reg(short *data, unsigned long *timestamp)
-{
-#ifdef AK89xx_SECONDARY
-    unsigned char tmp[9];
-
-    if (!(st.chip_cfg.sensors & INV_XYZ_COMPASS))
-        return -1;
-
-#ifdef AK89xx_BYPASS
-    if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ST1, 8, tmp))
-        return -1;
-    tmp[8] = AKM_SINGLE_MEASUREMENT;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp+8))
-        return -1;
-#else
-    if (i2c_read(st.hw->addr, st.reg->raw_compass, 8, tmp))
-        return -1;
-#endif
-
-#if defined AK8975_SECONDARY
-    /* AK8975 doesn't have the overrun error bit. */
-    if (!(tmp[0] & AKM_DATA_READY))
-        return -2;
-    if ((tmp[7] & AKM_OVERFLOW) || (tmp[7] & AKM_DATA_ERROR))
-        return -3;
-#elif defined AK8963_SECONDARY
-    /* AK8963 doesn't have the data read error bit. */
-    if (!(tmp[0] & AKM_DATA_READY) || (tmp[0] & AKM_DATA_OVERRUN))
-        return -2;
-    if (tmp[7] & AKM_OVERFLOW)
-        return -3;
-#endif
-    data[0] = (tmp[2] << 8) | tmp[1];
-    data[1] = (tmp[4] << 8) | tmp[3];
-    data[2] = (tmp[6] << 8) | tmp[5];
-
-    data[0] = ((long)data[0] * st.chip_cfg.mag_sens_adj[0]) >> 8;
-    data[1] = ((long)data[1] * st.chip_cfg.mag_sens_adj[1]) >> 8;
-    data[2] = ((long)data[2] * st.chip_cfg.mag_sens_adj[2]) >> 8;
-
-    if (timestamp)
-        get_ms(timestamp);
-    return 0;
-#else
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Get the compass full-scale range.
- *  @param[out] fsr Current full-scale range.
- *  @return     0 if successful.
- */
-int mpu_get_compass_fsr(unsigned short *fsr)
-{
-#ifdef AK89xx_SECONDARY
-    fsr[0] = st.hw->compass_fsr;
-    return 0;
-#else
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Enters LP accel motion interrupt mode.
- *  The behaviour of this feature is very different between the MPU6050 and the
- *  MPU6500. Each chip's version of this feature is explained below.
- *
- *  \n The hardware motion threshold can be between 32mg and 8160mg in 32mg
- *  increments.
- *
- *  \n Low-power accel mode supports the following frequencies:
- *  \n 1.25Hz, 5Hz, 20Hz, 40Hz
- *
- *  \n MPU6500:
- *  \n Unlike the MPU6050 version, the hardware does not "lock in" a reference
- *  sample. The hardware monitors the accel data and detects any large change
- *  over a short period of time.
- *
- *  \n The hardware motion threshold can be between 4mg and 1020mg in 4mg
- *  increments.
- *
- *  \n MPU6500 Low-power accel mode supports the following frequencies:
- *  \n 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz
- *
- *  \n\n NOTES:
- *  \n The driver will round down @e thresh to the nearest supported value if
- *  an unsupported threshold is selected.
- *  \n To select a fractional wake-up frequency, round down the value passed to
- *  @e lpa_freq.
- *  \n The MPU6500 does not support a delay parameter. If this function is used
- *  for the MPU6500, the value passed to @e time will be ignored.
- *  \n To disable this mode, set @e lpa_freq to zero. The driver will restore
- *  the previous configuration.
- *
- *  @param[in]  thresh      Motion threshold in mg.
- *  @param[in]  time        Duration in milliseconds that the accel data must
- *                          exceed @e thresh before motion is reported.
- *  @param[in]  lpa_freq    Minimum sampling rate, or zero to disable.
- *  @return     0 if successful.
- */
-int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time,
-    unsigned char lpa_freq)
-{
-    unsigned char data[3];
-
-    if (lpa_freq) {
-        unsigned char thresh_hw;
-
-#if defined MPU6500
-        /* 1LSb = 4mg. */
-        if (thresh > 1020)
-            thresh_hw = 255;
-        else if (thresh < 4)
-            thresh_hw = 1;
-        else
-            thresh_hw = thresh >> 2;
-#endif
-
-        if (!time)
-            /* Minimum duration must be 1ms. */
-            time = 1;
-
-#if defined MPU6500
-        if (lpa_freq > 640)
-#endif
-            /* At this point, the chip has not been re-configured, so the
-             * function can safely exit.
-             */
-            return -1;
-
-        if (!st.chip_cfg.int_motion_only) {
-            /* Store current settings for later. */
-            if (st.chip_cfg.dmp_on) {
-                mpu_set_dmp_state(0);
-                st.chip_cfg.cache.dmp_on = 1;
-            } else
-                st.chip_cfg.cache.dmp_on = 0;
-            mpu_get_gyro_fsr(&st.chip_cfg.cache.gyro_fsr);
-            mpu_get_accel_fsr(&st.chip_cfg.cache.accel_fsr);
-            mpu_get_lpf(&st.chip_cfg.cache.lpf);
-            mpu_get_sample_rate(&st.chip_cfg.cache.sample_rate);
-            st.chip_cfg.cache.sensors_on = st.chip_cfg.sensors;
-            mpu_get_fifo_config(&st.chip_cfg.cache.fifo_sensors);
-        }
-
-#if defined MPU6500
-        /* Disable hardware interrupts. */
-        set_int_enable(0);
-
-        /* Enter full-power accel-only mode, no FIFO/DMP. */
-        data[0] = 0;
-        data[1] = 0;
-        data[2] = BIT_STBY_XYZG;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 3, data))
-            goto lp_int_restore;
-
-        /* Set motion threshold. */
-        data[0] = thresh_hw;
-        if (i2c_write(st.hw->addr, st.reg->motion_thr, 1, data))
-            goto lp_int_restore;
-
-        /* Set wake frequency. */
-        if (lpa_freq == 1)
-            data[0] = INV_LPA_1_25HZ;
-        else if (lpa_freq == 2)
-            data[0] = INV_LPA_2_5HZ;
-        else if (lpa_freq <= 5)
-            data[0] = INV_LPA_5HZ;
-        else if (lpa_freq <= 10)
-            data[0] = INV_LPA_10HZ;
-        else if (lpa_freq <= 20)
-            data[0] = INV_LPA_20HZ;
-        else if (lpa_freq <= 40)
-            data[0] = INV_LPA_40HZ;
-        else if (lpa_freq <= 80)
-            data[0] = INV_LPA_80HZ;
-        else if (lpa_freq <= 160)
-            data[0] = INV_LPA_160HZ;
-        else if (lpa_freq <= 320)
-            data[0] = INV_LPA_320HZ;
-        else
-            data[0] = INV_LPA_640HZ;
-        if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, data))
-            goto lp_int_restore;
-
-        /* Enable motion interrupt (MPU6500 version). */
-        data[0] = BITS_WOM_EN;
-        if (i2c_write(st.hw->addr, st.reg->accel_intel, 1, data))
-            goto lp_int_restore;
-
-        /* Enable cycle mode. */
-        data[0] = BIT_LPA_CYCLE;
-        if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
-            goto lp_int_restore;
-
-        /* Enable interrupt. */
-        data[0] = BIT_MOT_INT_EN;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data))
-            goto lp_int_restore;
-
-        st.chip_cfg.int_motion_only = 1;
-        return 0;
-#endif
-    } else {
-        /* Don't "restore" the previous state if no state has been saved. */
-        int ii;
-        char *cache_ptr = (char*)&st.chip_cfg.cache;
-        for (ii = 0; ii < sizeof(st.chip_cfg.cache); ii++) {
-            if (cache_ptr[ii] != 0)
-                goto lp_int_restore;
-        }
-        /* If we reach this point, motion interrupt mode hasn't been used yet. */
-        return -1;
-    }
-lp_int_restore:
-    /* Set to invalid values to ensure no I2C writes are skipped. */
-    st.chip_cfg.gyro_fsr = 0xFF;
-    st.chip_cfg.accel_fsr = 0xFF;
-    st.chip_cfg.lpf = 0xFF;
-    st.chip_cfg.sample_rate = 0xFFFF;
-    st.chip_cfg.sensors = 0xFF;
-    st.chip_cfg.fifo_enable = 0xFF;
-    st.chip_cfg.clk_src = INV_CLK_PLL;
-    mpu_set_sensors(st.chip_cfg.cache.sensors_on);
-    mpu_set_gyro_fsr(st.chip_cfg.cache.gyro_fsr);
-    mpu_set_accel_fsr(st.chip_cfg.cache.accel_fsr);
-    mpu_set_lpf(st.chip_cfg.cache.lpf);
-    mpu_set_sample_rate(st.chip_cfg.cache.sample_rate);
-    mpu_configure_fifo(st.chip_cfg.cache.fifo_sensors);
-
-    if (st.chip_cfg.cache.dmp_on)
-        mpu_set_dmp_state(1);
-
-#ifdef MPU6500
-    /* Disable motion interrupt (MPU6500 version). */
-    data[0] = 0;
-    if (i2c_write(st.hw->addr, st.reg->accel_intel, 1, data))
-        goto lp_int_restore;
-#endif
-
-    st.chip_cfg.int_motion_only = 0;
-    return 0;
-}
-
-/**
- *  @}
- */
-

Core备份3/imu2/inv_mpu2.h

@@ -1,132 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
-    See included License.txt for License information.
- $
- */
-/**
- *  @addtogroup  DRIVERS Sensor Driver Layer
- *  @brief       Hardware drivers to communicate with sensors via I2C.
- *
- *  @{
- *      @file       inv_mpu.h
- *      @brief      An I2C-based driver for Invensense gyroscopes.
- *      @details    This driver currently works for the following devices:
- *                  MPU6050
- *                  MPU6500
- *                  MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus)
- *                  MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus)
- */
-
-#ifndef _INV_MPU_H_
-#define _INV_MPU_H_
-
-#define MOTION_DRIVER_TARGET_STM32
-#define MPU6050
-//#define EMPL
-//#define USE_DMP
-
-#define INV_X_GYRO      (0x40)
-#define INV_Y_GYRO      (0x20)
-#define INV_Z_GYRO      (0x10)
-#define INV_XYZ_GYRO    (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO)
-#define INV_XYZ_ACCEL   (0x08)
-#define INV_XYZ_COMPASS (0x01)
-
-struct int_param_s {
-#if defined EMPL_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_STM32
-    void (*cb)(void);
-    unsigned short pin;
-    unsigned char lp_exit;
-    unsigned char active_low;
-#elif defined EMPL_TARGET_UC3L0
-    unsigned long pin;
-    void (*cb)(volatile void*);
-    void *arg;
-#endif
-};
-
-#define MPU_INT_STATUS_DATA_READY       (0x0001)
-#define MPU_INT_STATUS_DMP              (0x0002)
-#define MPU_INT_STATUS_PLL_READY        (0x0004)
-#define MPU_INT_STATUS_I2C_MST          (0x0008)
-#define MPU_INT_STATUS_FIFO_OVERFLOW    (0x0010)
-#define MPU_INT_STATUS_ZMOT             (0x0020)
-#define MPU_INT_STATUS_MOT              (0x0040)
-#define MPU_INT_STATUS_FREE_FALL        (0x0080)
-#define MPU_INT_STATUS_DMP_0            (0x0100)
-#define MPU_INT_STATUS_DMP_1            (0x0200)
-#define MPU_INT_STATUS_DMP_2            (0x0400)
-#define MPU_INT_STATUS_DMP_3            (0x0800)
-#define MPU_INT_STATUS_DMP_4            (0x1000)
-#define MPU_INT_STATUS_DMP_5            (0x2000)
-
-/* Set up APIs */
-int mpu_init(struct int_param_s *int_param);
-int mpu_init_slave(void);
-int mpu_set_bypass(unsigned char bypass_on);
-
-/* Configuration APIs */
-int mpu_lp_accel_mode(unsigned char rate);
-int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time,
-    unsigned char lpa_freq);
-int mpu_set_int_level(unsigned char active_low);
-int mpu_set_int_latched(unsigned char enable);
-
-int mpu_set_dmp_state(unsigned char enable);
-int mpu_get_dmp_state(unsigned char *enabled);
-
-int mpu_get_lpf(unsigned short *lpf);
-int mpu_set_lpf(unsigned short lpf);
-
-int mpu_get_gyro_fsr(unsigned short *fsr);
-int mpu_set_gyro_fsr(unsigned short fsr);
-
-int mpu_get_accel_fsr(unsigned char *fsr);
-int mpu_set_accel_fsr(unsigned char fsr);
-
-int mpu_get_compass_fsr(unsigned short *fsr);
-
-int mpu_get_gyro_sens(float *sens);
-int mpu_get_accel_sens(unsigned short *sens);
-
-int mpu_get_sample_rate(unsigned short *rate);
-int mpu_set_sample_rate(unsigned short rate);
-int mpu_get_compass_sample_rate(unsigned short *rate);
-int mpu_set_compass_sample_rate(unsigned short rate);
-
-int mpu_get_fifo_config(unsigned char *sensors);
-int mpu_configure_fifo(unsigned char sensors);
-
-int mpu_get_power_state(unsigned char *power_on);
-int mpu_set_sensors(unsigned char sensors);
-
-int mpu_set_accel_bias(const long *accel_bias);
-
-/* Data getter/setter APIs */
-int mpu_get_gyro_reg(short *data, unsigned long *timestamp);
-int mpu_get_accel_reg(short *data, unsigned long *timestamp);
-int mpu_get_compass_reg(short *data, unsigned long *timestamp);
-int mpu_get_temperature(long *data, unsigned long *timestamp);
-
-int mpu_get_int_status(short *status);
-int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
-    unsigned char *sensors, unsigned char *more);
-int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
-    unsigned char *more);
-int mpu_reset_fifo(void);
-
-int mpu_write_mem(unsigned short mem_addr, unsigned short length,
-    unsigned char *data);
-int mpu_read_mem(unsigned short mem_addr, unsigned short length,
-    unsigned char *data);
-int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
-    unsigned short start_addr, unsigned short sample_rate);
-
-int mpu_reg_dump(void);
-int mpu_read_reg(unsigned char reg, unsigned char *data);
-int mpu_run_self_test(long *gyro, long *accel);
-int mpu_register_tap_cb(void (*func)(unsigned char, unsigned char));
-
-#endif  /* #ifndef _INV_MPU_H_ */
-

Core备份3/imu2/inv_mpu_dmp_motion_driver2.c

@@ -1,1380 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
-    See included License.txt for License information.
- $
- */
-/**
- *  @addtogroup  DRIVERS Sensor Driver Layer
- *  @brief       Hardware drivers to communicate with sensors via I2C.
- *
- *  @{
- *      @file       inv_mpu_dmp_motion_driver.c
- *      @brief      DMP image and interface functions.
- *      @details    All functions are preceded by the dmp_ prefix to
- *                  differentiate among MPL and general driver function calls.
- */
-#include <stdio.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-#include "inv_mpu2.h"
-#include "inv_mpu_dmp_motion_driver2.h"
-#include "dmpKey2.h"
-#include "dmpmap2.h"
-
-#include "MPU60502.h"
-
-/* The following functions must be defined for this platform:
- * i2c_write(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char const *data)
- * i2c_read(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char *data)
- * delay_ms(unsigned long num_ms)
- * get_ms(unsigned long *count)
- */
-#if defined MOTION_DRIVER_TARGET_MSP430
-#include "msp430.h"
-#include "msp430_clock.h"
-#define delay_ms    msp430_delay_ms
-#define get_ms      msp430_get_clock_ms
-#define log_i(...)     do {} while (0)
-#define log_e(...)     do {} while (0)
-
-#elif defined EMPL_TARGET_MSP430
-#include "msp430.h"
-#include "msp430_clock.h"
-#include "log.h"
-#define delay_ms    msp430_delay_ms
-#define get_ms      msp430_get_clock_ms
-#define log_i       MPL_LOGI
-#define log_e       MPL_LOGE
-
-#elif defined EMPL_TARGET_UC3L0
-/* Instead of using the standard TWI driver from the ASF library, we're using
- * a TWI driver that follows the slave address + register address convention.
- */
-#include "delay.h"
-#include "sysclk.h"
-#include "log.h"
-#include "uc3l0_clock.h"
-/* delay_ms is a function already defined in ASF. */
-#define get_ms  uc3l0_get_clock_ms
-#define log_i       MPL_LOGI
-#define log_e       MPL_LOGE
-
-#elif defined MOTION_DRIVER_TARGET_STM32
-
-#define delay_ms    HAL_Delay
-#define get_ms      get_tick_count
-
-#define log_i(...)     do {} while (0)
-#define log_e(...)     do {} while (0)
-
-#else
-#error  Gyro driver is missing the system layer implementations.
-#endif
-
-/* These defines are copied from dmpDefaultMPU6050.c in the general MPL
- * releases. These defines may change for each DMP image, so be sure to modify
- * these values when switching to a new image.
- */
-#define CFG_LP_QUAT             (2712)
-#define END_ORIENT_TEMP         (1866)
-#define CFG_27                  (2742)
-#define CFG_20                  (2224)
-#define CFG_23                  (2745)
-#define CFG_FIFO_ON_EVENT       (2690)
-#define END_PREDICTION_UPDATE   (1761)
-#define CGNOTICE_INTR           (2620)
-#define X_GRT_Y_TMP             (1358)
-#define CFG_DR_INT              (1029)
-#define CFG_AUTH                (1035)
-#define UPDATE_PROP_ROT         (1835)
-#define END_COMPARE_Y_X_TMP2    (1455)
-#define SKIP_X_GRT_Y_TMP        (1359)
-#define SKIP_END_COMPARE        (1435)
-#define FCFG_3                  (1088)
-#define FCFG_2                  (1066)
-#define FCFG_1                  (1062)
-#define END_COMPARE_Y_X_TMP3    (1434)
-#define FCFG_7                  (1073)
-#define FCFG_6                  (1106)
-#define FLAT_STATE_END          (1713)
-#define SWING_END_4             (1616)
-#define SWING_END_2             (1565)
-#define SWING_END_3             (1587)
-#define SWING_END_1             (1550)
-#define CFG_8                   (2718)
-#define CFG_15                  (2727)
-#define CFG_16                  (2746)
-#define CFG_EXT_GYRO_BIAS       (1189)
-#define END_COMPARE_Y_X_TMP     (1407)
-#define DO_NOT_UPDATE_PROP_ROT  (1839)
-#define CFG_7                   (1205)
-#define FLAT_STATE_END_TEMP     (1683)
-#define END_COMPARE_Y_X         (1484)
-#define SKIP_SWING_END_1        (1551)
-#define SKIP_SWING_END_3        (1588)
-#define SKIP_SWING_END_2        (1566)
-#define TILTG75_START           (1672)
-#define CFG_6                   (2753)
-#define TILTL75_END             (1669)
-#define END_ORIENT              (1884)
-#define CFG_FLICK_IN            (2573)
-#define TILTL75_START           (1643)
-#define CFG_MOTION_BIAS         (1208)
-#define X_GRT_Y                 (1408)
-#define TEMPLABEL               (2324)
-#define CFG_ANDROID_ORIENT_INT  (1853)
-#define CFG_GYRO_RAW_DATA       (2722)
-#define X_GRT_Y_TMP2            (1379)
-
-#define D_0_22                  (22+512)
-#define D_0_24                  (24+512)
-
-#define D_0_36                  (36)
-#define D_0_52                  (52)
-#define D_0_96                  (96)
-#define D_0_104                 (104)
-#define D_0_108                 (108)
-#define D_0_163                 (163)
-#define D_0_188                 (188)
-#define D_0_192                 (192)
-#define D_0_224                 (224)
-#define D_0_228                 (228)
-#define D_0_232                 (232)
-#define D_0_236                 (236)
-
-#define D_1_2                   (256 + 2)
-#define D_1_4                   (256 + 4)
-#define D_1_8                   (256 + 8)
-#define D_1_10                  (256 + 10)
-#define D_1_24                  (256 + 24)
-#define D_1_28                  (256 + 28)
-#define D_1_36                  (256 + 36)
-#define D_1_40                  (256 + 40)
-#define D_1_44                  (256 + 44)
-#define D_1_72                  (256 + 72)
-#define D_1_74                  (256 + 74)
-#define D_1_79                  (256 + 79)
-#define D_1_88                  (256 + 88)
-#define D_1_90                  (256 + 90)
-#define D_1_92                  (256 + 92)
-#define D_1_96                  (256 + 96)
-#define D_1_98                  (256 + 98)
-#define D_1_106                 (256 + 106)
-#define D_1_108                 (256 + 108)
-#define D_1_112                 (256 + 112)
-#define D_1_128                 (256 + 144)
-#define D_1_152                 (256 + 12)
-#define D_1_160                 (256 + 160)
-#define D_1_176                 (256 + 176)
-#define D_1_178                 (256 + 178)
-#define D_1_218                 (256 + 218)
-#define D_1_232                 (256 + 232)
-#define D_1_236                 (256 + 236)
-#define D_1_240                 (256 + 240)
-#define D_1_244                 (256 + 244)
-#define D_1_250                 (256 + 250)
-#define D_1_252                 (256 + 252)
-#define D_2_12                  (512 + 12)
-#define D_2_96                  (512 + 96)
-#define D_2_108                 (512 + 108)
-#define D_2_208                 (512 + 208)
-#define D_2_224                 (512 + 224)
-#define D_2_236                 (512 + 236)
-#define D_2_244                 (512 + 244)
-#define D_2_248                 (512 + 248)
-#define D_2_252                 (512 + 252)
-
-#define CPASS_BIAS_X            (35 * 16 + 4)
-#define CPASS_BIAS_Y            (35 * 16 + 8)
-#define CPASS_BIAS_Z            (35 * 16 + 12)
-#define CPASS_MTX_00            (36 * 16)
-#define CPASS_MTX_01            (36 * 16 + 4)
-#define CPASS_MTX_02            (36 * 16 + 8)
-#define CPASS_MTX_10            (36 * 16 + 12)
-#define CPASS_MTX_11            (37 * 16)
-#define CPASS_MTX_12            (37 * 16 + 4)
-#define CPASS_MTX_20            (37 * 16 + 8)
-#define CPASS_MTX_21            (37 * 16 + 12)
-#define CPASS_MTX_22            (43 * 16 + 12)
-#define D_EXT_GYRO_BIAS_X       (61 * 16)
-#define D_EXT_GYRO_BIAS_Y       (61 * 16) + 4
-#define D_EXT_GYRO_BIAS_Z       (61 * 16) + 8
-#define D_ACT0                  (40 * 16)
-#define D_ACSX                  (40 * 16 + 4)
-#define D_ACSY                  (40 * 16 + 8)
-#define D_ACSZ                  (40 * 16 + 12)
-
-#define FLICK_MSG               (45 * 16 + 4)
-#define FLICK_COUNTER           (45 * 16 + 8)
-#define FLICK_LOWER             (45 * 16 + 12)
-#define FLICK_UPPER             (46 * 16 + 12)
-
-#define D_AUTH_OUT              (992)
-#define D_AUTH_IN               (996)
-#define D_AUTH_A                (1000)
-#define D_AUTH_B                (1004)
-
-#define D_PEDSTD_BP_B           (768 + 0x1C)
-#define D_PEDSTD_HP_A           (768 + 0x78)
-#define D_PEDSTD_HP_B           (768 + 0x7C)
-#define D_PEDSTD_BP_A4          (768 + 0x40)
-#define D_PEDSTD_BP_A3          (768 + 0x44)
-#define D_PEDSTD_BP_A2          (768 + 0x48)
-#define D_PEDSTD_BP_A1          (768 + 0x4C)
-#define D_PEDSTD_INT_THRSH      (768 + 0x68)
-#define D_PEDSTD_CLIP           (768 + 0x6C)
-#define D_PEDSTD_SB             (768 + 0x28)
-#define D_PEDSTD_SB_TIME        (768 + 0x2C)
-#define D_PEDSTD_PEAKTHRSH      (768 + 0x98)
-#define D_PEDSTD_TIML           (768 + 0x2A)
-#define D_PEDSTD_TIMH           (768 + 0x2E)
-#define D_PEDSTD_PEAK           (768 + 0X94)
-#define D_PEDSTD_STEPCTR        (768 + 0x60)
-#define D_PEDSTD_TIMECTR        (964)
-#define D_PEDSTD_DECI           (768 + 0xA0)
-
-#define D_HOST_NO_MOT           (976)
-#define D_ACCEL_BIAS            (660)
-
-#define D_ORIENT_GAP            (76)
-
-#define D_TILT0_H               (48)
-#define D_TILT0_L               (50)
-#define D_TILT1_H               (52)
-#define D_TILT1_L               (54)
-#define D_TILT2_H               (56)
-#define D_TILT2_L               (58)
-#define D_TILT3_H               (60)
-#define D_TILT3_L               (62)
-
-#define DMP_CODE_SIZE           (3062)
-
-static const unsigned char dmp_memory[DMP_CODE_SIZE] = {
-    /* bank # 0 */
-    0x00, 0x00, 0x70, 0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,
-    0x00, 0x65, 0x00, 0x54, 0xff, 0xef, 0x00, 0x00, 0xfa, 0x80, 0x00, 0x0b, 0x12, 0x82, 0x00, 0x01,
-    0x03, 0x0c, 0x30, 0xc3, 0x0e, 0x8c, 0x8c, 0xe9, 0x14, 0xd5, 0x40, 0x02, 0x13, 0x71, 0x0f, 0x8e,
-    0x38, 0x83, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83, 0x25, 0x8e, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83,
-    0xff, 0xff, 0xff, 0xff, 0x0f, 0xfe, 0xa9, 0xd6, 0x24, 0x00, 0x04, 0x00, 0x1a, 0x82, 0x79, 0xa1,
-    0x00, 0x00, 0x00, 0x3c, 0xff, 0xff, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x38, 0x83, 0x6f, 0xa2,
-    0x00, 0x3e, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xca, 0xe3, 0x09, 0x3e, 0x80, 0x00, 0x00,
-    0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,
-    0x00, 0x0c, 0x00, 0x00, 0x00, 0x0c, 0x18, 0x6e, 0x00, 0x00, 0x06, 0x92, 0x0a, 0x16, 0xc0, 0xdf,
-    0xff, 0xff, 0x02, 0x56, 0xfd, 0x8c, 0xd3, 0x77, 0xff, 0xe1, 0xc4, 0x96, 0xe0, 0xc5, 0xbe, 0xaa,
-    0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0x0b, 0x2b, 0x00, 0x00, 0x16, 0x57, 0x00, 0x00, 0x03, 0x59,
-    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1d, 0xfa, 0x00, 0x02, 0x6c, 0x1d, 0x00, 0x00, 0x00, 0x00,
-    0x3f, 0xff, 0xdf, 0xeb, 0x00, 0x3e, 0xb3, 0xb6, 0x00, 0x0d, 0x22, 0x78, 0x00, 0x00, 0x2f, 0x3c,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x19, 0x42, 0xb5, 0x00, 0x00, 0x39, 0xa2, 0x00, 0x00, 0xb3, 0x65,
-    0xd9, 0x0e, 0x9f, 0xc9, 0x1d, 0xcf, 0x4c, 0x34, 0x30, 0x00, 0x00, 0x00, 0x50, 0x00, 0x00, 0x00,
-    0x3b, 0xb6, 0x7a, 0xe8, 0x00, 0x64, 0x00, 0x00, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    /* bank # 1 */
-    0x10, 0x00, 0x00, 0x00, 0x10, 0x00, 0xfa, 0x92, 0x10, 0x00, 0x22, 0x5e, 0x00, 0x0d, 0x22, 0x9f,
-    0x00, 0x01, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00, 0xff, 0x46, 0x00, 0x00, 0x63, 0xd4, 0x00, 0x00,
-    0x10, 0x00, 0x00, 0x00, 0x04, 0xd6, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00,
-    0x00, 0x00, 0x10, 0x72, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x06, 0x00, 0x02, 0x00, 0x05, 0x00, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x05, 0x00, 0x64, 0x00, 0x20, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x03, 0x00,
-    0x00, 0x00, 0x00, 0x32, 0xf8, 0x98, 0x00, 0x00, 0xff, 0x65, 0x00, 0x00, 0x83, 0x0f, 0x00, 0x00,
-    0xff, 0x9b, 0xfc, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00,
-    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0xb2, 0x6a, 0x00, 0x02, 0x00, 0x00,
-    0x00, 0x01, 0xfb, 0x83, 0x00, 0x68, 0x00, 0x00, 0x00, 0xd9, 0xfc, 0x00, 0x7c, 0xf1, 0xff, 0x83,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x64, 0x03, 0xe8, 0x00, 0x64, 0x00, 0x28,
-    0x00, 0x00, 0x00, 0x25, 0x00, 0x00, 0x00, 0x00, 0x16, 0xa0, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00,
-    0x00, 0x00, 0x10, 0x00, 0x00, 0x2f, 0x00, 0x00, 0x00, 0x00, 0x01, 0xf4, 0x00, 0x00, 0x10, 0x00,
-    /* bank # 2 */
-    0x00, 0x28, 0x00, 0x00, 0xff, 0xff, 0x45, 0x81, 0xff, 0xff, 0xfa, 0x72, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x44, 0x00, 0x05, 0x00, 0x05, 0xba, 0xc6, 0x00, 0x47, 0x78, 0xa2,
-    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
-    0x00, 0x00, 0x25, 0x4d, 0x00, 0x2f, 0x70, 0x6d, 0x00, 0x00, 0x05, 0xae, 0x00, 0x0c, 0x02, 0xd0,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x64, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0e, 0x00, 0x0e,
-    0x00, 0x00, 0x0a, 0xc7, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x32, 0xff, 0xff, 0xff, 0x9c,
-    0x00, 0x00, 0x0b, 0x2b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x64,
-    0xff, 0xe5, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    /* bank # 3 */
-    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x24, 0x26, 0xd3,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x10, 0x00, 0x96, 0x00, 0x3c,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x0c, 0x0a, 0x4e, 0x68, 0xcd, 0xcf, 0x77, 0x09, 0x50, 0x16, 0x67, 0x59, 0xc6, 0x19, 0xce, 0x82,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0xd7, 0x84, 0x00, 0x03, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xc7, 0x93, 0x8f, 0x9d, 0x1e, 0x1b, 0x1c, 0x19,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0x18, 0x85, 0x00, 0x00, 0x40, 0x00,
-    0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x67, 0x7d, 0xdf, 0x7e, 0x72, 0x90, 0x2e, 0x55, 0x4c, 0xf6, 0xe6, 0x88,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-
-    /* bank # 4 */
-    0xd8, 0xdc, 0xb4, 0xb8, 0xb0, 0xd8, 0xb9, 0xab, 0xf3, 0xf8, 0xfa, 0xb3, 0xb7, 0xbb, 0x8e, 0x9e,
-    0xae, 0xf1, 0x32, 0xf5, 0x1b, 0xf1, 0xb4, 0xb8, 0xb0, 0x80, 0x97, 0xf1, 0xa9, 0xdf, 0xdf, 0xdf,
-    0xaa, 0xdf, 0xdf, 0xdf, 0xf2, 0xaa, 0xc5, 0xcd, 0xc7, 0xa9, 0x0c, 0xc9, 0x2c, 0x97, 0xf1, 0xa9,
-    0x89, 0x26, 0x46, 0x66, 0xb2, 0x89, 0x99, 0xa9, 0x2d, 0x55, 0x7d, 0xb0, 0xb0, 0x8a, 0xa8, 0x96,
-    0x36, 0x56, 0x76, 0xf1, 0xba, 0xa3, 0xb4, 0xb2, 0x80, 0xc0, 0xb8, 0xa8, 0x97, 0x11, 0xb2, 0x83,
-    0x98, 0xba, 0xa3, 0xf0, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xb2, 0xb9, 0xb4, 0x98, 0x83, 0xf1,
-    0xa3, 0x29, 0x55, 0x7d, 0xba, 0xb5, 0xb1, 0xa3, 0x83, 0x93, 0xf0, 0x00, 0x28, 0x50, 0xf5, 0xb2,
-    0xb6, 0xaa, 0x83, 0x93, 0x28, 0x54, 0x7c, 0xf1, 0xb9, 0xa3, 0x82, 0x93, 0x61, 0xba, 0xa2, 0xda,
-    0xde, 0xdf, 0xdb, 0x81, 0x9a, 0xb9, 0xae, 0xf5, 0x60, 0x68, 0x70, 0xf1, 0xda, 0xba, 0xa2, 0xdf,
-    0xd9, 0xba, 0xa2, 0xfa, 0xb9, 0xa3, 0x82, 0x92, 0xdb, 0x31, 0xba, 0xa2, 0xd9, 0xba, 0xa2, 0xf8,
-    0xdf, 0x85, 0xa4, 0xd0, 0xc1, 0xbb, 0xad, 0x83, 0xc2, 0xc5, 0xc7, 0xb8, 0xa2, 0xdf, 0xdf, 0xdf,
-    0xba, 0xa0, 0xdf, 0xdf, 0xdf, 0xd8, 0xd8, 0xf1, 0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35,
-    0x5d, 0xb2, 0xb6, 0xba, 0xaf, 0x8c, 0x96, 0x19, 0x8f, 0x9f, 0xa7, 0x0e, 0x16, 0x1e, 0xb4, 0x9a,
-    0xb8, 0xaa, 0x87, 0x2c, 0x54, 0x7c, 0xba, 0xa4, 0xb0, 0x8a, 0xb6, 0x91, 0x32, 0x56, 0x76, 0xb2,
-    0x84, 0x94, 0xa4, 0xc8, 0x08, 0xcd, 0xd8, 0xb8, 0xb4, 0xb0, 0xf1, 0x99, 0x82, 0xa8, 0x2d, 0x55,
-    0x7d, 0x98, 0xa8, 0x0e, 0x16, 0x1e, 0xa2, 0x2c, 0x54, 0x7c, 0x92, 0xa4, 0xf0, 0x2c, 0x50, 0x78,
-    /* bank # 5 */
-    0xf1, 0x84, 0xa8, 0x98, 0xc4, 0xcd, 0xfc, 0xd8, 0x0d, 0xdb, 0xa8, 0xfc, 0x2d, 0xf3, 0xd9, 0xba,
-    0xa6, 0xf8, 0xda, 0xba, 0xa6, 0xde, 0xd8, 0xba, 0xb2, 0xb6, 0x86, 0x96, 0xa6, 0xd0, 0xf3, 0xc8,
-    0x41, 0xda, 0xa6, 0xc8, 0xf8, 0xd8, 0xb0, 0xb4, 0xb8, 0x82, 0xa8, 0x92, 0xf5, 0x2c, 0x54, 0x88,
-    0x98, 0xf1, 0x35, 0xd9, 0xf4, 0x18, 0xd8, 0xf1, 0xa2, 0xd0, 0xf8, 0xf9, 0xa8, 0x84, 0xd9, 0xc7,
-    0xdf, 0xf8, 0xf8, 0x83, 0xc5, 0xda, 0xdf, 0x69, 0xdf, 0x83, 0xc1, 0xd8, 0xf4, 0x01, 0x14, 0xf1,
-    0xa8, 0x82, 0x4e, 0xa8, 0x84, 0xf3, 0x11, 0xd1, 0x82, 0xf5, 0xd9, 0x92, 0x28, 0x97, 0x88, 0xf1,
-    0x09, 0xf4, 0x1c, 0x1c, 0xd8, 0x84, 0xa8, 0xf3, 0xc0, 0xf9, 0xd1, 0xd9, 0x97, 0x82, 0xf1, 0x29,
-    0xf4, 0x0d, 0xd8, 0xf3, 0xf9, 0xf9, 0xd1, 0xd9, 0x82, 0xf4, 0xc2, 0x03, 0xd8, 0xde, 0xdf, 0x1a,
-    0xd8, 0xf1, 0xa2, 0xfa, 0xf9, 0xa8, 0x84, 0x98, 0xd9, 0xc7, 0xdf, 0xf8, 0xf8, 0xf8, 0x83, 0xc7,
-    0xda, 0xdf, 0x69, 0xdf, 0xf8, 0x83, 0xc3, 0xd8, 0xf4, 0x01, 0x14, 0xf1, 0x98, 0xa8, 0x82, 0x2e,
-    0xa8, 0x84, 0xf3, 0x11, 0xd1, 0x82, 0xf5, 0xd9, 0x92, 0x50, 0x97, 0x88, 0xf1, 0x09, 0xf4, 0x1c,
-    0xd8, 0x84, 0xa8, 0xf3, 0xc0, 0xf8, 0xf9, 0xd1, 0xd9, 0x97, 0x82, 0xf1, 0x49, 0xf4, 0x0d, 0xd8,
-    0xf3, 0xf9, 0xf9, 0xd1, 0xd9, 0x82, 0xf4, 0xc4, 0x03, 0xd8, 0xde, 0xdf, 0xd8, 0xf1, 0xad, 0x88,
-    0x98, 0xcc, 0xa8, 0x09, 0xf9, 0xd9, 0x82, 0x92, 0xa8, 0xf5, 0x7c, 0xf1, 0x88, 0x3a, 0xcf, 0x94,
-    0x4a, 0x6e, 0x98, 0xdb, 0x69, 0x31, 0xda, 0xad, 0xf2, 0xde, 0xf9, 0xd8, 0x87, 0x95, 0xa8, 0xf2,
-    0x21, 0xd1, 0xda, 0xa5, 0xf9, 0xf4, 0x17, 0xd9, 0xf1, 0xae, 0x8e, 0xd0, 0xc0, 0xc3, 0xae, 0x82,
-    /* bank # 6 */
-    0xc6, 0x84, 0xc3, 0xa8, 0x85, 0x95, 0xc8, 0xa5, 0x88, 0xf2, 0xc0, 0xf1, 0xf4, 0x01, 0x0e, 0xf1,
-    0x8e, 0x9e, 0xa8, 0xc6, 0x3e, 0x56, 0xf5, 0x54, 0xf1, 0x88, 0x72, 0xf4, 0x01, 0x15, 0xf1, 0x98,
-    0x45, 0x85, 0x6e, 0xf5, 0x8e, 0x9e, 0x04, 0x88, 0xf1, 0x42, 0x98, 0x5a, 0x8e, 0x9e, 0x06, 0x88,
-    0x69, 0xf4, 0x01, 0x1c, 0xf1, 0x98, 0x1e, 0x11, 0x08, 0xd0, 0xf5, 0x04, 0xf1, 0x1e, 0x97, 0x02,
-    0x02, 0x98, 0x36, 0x25, 0xdb, 0xf9, 0xd9, 0x85, 0xa5, 0xf3, 0xc1, 0xda, 0x85, 0xa5, 0xf3, 0xdf,
-    0xd8, 0x85, 0x95, 0xa8, 0xf3, 0x09, 0xda, 0xa5, 0xfa, 0xd8, 0x82, 0x92, 0xa8, 0xf5, 0x78, 0xf1,
-    0x88, 0x1a, 0x84, 0x9f, 0x26, 0x88, 0x98, 0x21, 0xda, 0xf4, 0x1d, 0xf3, 0xd8, 0x87, 0x9f, 0x39,
-    0xd1, 0xaf, 0xd9, 0xdf, 0xdf, 0xfb, 0xf9, 0xf4, 0x0c, 0xf3, 0xd8, 0xfa, 0xd0, 0xf8, 0xda, 0xf9,
-    0xf9, 0xd0, 0xdf, 0xd9, 0xf9, 0xd8, 0xf4, 0x0b, 0xd8, 0xf3, 0x87, 0x9f, 0x39, 0xd1, 0xaf, 0xd9,
-    0xdf, 0xdf, 0xf4, 0x1d, 0xf3, 0xd8, 0xfa, 0xfc, 0xa8, 0x69, 0xf9, 0xf9, 0xaf, 0xd0, 0xda, 0xde,
-    0xfa, 0xd9, 0xf8, 0x8f, 0x9f, 0xa8, 0xf1, 0xcc, 0xf3, 0x98, 0xdb, 0x45, 0xd9, 0xaf, 0xdf, 0xd0,
-    0xf8, 0xd8, 0xf1, 0x8f, 0x9f, 0xa8, 0xca, 0xf3, 0x88, 0x09, 0xda, 0xaf, 0x8f, 0xcb, 0xf8, 0xd8,
-    0xf2, 0xad, 0x97, 0x8d, 0x0c, 0xd9, 0xa5, 0xdf, 0xf9, 0xba, 0xa6, 0xf3, 0xfa, 0xf4, 0x12, 0xf2,
-    0xd8, 0x95, 0x0d, 0xd1, 0xd9, 0xba, 0xa6, 0xf3, 0xfa, 0xda, 0xa5, 0xf2, 0xc1, 0xba, 0xa6, 0xf3,
-    0xdf, 0xd8, 0xf1, 0xba, 0xb2, 0xb6, 0x86, 0x96, 0xa6, 0xd0, 0xca, 0xf3, 0x49, 0xda, 0xa6, 0xcb,
-    0xf8, 0xd8, 0xb0, 0xb4, 0xb8, 0xd8, 0xad, 0x84, 0xf2, 0xc0, 0xdf, 0xf1, 0x8f, 0xcb, 0xc3, 0xa8,
-    /* bank # 7 */
-    0xb2, 0xb6, 0x86, 0x96, 0xc8, 0xc1, 0xcb, 0xc3, 0xf3, 0xb0, 0xb4, 0x88, 0x98, 0xa8, 0x21, 0xdb,
-    0x71, 0x8d, 0x9d, 0x71, 0x85, 0x95, 0x21, 0xd9, 0xad, 0xf2, 0xfa, 0xd8, 0x85, 0x97, 0xa8, 0x28,
-    0xd9, 0xf4, 0x08, 0xd8, 0xf2, 0x8d, 0x29, 0xda, 0xf4, 0x05, 0xd9, 0xf2, 0x85, 0xa4, 0xc2, 0xf2,
-    0xd8, 0xa8, 0x8d, 0x94, 0x01, 0xd1, 0xd9, 0xf4, 0x11, 0xf2, 0xd8, 0x87, 0x21, 0xd8, 0xf4, 0x0a,
-    0xd8, 0xf2, 0x84, 0x98, 0xa8, 0xc8, 0x01, 0xd1, 0xd9, 0xf4, 0x11, 0xd8, 0xf3, 0xa4, 0xc8, 0xbb,
-    0xaf, 0xd0, 0xf2, 0xde, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xd8, 0xf1, 0xb8, 0xf6,
-    0xb5, 0xb9, 0xb0, 0x8a, 0x95, 0xa3, 0xde, 0x3c, 0xa3, 0xd9, 0xf8, 0xd8, 0x5c, 0xa3, 0xd9, 0xf8,
-    0xd8, 0x7c, 0xa3, 0xd9, 0xf8, 0xd8, 0xf8, 0xf9, 0xd1, 0xa5, 0xd9, 0xdf, 0xda, 0xfa, 0xd8, 0xb1,
-    0x85, 0x30, 0xf7, 0xd9, 0xde, 0xd8, 0xf8, 0x30, 0xad, 0xda, 0xde, 0xd8, 0xf2, 0xb4, 0x8c, 0x99,
-    0xa3, 0x2d, 0x55, 0x7d, 0xa0, 0x83, 0xdf, 0xdf, 0xdf, 0xb5, 0x91, 0xa0, 0xf6, 0x29, 0xd9, 0xfb,
-    0xd8, 0xa0, 0xfc, 0x29, 0xd9, 0xfa, 0xd8, 0xa0, 0xd0, 0x51, 0xd9, 0xf8, 0xd8, 0xfc, 0x51, 0xd9,
-    0xf9, 0xd8, 0x79, 0xd9, 0xfb, 0xd8, 0xa0, 0xd0, 0xfc, 0x79, 0xd9, 0xfa, 0xd8, 0xa1, 0xf9, 0xf9,
-    0xf9, 0xf9, 0xf9, 0xa0, 0xda, 0xdf, 0xdf, 0xdf, 0xd8, 0xa1, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xac,
-    0xde, 0xf8, 0xad, 0xde, 0x83, 0x93, 0xac, 0x2c, 0x54, 0x7c, 0xf1, 0xa8, 0xdf, 0xdf, 0xdf, 0xf6,
-    0x9d, 0x2c, 0xda, 0xa0, 0xdf, 0xd9, 0xfa, 0xdb, 0x2d, 0xf8, 0xd8, 0xa8, 0x50, 0xda, 0xa0, 0xd0,
-    0xde, 0xd9, 0xd0, 0xf8, 0xf8, 0xf8, 0xdb, 0x55, 0xf8, 0xd8, 0xa8, 0x78, 0xda, 0xa0, 0xd0, 0xdf,
-    /* bank # 8 */
-    0xd9, 0xd0, 0xfa, 0xf8, 0xf8, 0xf8, 0xf8, 0xdb, 0x7d, 0xf8, 0xd8, 0x9c, 0xa8, 0x8c, 0xf5, 0x30,
-    0xdb, 0x38, 0xd9, 0xd0, 0xde, 0xdf, 0xa0, 0xd0, 0xde, 0xdf, 0xd8, 0xa8, 0x48, 0xdb, 0x58, 0xd9,
-    0xdf, 0xd0, 0xde, 0xa0, 0xdf, 0xd0, 0xde, 0xd8, 0xa8, 0x68, 0xdb, 0x70, 0xd9, 0xdf, 0xdf, 0xa0,
-    0xdf, 0xdf, 0xd8, 0xf1, 0xa8, 0x88, 0x90, 0x2c, 0x54, 0x7c, 0x98, 0xa8, 0xd0, 0x5c, 0x38, 0xd1,
-    0xda, 0xf2, 0xae, 0x8c, 0xdf, 0xf9, 0xd8, 0xb0, 0x87, 0xa8, 0xc1, 0xc1, 0xb1, 0x88, 0xa8, 0xc6,
-    0xf9, 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xa8,
-    0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xf7, 0x8d, 0x9d, 0xad, 0xf8, 0x18, 0xda,
-    0xf2, 0xae, 0xdf, 0xd8, 0xf7, 0xad, 0xfa, 0x30, 0xd9, 0xa4, 0xde, 0xf9, 0xd8, 0xf2, 0xae, 0xde,
-    0xfa, 0xf9, 0x83, 0xa7, 0xd9, 0xc3, 0xc5, 0xc7, 0xf1, 0x88, 0x9b, 0xa7, 0x7a, 0xad, 0xf7, 0xde,
-    0xdf, 0xa4, 0xf8, 0x84, 0x94, 0x08, 0xa7, 0x97, 0xf3, 0x00, 0xae, 0xf2, 0x98, 0x19, 0xa4, 0x88,
-    0xc6, 0xa3, 0x94, 0x88, 0xf6, 0x32, 0xdf, 0xf2, 0x83, 0x93, 0xdb, 0x09, 0xd9, 0xf2, 0xaa, 0xdf,
-    0xd8, 0xd8, 0xae, 0xf8, 0xf9, 0xd1, 0xda, 0xf3, 0xa4, 0xde, 0xa7, 0xf1, 0x88, 0x9b, 0x7a, 0xd8,
-    0xf3, 0x84, 0x94, 0xae, 0x19, 0xf9, 0xda, 0xaa, 0xf1, 0xdf, 0xd8, 0xa8, 0x81, 0xc0, 0xc3, 0xc5,
-    0xc7, 0xa3, 0x92, 0x83, 0xf6, 0x28, 0xad, 0xde, 0xd9, 0xf8, 0xd8, 0xa3, 0x50, 0xad, 0xd9, 0xf8,
-    0xd8, 0xa3, 0x78, 0xad, 0xd9, 0xf8, 0xd8, 0xf8, 0xf9, 0xd1, 0xa1, 0xda, 0xde, 0xc3, 0xc5, 0xc7,
-    0xd8, 0xa1, 0x81, 0x94, 0xf8, 0x18, 0xf2, 0xb0, 0x89, 0xac, 0xc3, 0xc5, 0xc7, 0xf1, 0xd8, 0xb8,
-    /* bank # 9 */
-    0xb4, 0xb0, 0x97, 0x86, 0xa8, 0x31, 0x9b, 0x06, 0x99, 0x07, 0xab, 0x97, 0x28, 0x88, 0x9b, 0xf0,
-    0x0c, 0x20, 0x14, 0x40, 0xb0, 0xb4, 0xb8, 0xf0, 0xa8, 0x8a, 0x9a, 0x28, 0x50, 0x78, 0xb7, 0x9b,
-    0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xf1, 0xbb, 0xab,
-    0x88, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0xb3, 0x8b, 0xb8, 0xa8, 0x04, 0x28, 0x50, 0x78, 0xf1, 0xb0,
-    0x88, 0xb4, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xbb, 0xab, 0xb3, 0x8b, 0x02, 0x26, 0x46, 0x66, 0xb0,
-    0xb8, 0xf0, 0x8a, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x8b, 0x29, 0x51, 0x79, 0x8a, 0x24, 0x70, 0x59,
-    0x8b, 0x20, 0x58, 0x71, 0x8a, 0x44, 0x69, 0x38, 0x8b, 0x39, 0x40, 0x68, 0x8a, 0x64, 0x48, 0x31,
-    0x8b, 0x30, 0x49, 0x60, 0x88, 0xf1, 0xac, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0x8c, 0xa8, 0x04, 0x28,
-    0x50, 0x78, 0xf1, 0x88, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xac, 0x8c, 0x02, 0x26, 0x46, 0x66, 0xf0,
-    0x89, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xa9,
-    0x88, 0x09, 0x20, 0x59, 0x70, 0xab, 0x11, 0x38, 0x40, 0x69, 0xa8, 0x19, 0x31, 0x48, 0x60, 0x8c,
-    0xa8, 0x3c, 0x41, 0x5c, 0x20, 0x7c, 0x00, 0xf1, 0x87, 0x98, 0x19, 0x86, 0xa8, 0x6e, 0x76, 0x7e,
-    0xa9, 0x99, 0x88, 0x2d, 0x55, 0x7d, 0xd8, 0xb1, 0xb5, 0xb9, 0xa3, 0xdf, 0xdf, 0xdf, 0xae, 0xd0,
-    0xdf, 0xaa, 0xd0, 0xde, 0xf2, 0xab, 0xf8, 0xf9, 0xd9, 0xb0, 0x87, 0xc4, 0xaa, 0xf1, 0xdf, 0xdf,
-    0xbb, 0xaf, 0xdf, 0xdf, 0xb9, 0xd8, 0xb1, 0xf1, 0xa3, 0x97, 0x8e, 0x60, 0xdf, 0xb0, 0x84, 0xf2,
-    0xc8, 0xf8, 0xf9, 0xd9, 0xde, 0xd8, 0x93, 0x85, 0xf1, 0x4a, 0xb1, 0x83, 0xa3, 0x08, 0xb5, 0x83,
-    /* bank # 10 */
-    0x9a, 0x08, 0x10, 0xb7, 0x9f, 0x10, 0xd8, 0xf1, 0xb0, 0xba, 0xae, 0xb0, 0x8a, 0xc2, 0xb2, 0xb6,
-    0x8e, 0x9e, 0xf1, 0xfb, 0xd9, 0xf4, 0x1d, 0xd8, 0xf9, 0xd9, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad,
-    0x61, 0xd9, 0xae, 0xfb, 0xd8, 0xf4, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad, 0x19, 0xd9, 0xae, 0xfb,
-    0xdf, 0xd8, 0xf4, 0x16, 0xf1, 0xd8, 0xf8, 0xad, 0x8d, 0x61, 0xd9, 0xf4, 0xf4, 0xac, 0xf5, 0x9c,
-    0x9c, 0x8d, 0xdf, 0x2b, 0xba, 0xb6, 0xae, 0xfa, 0xf8, 0xf4, 0x0b, 0xd8, 0xf1, 0xae, 0xd0, 0xf8,
-    0xad, 0x51, 0xda, 0xae, 0xfa, 0xf8, 0xf1, 0xd8, 0xb9, 0xb1, 0xb6, 0xa3, 0x83, 0x9c, 0x08, 0xb9,
-    0xb1, 0x83, 0x9a, 0xb5, 0xaa, 0xc0, 0xfd, 0x30, 0x83, 0xb7, 0x9f, 0x10, 0xb5, 0x8b, 0x93, 0xf2,
-    0x02, 0x02, 0xd1, 0xab, 0xda, 0xde, 0xd8, 0xf1, 0xb0, 0x80, 0xba, 0xab, 0xc0, 0xc3, 0xb2, 0x84,
-    0xc1, 0xc3, 0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9, 0xab, 0xde, 0xb0,
-    0x87, 0x9c, 0xb9, 0xa3, 0xdd, 0xf1, 0xb3, 0x8b, 0x8b, 0x8b, 0x8b, 0x8b, 0xb0, 0x87, 0xa3, 0xa3,
-    0xa3, 0xa3, 0xb2, 0x8b, 0xb6, 0x9b, 0xf2, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3,
-    0xa3, 0xf1, 0xb0, 0x87, 0xb5, 0x9a, 0xa3, 0xf3, 0x9b, 0xa3, 0xa3, 0xdc, 0xba, 0xac, 0xdf, 0xb9,
-    0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3,
-    0xd8, 0xd8, 0xd8, 0xbb, 0xb3, 0xb7, 0xf1, 0xaa, 0xf9, 0xda, 0xff, 0xd9, 0x80, 0x9a, 0xaa, 0x28,
-    0xb4, 0x80, 0x98, 0xa7, 0x20, 0xb7, 0x97, 0x87, 0xa8, 0x66, 0x88, 0xf0, 0x79, 0x51, 0xf1, 0x90,
-    0x2c, 0x87, 0x0c, 0xa7, 0x81, 0x97, 0x62, 0x93, 0xf0, 0x71, 0x71, 0x60, 0x85, 0x94, 0x01, 0x29,
-    /* bank # 11 */
-    0x51, 0x79, 0x90, 0xa5, 0xf1, 0x28, 0x4c, 0x6c, 0x87, 0x0c, 0x95, 0x18, 0x85, 0x78, 0xa3, 0x83,
-    0x90, 0x28, 0x4c, 0x6c, 0x88, 0x6c, 0xd8, 0xf3, 0xa2, 0x82, 0x00, 0xf2, 0x10, 0xa8, 0x92, 0x19,
-    0x80, 0xa2, 0xf2, 0xd9, 0x26, 0xd8, 0xf1, 0x88, 0xa8, 0x4d, 0xd9, 0x48, 0xd8, 0x96, 0xa8, 0x39,
-    0x80, 0xd9, 0x3c, 0xd8, 0x95, 0x80, 0xa8, 0x39, 0xa6, 0x86, 0x98, 0xd9, 0x2c, 0xda, 0x87, 0xa7,
-    0x2c, 0xd8, 0xa8, 0x89, 0x95, 0x19, 0xa9, 0x80, 0xd9, 0x38, 0xd8, 0xa8, 0x89, 0x39, 0xa9, 0x80,
-    0xda, 0x3c, 0xd8, 0xa8, 0x2e, 0xa8, 0x39, 0x90, 0xd9, 0x0c, 0xd8, 0xa8, 0x95, 0x31, 0x98, 0xd9,
-    0x0c, 0xd8, 0xa8, 0x09, 0xd9, 0xff, 0xd8, 0x01, 0xda, 0xff, 0xd8, 0x95, 0x39, 0xa9, 0xda, 0x26,
-    0xff, 0xd8, 0x90, 0xa8, 0x0d, 0x89, 0x99, 0xa8, 0x10, 0x80, 0x98, 0x21, 0xda, 0x2e, 0xd8, 0x89,
-    0x99, 0xa8, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x86, 0x96, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8,
-    0x87, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x82, 0x92, 0xf3, 0x41, 0x80, 0xf1, 0xd9, 0x2e, 0xd8,
-    0xa8, 0x82, 0xf3, 0x19, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, 0x82, 0xac, 0xf3, 0xc0, 0xa2, 0x80, 0x22,
-    0xf1, 0xa6, 0x2e, 0xa7, 0x2e, 0xa9, 0x22, 0x98, 0xa8, 0x29, 0xda, 0xac, 0xde, 0xff, 0xd8, 0xa2,
-    0xf2, 0x2a, 0xf1, 0xa9, 0x2e, 0x82, 0x92, 0xa8, 0xf2, 0x31, 0x80, 0xa6, 0x96, 0xf1, 0xd9, 0x00,
-    0xac, 0x8c, 0x9c, 0x0c, 0x30, 0xac, 0xde, 0xd0, 0xde, 0xff, 0xd8, 0x8c, 0x9c, 0xac, 0xd0, 0x10,
-    0xac, 0xde, 0x80, 0x92, 0xa2, 0xf2, 0x4c, 0x82, 0xa8, 0xf1, 0xca, 0xf2, 0x35, 0xf1, 0x96, 0x88,
-    0xa6, 0xd9, 0x00, 0xd8, 0xf1, 0xff
-};
-
-static const unsigned short sStartAddress = 0x0400;
-
-/* END OF SECTION COPIED FROM dmpDefaultMPU6050.c */
-
-#define INT_SRC_TAP             (0x01)
-#define INT_SRC_ANDROID_ORIENT  (0x08)
-
-#define DMP_FEATURE_SEND_ANY_GYRO   (DMP_FEATURE_SEND_RAW_GYRO | \
-                                     DMP_FEATURE_SEND_CAL_GYRO)
-
-#define MAX_PACKET_LENGTH   (32)
-
-#define DMP_SAMPLE_RATE     (200)
-#define GYRO_SF             (46850825LL * 200 / DMP_SAMPLE_RATE)
-
-#define FIFO_CORRUPTION_CHECK
-#ifdef FIFO_CORRUPTION_CHECK
-#define QUAT_ERROR_THRESH       (1L<<24)
-#define QUAT_MAG_SQ_NORMALIZED  (1L<<28)
-#define QUAT_MAG_SQ_MIN         (QUAT_MAG_SQ_NORMALIZED - QUAT_ERROR_THRESH)
-#define QUAT_MAG_SQ_MAX         (QUAT_MAG_SQ_NORMALIZED + QUAT_ERROR_THRESH)
-#endif
-
-struct dmp_s {
-    void (*tap_cb)(unsigned char count, unsigned char direction);
-    void (*android_orient_cb)(unsigned char orientation);
-    unsigned short orient;
-    unsigned short feature_mask;
-    unsigned short fifo_rate;
-    unsigned char packet_length;
-};
-
-static struct dmp_s dmp = {
-    .tap_cb = NULL,
-    .android_orient_cb = NULL,
-    .orient = 0,
-    .feature_mask = 0,
-    .fifo_rate = 0,
-    .packet_length = 0
-};
-
-/**
- *  @brief  Load the DMP with this image.
- *  @return 0 if successful.
- */
-int dmp_load_motion_driver_firmware(void)
-{
-    return mpu_load_firmware(DMP_CODE_SIZE, dmp_memory, sStartAddress,
-        DMP_SAMPLE_RATE);
-}
-
-/**
- *  @brief      Push gyro and accel orientation to the DMP.
- *  The orientation is represented here as the output of
- *  @e inv_orientation_matrix_to_scalar.
- *  @param[in]  orient  Gyro and accel orientation in body frame.
- *  @return     0 if successful.
- */
-int dmp_set_orientation(unsigned short orient)
-{
-    unsigned char gyro_regs[3], accel_regs[3];
-    const unsigned char gyro_axes[3] = {DINA4C, DINACD, DINA6C};
-    const unsigned char accel_axes[3] = {DINA0C, DINAC9, DINA2C};
-    const unsigned char gyro_sign[3] = {DINA36, DINA56, DINA76};
-    const unsigned char accel_sign[3] = {DINA26, DINA46, DINA66};
-
-    gyro_regs[0] = gyro_axes[orient & 3];
-    gyro_regs[1] = gyro_axes[(orient >> 3) & 3];
-    gyro_regs[2] = gyro_axes[(orient >> 6) & 3];
-    accel_regs[0] = accel_axes[orient & 3];
-    accel_regs[1] = accel_axes[(orient >> 3) & 3];
-    accel_regs[2] = accel_axes[(orient >> 6) & 3];
-
-    /* Chip-to-body, axes only. */
-    if (mpu_write_mem(FCFG_1, 3, gyro_regs))
-        return -1;
-    if (mpu_write_mem(FCFG_2, 3, accel_regs))
-        return -1;
-
-    memcpy(gyro_regs, gyro_sign, 3);
-    memcpy(accel_regs, accel_sign, 3);
-    if (orient & 4) {
-        gyro_regs[0] |= 1;
-        accel_regs[0] |= 1;
-    }
-    if (orient & 0x20) {
-        gyro_regs[1] |= 1;
-        accel_regs[1] |= 1;
-    }
-    if (orient & 0x100) {
-        gyro_regs[2] |= 1;
-        accel_regs[2] |= 1;
-    }
-
-    /* Chip-to-body, sign only. */
-    if (mpu_write_mem(FCFG_3, 3, gyro_regs))
-        return -1;
-    if (mpu_write_mem(FCFG_7, 3, accel_regs))
-        return -1;
-    dmp.orient = orient;
-    return 0;
-}
-
-/**
- *  @brief      Push gyro biases to the DMP.
- *  Because the gyro integration is handled in the DMP, any gyro biases
- *  calculated by the MPL should be pushed down to DMP memory to remove
- *  3-axis quaternion drift.
- *  \n NOTE: If the DMP-based gyro calibration is enabled, the DMP will
- *  overwrite the biases written to this location once a new one is computed.
- *  @param[in]  bias    Gyro biases in q16.
- *  @return     0 if successful.
- */
-int dmp_set_gyro_bias(long *bias)
-{
-    long gyro_bias_body[3];
-    unsigned char regs[4];
-
-    gyro_bias_body[0] = bias[dmp.orient & 3];
-    if (dmp.orient & 4)
-        gyro_bias_body[0] *= -1;
-    gyro_bias_body[1] = bias[(dmp.orient >> 3) & 3];
-    if (dmp.orient & 0x20)
-        gyro_bias_body[1] *= -1;
-    gyro_bias_body[2] = bias[(dmp.orient >> 6) & 3];
-    if (dmp.orient & 0x100)
-        gyro_bias_body[2] *= -1;
-
-#ifdef EMPL_NO_64BIT
-    gyro_bias_body[0] = (long)(((float)gyro_bias_body[0] * GYRO_SF) / 1073741824.f);
-    gyro_bias_body[1] = (long)(((float)gyro_bias_body[1] * GYRO_SF) / 1073741824.f);
-    gyro_bias_body[2] = (long)(((float)gyro_bias_body[2] * GYRO_SF) / 1073741824.f);
-#else
-    gyro_bias_body[0] = (long)(((long long)gyro_bias_body[0] * GYRO_SF) >> 30);
-    gyro_bias_body[1] = (long)(((long long)gyro_bias_body[1] * GYRO_SF) >> 30);
-    gyro_bias_body[2] = (long)(((long long)gyro_bias_body[2] * GYRO_SF) >> 30);
-#endif
-
-    regs[0] = (unsigned char)((gyro_bias_body[0] >> 24) & 0xFF);
-    regs[1] = (unsigned char)((gyro_bias_body[0] >> 16) & 0xFF);
-    regs[2] = (unsigned char)((gyro_bias_body[0] >> 8) & 0xFF);
-    regs[3] = (unsigned char)(gyro_bias_body[0] & 0xFF);
-    if (mpu_write_mem(D_EXT_GYRO_BIAS_X, 4, regs))
-        return -1;
-
-    regs[0] = (unsigned char)((gyro_bias_body[1] >> 24) & 0xFF);
-    regs[1] = (unsigned char)((gyro_bias_body[1] >> 16) & 0xFF);
-    regs[2] = (unsigned char)((gyro_bias_body[1] >> 8) & 0xFF);
-    regs[3] = (unsigned char)(gyro_bias_body[1] & 0xFF);
-    if (mpu_write_mem(D_EXT_GYRO_BIAS_Y, 4, regs))
-        return -1;
-
-    regs[0] = (unsigned char)((gyro_bias_body[2] >> 24) & 0xFF);
-    regs[1] = (unsigned char)((gyro_bias_body[2] >> 16) & 0xFF);
-    regs[2] = (unsigned char)((gyro_bias_body[2] >> 8) & 0xFF);
-    regs[3] = (unsigned char)(gyro_bias_body[2] & 0xFF);
-    return mpu_write_mem(D_EXT_GYRO_BIAS_Z, 4, regs);
-}
-
-/**
- *  @brief      Push accel biases to the DMP.
- *  These biases will be removed from the DMP 6-axis quaternion.
- *  @param[in]  bias    Accel biases in q16.
- *  @return     0 if successful.
- */
-int dmp_set_accel_bias(long *bias)
-{
-    long accel_bias_body[3];
-    unsigned char regs[12];
-    long long accel_sf;
-    unsigned short accel_sens;
-
-    mpu_get_accel_sens(&accel_sens);
-    accel_sf = (long long)accel_sens << 15;
-//    __no_operation();
-    __NOP();
-
-    accel_bias_body[0] = bias[dmp.orient & 3];
-    if (dmp.orient & 4)
-        accel_bias_body[0] *= -1;
-    accel_bias_body[1] = bias[(dmp.orient >> 3) & 3];
-    if (dmp.orient & 0x20)
-        accel_bias_body[1] *= -1;
-    accel_bias_body[2] = bias[(dmp.orient >> 6) & 3];
-    if (dmp.orient & 0x100)
-        accel_bias_body[2] *= -1;
-
-#ifdef EMPL_NO_64BIT
-    accel_bias_body[0] = (long)(((float)accel_bias_body[0] * accel_sf) / 1073741824.f);
-    accel_bias_body[1] = (long)(((float)accel_bias_body[1] * accel_sf) / 1073741824.f);
-    accel_bias_body[2] = (long)(((float)accel_bias_body[2] * accel_sf) / 1073741824.f);
-#else
-    accel_bias_body[0] = (long)(((long long)accel_bias_body[0] * accel_sf) >> 30);
-    accel_bias_body[1] = (long)(((long long)accel_bias_body[1] * accel_sf) >> 30);
-    accel_bias_body[2] = (long)(((long long)accel_bias_body[2] * accel_sf) >> 30);
-#endif
-
-    regs[0] = (unsigned char)((accel_bias_body[0] >> 24) & 0xFF);
-    regs[1] = (unsigned char)((accel_bias_body[0] >> 16) & 0xFF);
-    regs[2] = (unsigned char)((accel_bias_body[0] >> 8) & 0xFF);
-    regs[3] = (unsigned char)(accel_bias_body[0] & 0xFF);
-    regs[4] = (unsigned char)((accel_bias_body[1] >> 24) & 0xFF);
-    regs[5] = (unsigned char)((accel_bias_body[1] >> 16) & 0xFF);
-    regs[6] = (unsigned char)((accel_bias_body[1] >> 8) & 0xFF);
-    regs[7] = (unsigned char)(accel_bias_body[1] & 0xFF);
-    regs[8] = (unsigned char)((accel_bias_body[2] >> 24) & 0xFF);
-    regs[9] = (unsigned char)((accel_bias_body[2] >> 16) & 0xFF);
-    regs[10] = (unsigned char)((accel_bias_body[2] >> 8) & 0xFF);
-    regs[11] = (unsigned char)(accel_bias_body[2] & 0xFF);
-    return mpu_write_mem(D_ACCEL_BIAS, 12, regs);
-}
-
-/**
- *  @brief      Set DMP output rate.
- *  Only used when DMP is on.
- *  @param[in]  rate    Desired fifo rate (Hz).
- *  @return     0 if successful.
- */
-int dmp_set_fifo_rate(unsigned short rate)
-{
-    const unsigned char regs_end[12] = {DINAFE, DINAF2, DINAAB,
-        0xc4, DINAAA, DINAF1, DINADF, DINADF, 0xBB, 0xAF, DINADF, DINADF};
-    unsigned short div;
-    unsigned char tmp[8];
-
-    if (rate > DMP_SAMPLE_RATE)
-        return -1;
-    div = DMP_SAMPLE_RATE / rate - 1;
-    tmp[0] = (unsigned char)((div >> 8) & 0xFF);
-    tmp[1] = (unsigned char)(div & 0xFF);
-    if (mpu_write_mem(D_0_22, 2, tmp))
-        return -1;
-    if (mpu_write_mem(CFG_6, 12, (unsigned char*)regs_end))
-        return -1;
-
-    dmp.fifo_rate = rate;
-    return 0;
-}
-
-/**
- *  @brief      Get DMP output rate.
- *  @param[out] rate    Current fifo rate (Hz).
- *  @return     0 if successful.
- */
-int dmp_get_fifo_rate(unsigned short *rate)
-{
-    rate[0] = dmp.fifo_rate;
-    return 0;
-}
-
-/**
- *  @brief      Set tap threshold for a specific axis.
- *  @param[in]  axis    1, 2, and 4 for XYZ accel, respectively.
- *  @param[in]  thresh  Tap threshold, in mg/ms.
- *  @return     0 if successful.
- */
-int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh)
-{
-    unsigned char tmp[4], accel_fsr;
-    float scaled_thresh;
-    unsigned short dmp_thresh, dmp_thresh_2;
-    if (!(axis & TAP_XYZ) || thresh > 1600)
-        return -1;
-
-    scaled_thresh = (float)thresh / DMP_SAMPLE_RATE;
-
-    mpu_get_accel_fsr(&accel_fsr);
-    switch (accel_fsr) {
-    case 2:
-        dmp_thresh = (unsigned short)(scaled_thresh * 16384);
-        /* dmp_thresh * 0.75 */
-        dmp_thresh_2 = (unsigned short)(scaled_thresh * 12288);
-        break;
-    case 4:
-        dmp_thresh = (unsigned short)(scaled_thresh * 8192);
-        /* dmp_thresh * 0.75 */
-        dmp_thresh_2 = (unsigned short)(scaled_thresh * 6144);
-        break;
-    case 8:
-        dmp_thresh = (unsigned short)(scaled_thresh * 4096);
-        /* dmp_thresh * 0.75 */
-        dmp_thresh_2 = (unsigned short)(scaled_thresh * 3072);
-        break;
-    case 16:
-        dmp_thresh = (unsigned short)(scaled_thresh * 2048);
-        /* dmp_thresh * 0.75 */
-        dmp_thresh_2 = (unsigned short)(scaled_thresh * 1536);
-        break;
-    default:
-        return -1;
-    }
-    tmp[0] = (unsigned char)(dmp_thresh >> 8);
-    tmp[1] = (unsigned char)(dmp_thresh & 0xFF);
-    tmp[2] = (unsigned char)(dmp_thresh_2 >> 8);
-    tmp[3] = (unsigned char)(dmp_thresh_2 & 0xFF);
-
-    if (axis & TAP_X) {
-        if (mpu_write_mem(DMP_TAP_THX, 2, tmp))
-            return -1;
-        if (mpu_write_mem(D_1_36, 2, tmp+2))
-            return -1;
-    }
-    if (axis & TAP_Y) {
-        if (mpu_write_mem(DMP_TAP_THY, 2, tmp))
-            return -1;
-        if (mpu_write_mem(D_1_40, 2, tmp+2))
-            return -1;
-    }
-    if (axis & TAP_Z) {
-        if (mpu_write_mem(DMP_TAP_THZ, 2, tmp))
-            return -1;
-        if (mpu_write_mem(D_1_44, 2, tmp+2))
-            return -1;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Set which axes will register a tap.
- *  @param[in]  axis    1, 2, and 4 for XYZ, respectively.
- *  @return     0 if successful.
- */
-int dmp_set_tap_axes(unsigned char axis)
-{
-    unsigned char tmp = 0;
-
-    if (axis & TAP_X)
-        tmp |= 0x30;
-    if (axis & TAP_Y)
-        tmp |= 0x0C;
-    if (axis & TAP_Z)
-        tmp |= 0x03;
-    return mpu_write_mem(D_1_72, 1, &tmp);
-}
-
-/**
- *  @brief      Set minimum number of taps needed for an interrupt.
- *  @param[in]  min_taps    Minimum consecutive taps (1-4).
- *  @return     0 if successful.
- */
-int dmp_set_tap_count(unsigned char min_taps)
-{
-    unsigned char tmp;
-
-    if (min_taps < 1)
-        min_taps = 1;
-    else if (min_taps > 4)
-        min_taps = 4;
-
-    tmp = min_taps - 1;
-    return mpu_write_mem(D_1_79, 1, &tmp);
-}
-
-/**
- *  @brief      Set length between valid taps.
- *  @param[in]  time    Milliseconds between taps.
- *  @return     0 if successful.
- */
-int dmp_set_tap_time(unsigned short time)
-{
-    unsigned short dmp_time;
-    unsigned char tmp[2];
-
-    dmp_time = time / (1000 / DMP_SAMPLE_RATE);
-    tmp[0] = (unsigned char)(dmp_time >> 8);
-    tmp[1] = (unsigned char)(dmp_time & 0xFF);
-    return mpu_write_mem(DMP_TAPW_MIN, 2, tmp);
-}
-
-/**
- *  @brief      Set max time between taps to register as a multi-tap.
- *  @param[in]  time    Max milliseconds between taps.
- *  @return     0 if successful.
- */
-int dmp_set_tap_time_multi(unsigned short time)
-{
-    unsigned short dmp_time;
-    unsigned char tmp[2];
-
-    dmp_time = time / (1000 / DMP_SAMPLE_RATE);
-    tmp[0] = (unsigned char)(dmp_time >> 8);
-    tmp[1] = (unsigned char)(dmp_time & 0xFF);
-    return mpu_write_mem(D_1_218, 2, tmp);
-}
-
-/**
- *  @brief      Set shake rejection threshold.
- *  If the DMP detects a gyro sample larger than @e thresh, taps are rejected.
- *  @param[in]  sf      Gyro scale factor.
- *  @param[in]  thresh  Gyro threshold in dps.
- *  @return     0 if successful.
- */
-int dmp_set_shake_reject_thresh(long sf, unsigned short thresh)
-{
-    unsigned char tmp[4];
-    long thresh_scaled = sf / 1000 * thresh;
-    tmp[0] = (unsigned char)(((long)thresh_scaled >> 24) & 0xFF);
-    tmp[1] = (unsigned char)(((long)thresh_scaled >> 16) & 0xFF);
-    tmp[2] = (unsigned char)(((long)thresh_scaled >> 8) & 0xFF);
-    tmp[3] = (unsigned char)((long)thresh_scaled & 0xFF);
-    return mpu_write_mem(D_1_92, 4, tmp);
-}
-
-/**
- *  @brief      Set shake rejection time.
- *  Sets the length of time that the gyro must be outside of the threshold set
- *  by @e gyro_set_shake_reject_thresh before taps are rejected. A mandatory
- *  60 ms is added to this parameter.
- *  @param[in]  time    Time in milliseconds.
- *  @return     0 if successful.
- */
-int dmp_set_shake_reject_time(unsigned short time)
-{
-    unsigned char tmp[2];
-
-    time /= (1000 / DMP_SAMPLE_RATE);
-    tmp[0] = time >> 8;
-    tmp[1] = time & 0xFF;
-    return mpu_write_mem(D_1_90,2,tmp);
-}
-
-/**
- *  @brief      Set shake rejection timeout.
- *  Sets the length of time after a shake rejection that the gyro must stay
- *  inside of the threshold before taps can be detected again. A mandatory
- *  60 ms is added to this parameter.
- *  @param[in]  time    Time in milliseconds.
- *  @return     0 if successful.
- */
-int dmp_set_shake_reject_timeout(unsigned short time)
-{
-    unsigned char tmp[2];
-
-    time /= (1000 / DMP_SAMPLE_RATE);
-    tmp[0] = time >> 8;
-    tmp[1] = time & 0xFF;
-    return mpu_write_mem(D_1_88,2,tmp);
-}
-
-/**
- *  @brief      Get current step count.
- *  @param[out] count   Number of steps detected.
- *  @return     0 if successful.
- */
-int dmp_get_pedometer_step_count(unsigned long *count)
-{
-    unsigned char tmp[4];
-    if (!count)
-        return -1;
-
-    if (mpu_read_mem(D_PEDSTD_STEPCTR, 4, tmp))
-        return -1;
-
-    count[0] = ((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) |
-        ((unsigned long)tmp[2] << 8) | tmp[3];
-    return 0;
-}
-
-/**
- *  @brief      Overwrite current step count.
- *  WARNING: This function writes to DMP memory and could potentially encounter
- *  a race condition if called while the pedometer is enabled.
- *  @param[in]  count   New step count.
- *  @return     0 if successful.
- */
-int dmp_set_pedometer_step_count(unsigned long count)
-{
-    unsigned char tmp[4];
-
-    tmp[0] = (unsigned char)((count >> 24) & 0xFF);
-    tmp[1] = (unsigned char)((count >> 16) & 0xFF);
-    tmp[2] = (unsigned char)((count >> 8) & 0xFF);
-    tmp[3] = (unsigned char)(count & 0xFF);
-    return mpu_write_mem(D_PEDSTD_STEPCTR, 4, tmp);
-}
-
-/**
- *  @brief      Get duration of walking time.
- *  @param[in]  time    Walk time in milliseconds.
- *  @return     0 if successful.
- */
-int dmp_get_pedometer_walk_time(unsigned long *time)
-{
-    unsigned char tmp[4];
-    if (!time)
-        return -1;
-
-    if (mpu_read_mem(D_PEDSTD_TIMECTR, 4, tmp))
-        return -1;
-
-    time[0] = (((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) |
-        ((unsigned long)tmp[2] << 8) | tmp[3]) * 20;
-    return 0;
-}
-
-/**
- *  @brief      Overwrite current walk time.
- *  WARNING: This function writes to DMP memory and could potentially encounter
- *  a race condition if called while the pedometer is enabled.
- *  @param[in]  time    New walk time in milliseconds.
- */
-int dmp_set_pedometer_walk_time(unsigned long time)
-{
-    unsigned char tmp[4];
-
-    time /= 20;
-
-    tmp[0] = (unsigned char)((time >> 24) & 0xFF);
-    tmp[1] = (unsigned char)((time >> 16) & 0xFF);
-    tmp[2] = (unsigned char)((time >> 8) & 0xFF);
-    tmp[3] = (unsigned char)(time & 0xFF);
-    return mpu_write_mem(D_PEDSTD_TIMECTR, 4, tmp);
-}
-
-/**
- *  @brief      Enable DMP features.
- *  The following \#define's are used in the input mask:
- *  \n DMP_FEATURE_TAP
- *  \n DMP_FEATURE_ANDROID_ORIENT
- *  \n DMP_FEATURE_LP_QUAT
- *  \n DMP_FEATURE_6X_LP_QUAT
- *  \n DMP_FEATURE_GYRO_CAL
- *  \n DMP_FEATURE_SEND_RAW_ACCEL
- *  \n DMP_FEATURE_SEND_RAW_GYRO
- *  \n NOTE: DMP_FEATURE_LP_QUAT and DMP_FEATURE_6X_LP_QUAT are mutually
- *  exclusive.
- *  \n NOTE: DMP_FEATURE_SEND_RAW_GYRO and DMP_FEATURE_SEND_CAL_GYRO are also
- *  mutually exclusive.
- *  @param[in]  mask    Mask of features to enable.
- *  @return     0 if successful.
- */
-int dmp_enable_feature(unsigned short mask)
-{
-    unsigned char tmp[10];
-
-    /* TODO: All of these settings can probably be integrated into the default
-     * DMP image.
-     */
-    /* Set integration scale factor. */
-    tmp[0] = (unsigned char)((GYRO_SF >> 24) & 0xFF);
-    tmp[1] = (unsigned char)((GYRO_SF >> 16) & 0xFF);
-    tmp[2] = (unsigned char)((GYRO_SF >> 8) & 0xFF);
-    tmp[3] = (unsigned char)(GYRO_SF & 0xFF);
-    mpu_write_mem(D_0_104, 4, tmp);
-
-    /* Send sensor data to the FIFO. */
-    tmp[0] = 0xA3;
-    if (mask & DMP_FEATURE_SEND_RAW_ACCEL) {
-        tmp[1] = 0xC0;
-        tmp[2] = 0xC8;
-        tmp[3] = 0xC2;
-    } else {
-        tmp[1] = 0xA3;
-        tmp[2] = 0xA3;
-        tmp[3] = 0xA3;
-    }
-    if (mask & DMP_FEATURE_SEND_ANY_GYRO) {
-        tmp[4] = 0xC4;
-        tmp[5] = 0xCC;
-        tmp[6] = 0xC6;
-    } else {
-        tmp[4] = 0xA3;
-        tmp[5] = 0xA3;
-        tmp[6] = 0xA3;
-    }
-    tmp[7] = 0xA3;
-    tmp[8] = 0xA3;
-    tmp[9] = 0xA3;
-    mpu_write_mem(CFG_15,10,tmp);
-
-    /* Send gesture data to the FIFO. */
-    if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT))
-        tmp[0] = DINA20;
-    else
-        tmp[0] = 0xD8;
-    mpu_write_mem(CFG_27,1,tmp);
-
-    if (mask & DMP_FEATURE_GYRO_CAL)
-        dmp_enable_gyro_cal(1);
-    else
-        dmp_enable_gyro_cal(0);
-
-    if (mask & DMP_FEATURE_SEND_ANY_GYRO) {
-        if (mask & DMP_FEATURE_SEND_CAL_GYRO) {
-            tmp[0] = 0xB2;
-            tmp[1] = 0x8B;
-            tmp[2] = 0xB6;
-            tmp[3] = 0x9B;
-        } else {
-            tmp[0] = DINAC0;
-            tmp[1] = DINA80;
-            tmp[2] = DINAC2;
-            tmp[3] = DINA90;
-        }
-        mpu_write_mem(CFG_GYRO_RAW_DATA, 4, tmp);
-    }
-
-    if (mask & DMP_FEATURE_TAP) {
-        /* Enable tap. */
-        tmp[0] = 0xF8;
-        mpu_write_mem(CFG_20, 1, tmp);
-        dmp_set_tap_thresh(TAP_XYZ, 250);
-        dmp_set_tap_axes(TAP_XYZ);
-        dmp_set_tap_count(1);
-        dmp_set_tap_time(100);
-        dmp_set_tap_time_multi(500);
-
-        dmp_set_shake_reject_thresh(GYRO_SF, 200);
-        dmp_set_shake_reject_time(40);
-        dmp_set_shake_reject_timeout(10);
-    } else {
-        tmp[0] = 0xD8;
-        mpu_write_mem(CFG_20, 1, tmp);
-    }
-
-    if (mask & DMP_FEATURE_ANDROID_ORIENT) {
-        tmp[0] = 0xD9;
-    } else
-        tmp[0] = 0xD8;
-    mpu_write_mem(CFG_ANDROID_ORIENT_INT, 1, tmp);
-
-    if (mask & DMP_FEATURE_LP_QUAT)
-        dmp_enable_lp_quat(1);
-    else
-        dmp_enable_lp_quat(0);
-
-    if (mask & DMP_FEATURE_6X_LP_QUAT)
-        dmp_enable_6x_lp_quat(1);
-    else
-        dmp_enable_6x_lp_quat(0);
-
-    /* Pedometer is always enabled. */
-    dmp.feature_mask = mask | DMP_FEATURE_PEDOMETER;
-    mpu_reset_fifo();
-
-    dmp.packet_length = 0;
-    if (mask & DMP_FEATURE_SEND_RAW_ACCEL)
-        dmp.packet_length += 6;
-    if (mask & DMP_FEATURE_SEND_ANY_GYRO)
-        dmp.packet_length += 6;
-    if (mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT))
-        dmp.packet_length += 16;
-    if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT))
-        dmp.packet_length += 4;
-
-    return 0;
-}
-
-/**
- *  @brief      Get list of currently enabled DMP features.
- *  @param[out] Mask of enabled features.
- *  @return     0 if successful.
- */
-int dmp_get_enabled_features(unsigned short *mask)
-{
-    mask[0] = dmp.feature_mask;
-    return 0;
-}
-
-/**
- *  @brief      Calibrate the gyro data in the DMP.
- *  After eight seconds of no motion, the DMP will compute gyro biases and
- *  subtract them from the quaternion output. If @e dmp_enable_feature is
- *  called with @e DMP_FEATURE_SEND_CAL_GYRO, the biases will also be
- *  subtracted from the gyro output.
- *  @param[in]  enable  1 to enable gyro calibration.
- *  @return     0 if successful.
- */
-int dmp_enable_gyro_cal(unsigned char enable)
-{
-    if (enable) {
-        unsigned char regs[9] = {0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35, 0x5d};
-        return mpu_write_mem(CFG_MOTION_BIAS, 9, regs);
-    } else {
-        unsigned char regs[9] = {0xb8, 0xaa, 0xaa, 0xaa, 0xb0, 0x88, 0xc3, 0xc5, 0xc7};
-        return mpu_write_mem(CFG_MOTION_BIAS, 9, regs);
-    }
-}
-
-/**
- *  @brief      Generate 3-axis quaternions from the DMP.
- *  In this driver, the 3-axis and 6-axis DMP quaternion features are mutually
- *  exclusive.
- *  @param[in]  enable  1 to enable 3-axis quaternion.
- *  @return     0 if successful.
- */
-int dmp_enable_lp_quat(unsigned char enable)
-{
-    unsigned char regs[4];
-    if (enable) {
-        regs[0] = DINBC0;
-        regs[1] = DINBC2;
-        regs[2] = DINBC4;
-        regs[3] = DINBC6;
-    }
-    else
-        memset(regs, 0x8B, 4);
-
-    mpu_write_mem(CFG_LP_QUAT, 4, regs);
-
-    return mpu_reset_fifo();
-}
-
-/**
- *  @brief       Generate 6-axis quaternions from the DMP.
- *  In this driver, the 3-axis and 6-axis DMP quaternion features are mutually
- *  exclusive.
- *  @param[in]   enable  1 to enable 6-axis quaternion.
- *  @return      0 if successful.
- */
-int dmp_enable_6x_lp_quat(unsigned char enable)
-{
-    unsigned char regs[4];
-    if (enable) {
-        regs[0] = DINA20;
-        regs[1] = DINA28;
-        regs[2] = DINA30;
-        regs[3] = DINA38;
-    } else
-        memset(regs, 0xA3, 4);
-
-    mpu_write_mem(CFG_8, 4, regs);
-
-    return mpu_reset_fifo();
-}
-
-/**
- *  @brief      Decode the four-byte gesture data and execute any callbacks.
- *  @param[in]  gesture Gesture data from DMP packet.
- *  @return     0 if successful.
- */
-static int decode_gesture(unsigned char *gesture)
-{
-    unsigned char tap, android_orient;
-
-    android_orient = gesture[3] & 0xC0;
-    tap = 0x3F & gesture[3];
-
-    if (gesture[1] & INT_SRC_TAP) {
-        unsigned char direction, count;
-        direction = tap >> 3;
-        count = (tap % 8) + 1;
-        if (dmp.tap_cb)
-            dmp.tap_cb(direction, count);
-    }
-
-    if (gesture[1] & INT_SRC_ANDROID_ORIENT) {
-        if (dmp.android_orient_cb)
-            dmp.android_orient_cb(android_orient >> 6);
-    }
-
-    return 0;
-}
-
-/**
- *  @brief      Specify when a DMP interrupt should occur.
- *  A DMP interrupt can be configured to trigger on either of the two
- *  conditions below:
- *  \n a. One FIFO period has elapsed (set by @e mpu_set_sample_rate).
- *  \n b. A tap event has been detected.
- *  @param[in]  mode    DMP_INT_GESTURE or DMP_INT_CONTINUOUS.
- *  @return     0 if successful.
- */
-int dmp_set_interrupt_mode(unsigned char mode)
-{
-    const unsigned char regs_continuous[11] =
-        {0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9};
-    const unsigned char regs_gesture[11] =
-        {0xda, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0xda, 0xb4, 0xda};
-
-    switch (mode) {
-    case DMP_INT_CONTINUOUS:
-        return mpu_write_mem(CFG_FIFO_ON_EVENT, 11,
-            (unsigned char*)regs_continuous);
-    case DMP_INT_GESTURE:
-        return mpu_write_mem(CFG_FIFO_ON_EVENT, 11,
-            (unsigned char*)regs_gesture);
-    default:
-        return -1;
-    }
-}
-
-/**
- *  @brief      Get one packet from the FIFO.
- *  If @e sensors does not contain a particular sensor, disregard the data
- *  returned to that pointer.
- *  \n @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  \n INV_WXYZ_QUAT
- *  \n If the FIFO has no new data, @e sensors will be zero.
- *  \n If the FIFO is disabled, @e sensors will be zero and this function will
- *  return a non-zero error code.
- *  @param[out] gyro        Gyro data in hardware units.
- *  @param[out] accel       Accel data in hardware units.
- *  @param[out] quat        3-axis quaternion data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds.
- *  @param[out] sensors     Mask of sensors read from FIFO.
- *  @param[out] more        Number of remaining packets.
- *  @return     0 if successful.
- */
-int dmp_read_fifo(short *gyro, short *accel, long *quat,
-    unsigned long *timestamp, short *sensors, unsigned char *more)
-{
-    unsigned char fifo_data[MAX_PACKET_LENGTH];
-    unsigned char ii = 0;
-
-    /* TODO: sensors[0] only changes when dmp_enable_feature is called. We can
-     * cache this value and save some cycles.
-     */
-    sensors[0] = 0;
-
-    /* Get a packet. */
-    if (mpu_read_fifo_stream(dmp.packet_length, fifo_data, more))
-        return -1;
-
-    /* Parse DMP packet. */
-    if (dmp.feature_mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT)) {
-#ifdef FIFO_CORRUPTION_CHECK
-        long quat_q14[4], quat_mag_sq;
-#endif
-        quat[0] = ((long)fifo_data[0] << 24) | ((long)fifo_data[1] << 16) |
-            ((long)fifo_data[2] << 8) | fifo_data[3];
-        quat[1] = ((long)fifo_data[4] << 24) | ((long)fifo_data[5] << 16) |
-            ((long)fifo_data[6] << 8) | fifo_data[7];
-        quat[2] = ((long)fifo_data[8] << 24) | ((long)fifo_data[9] << 16) |
-            ((long)fifo_data[10] << 8) | fifo_data[11];
-        quat[3] = ((long)fifo_data[12] << 24) | ((long)fifo_data[13] << 16) |
-            ((long)fifo_data[14] << 8) | fifo_data[15];
-        ii += 16;
-#ifdef FIFO_CORRUPTION_CHECK
-        /* We can detect a corrupted FIFO by monitoring the quaternion data and
-         * ensuring that the magnitude is always normalized to one. This
-         * shouldn't happen in normal operation, but if an I2C error occurs,
-         * the FIFO reads might become misaligned.
-         *
-         * Let's start by scaling down the quaternion data to avoid long long
-         * math.
-         */
-        quat_q14[0] = quat[0] >> 16;
-        quat_q14[1] = quat[1] >> 16;
-        quat_q14[2] = quat[2] >> 16;
-        quat_q14[3] = quat[3] >> 16;
-        quat_mag_sq = quat_q14[0] * quat_q14[0] + quat_q14[1] * quat_q14[1] +
-            quat_q14[2] * quat_q14[2] + quat_q14[3] * quat_q14[3];
-        if ((quat_mag_sq < QUAT_MAG_SQ_MIN) ||
-            (quat_mag_sq > QUAT_MAG_SQ_MAX)) {
-            /* Quaternion is outside of the acceptable threshold. */
-            mpu_reset_fifo();
-            sensors[0] = 0;
-            return -1;
-        }
-        sensors[0] |= INV_WXYZ_QUAT;
-#endif
-    }
-
-    if (dmp.feature_mask & DMP_FEATURE_SEND_RAW_ACCEL) {
-        accel[0] = ((short)fifo_data[ii+0] << 8) | fifo_data[ii+1];
-        accel[1] = ((short)fifo_data[ii+2] << 8) | fifo_data[ii+3];
-        accel[2] = ((short)fifo_data[ii+4] << 8) | fifo_data[ii+5];
-        ii += 6;
-        sensors[0] |= INV_XYZ_ACCEL;
-    }
-
-    if (dmp.feature_mask & DMP_FEATURE_SEND_ANY_GYRO) {
-        gyro[0] = ((short)fifo_data[ii+0] << 8) | fifo_data[ii+1];
-        gyro[1] = ((short)fifo_data[ii+2] << 8) | fifo_data[ii+3];
-        gyro[2] = ((short)fifo_data[ii+4] << 8) | fifo_data[ii+5];
-        ii += 6;
-        sensors[0] |= INV_XYZ_GYRO;
-    }
-
-    /* Gesture data is at the end of the DMP packet. Parse it and call
-     * the gesture callbacks (if registered).
-     */
-    if (dmp.feature_mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT))
-        decode_gesture(fifo_data + ii);
-
-    get_ms(timestamp);
-    return 0;
-}
-
-/**
- *  @brief      Register a function to be executed on a tap event.
- *  The tap direction is represented by one of the following:
- *  \n TAP_X_UP
- *  \n TAP_X_DOWN
- *  \n TAP_Y_UP
- *  \n TAP_Y_DOWN
- *  \n TAP_Z_UP
- *  \n TAP_Z_DOWN
- *  @param[in]  func    Callback function.
- *  @return     0 if successful.
- */
-int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char))
-{
-    dmp.tap_cb = func;
-    return 0;
-}
-
-/**
- *  @brief      Register a function to be executed on a android orientation event.
- *  @param[in]  func    Callback function.
- *  @return     0 if successful.
- */
-int dmp_register_android_orient_cb(void (*func)(unsigned char))
-{
-    dmp.android_orient_cb = func;
-    return 0;
-}
-
-/**
- *  @}
- */
-

Core备份3/imu2/inv_mpu_dmp_motion_driver2.h

@@ -1,97 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
-    See included License.txt for License information.
- $
- */
-/**
- *  @addtogroup  DRIVERS Sensor Driver Layer
- *  @brief       Hardware drivers to communicate with sensors via I2C.
- *
- *  @{
- *      @file       inv_mpu_dmp_motion_driver.h
- *      @brief      DMP image and interface functions.
- *      @details    All functions are preceded by the dmp_ prefix to
- *                  differentiate among MPL and general driver function calls.
- */
-#ifndef _INV_MPU_DMP_MOTION_DRIVER_H_
-#define _INV_MPU_DMP_MOTION_DRIVER_H_
-
-#define TAP_X               (0x01)
-#define TAP_Y               (0x02)
-#define TAP_Z               (0x04)
-#define TAP_XYZ             (0x07)
-
-#define TAP_X_UP            (0x01)
-#define TAP_X_DOWN          (0x02)
-#define TAP_Y_UP            (0x03)
-#define TAP_Y_DOWN          (0x04)
-#define TAP_Z_UP            (0x05)
-#define TAP_Z_DOWN          (0x06)
-
-#define ANDROID_ORIENT_PORTRAIT             (0x00)
-#define ANDROID_ORIENT_LANDSCAPE            (0x01)
-#define ANDROID_ORIENT_REVERSE_PORTRAIT     (0x02)
-#define ANDROID_ORIENT_REVERSE_LANDSCAPE    (0x03)
-
-#define DMP_INT_GESTURE     (0x01)
-#define DMP_INT_CONTINUOUS  (0x02)
-
-#define DMP_FEATURE_TAP             (0x001)
-#define DMP_FEATURE_ANDROID_ORIENT  (0x002)
-#define DMP_FEATURE_LP_QUAT         (0x004)
-#define DMP_FEATURE_PEDOMETER       (0x008)
-#define DMP_FEATURE_6X_LP_QUAT      (0x010)
-#define DMP_FEATURE_GYRO_CAL        (0x020)
-#define DMP_FEATURE_SEND_RAW_ACCEL  (0x040)
-#define DMP_FEATURE_SEND_RAW_GYRO   (0x080)
-#define DMP_FEATURE_SEND_CAL_GYRO   (0x100)
-
-#define INV_WXYZ_QUAT       (0x100)
-
-/* Set up functions. */
-int dmp_load_motion_driver_firmware(void);
-int dmp_set_fifo_rate(unsigned short rate);
-int dmp_get_fifo_rate(unsigned short *rate);
-int dmp_enable_feature(unsigned short mask);
-int dmp_get_enabled_features(unsigned short *mask);
-int dmp_set_interrupt_mode(unsigned char mode);
-int dmp_set_orientation(unsigned short orient);
-int dmp_set_gyro_bias(long *bias);
-int dmp_set_accel_bias(long *bias);
-
-/* Tap functions. */
-int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char));
-int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh);
-int dmp_set_tap_axes(unsigned char axis);
-int dmp_set_tap_count(unsigned char min_taps);
-int dmp_set_tap_time(unsigned short time);
-int dmp_set_tap_time_multi(unsigned short time);
-int dmp_set_shake_reject_thresh(long sf, unsigned short thresh);
-int dmp_set_shake_reject_time(unsigned short time);
-int dmp_set_shake_reject_timeout(unsigned short time);
-
-/* Android orientation functions. */
-int dmp_register_android_orient_cb(void (*func)(unsigned char));
-
-/* LP quaternion functions. */
-int dmp_enable_lp_quat(unsigned char enable);
-int dmp_enable_6x_lp_quat(unsigned char enable);
-
-/* Pedometer functions. */
-int dmp_get_pedometer_step_count(unsigned long *count);
-int dmp_set_pedometer_step_count(unsigned long count);
-int dmp_get_pedometer_walk_time(unsigned long *time);
-int dmp_set_pedometer_walk_time(unsigned long time);
-
-/* DMP gyro calibration functions. */
-int dmp_enable_gyro_cal(unsigned char enable);
-
-/* Read function. This function should be called whenever the MPU interrupt is
- * detected.
- */
-int dmp_read_fifo(short *gyro, short *accel, long *quat,
-    unsigned long *timestamp, short *sensors, unsigned char *more);
-
-#endif  /* #ifndef _INV_MPU_DMP_MOTION_DRIVER_H_ */
-

Core备份3/imu3/MPU60503.c

@@ -1,542 +0,0 @@
-/*
- * MPU6050.c
- *
- *  Created on: Oct 26, 2021
- *      Author: Administrator
- */
-
-#include "MPU60503.h"
-
-#include <stdio.h>
-
- u8 IIC_Write_Byte(u8 reg, u8 value)
- {
-	 return IIC_Write_Len(MPU_ADDR, reg, 1, &value);
- }
-
- u8 IIC_Read_Byte(u8 reg)
- {
-	 u8 value = 0;
-
-	 IIC_Read_Len(MPU_ADDR, reg, 1, &value);
-
-	 return value;
- }
-
- //IIC连续写
- u8 IIC_Write_Len(u8 addr,u8 reg, u8 len, u8 *buf)
- {
-	 addr = (addr << 1) | 0;
-
-	 u8 data[10] = {0};
-	 data[0] = reg;
-	 for(int i = 0; i < len; i++)
-	 {
-		 data[1 + i] = buf[i];
-	 }
-
-	 if(HAL_I2C_Master_Transmit(&hi2c1, (uint16_t)addr, (uint8_t*)data, len + 1, 10000)!= HAL_OK)
-	 {
-		 printf("++write len byte fail\r\n");
-		 return 1;
-	 }
-
-	 return 0;
- }
-
- //IIC连续读
- u8 IIC_Read_Len(u8 addr,u8 reg,u8 len,u8 *buf)
- {
-	 u8 tmp  = (addr << 1) | 0;
-	 if(HAL_I2C_Master_Transmit(&hi2c1, (uint16_t)tmp, (uint8_t*)&reg, 1, 10000)!= HAL_OK)
-	 {
-		 printf("++write byte fail\r\n");
-		 return 1;
-	 }
-
-	 tmp  = (addr << 1) | 1;
-	 if(HAL_I2C_Master_Receive(&hi2c1, (uint16_t)tmp, (uint8_t *)buf, len, 10000) != HAL_OK)
-	 {
-		 printf("--read byte fail\r\n");
-	 }
-
- }
-
-
-//初始化MPU6050
-//返回值: 0,成功
-//        其他,错误代码
-u8 MPU_Init(void)
-{
-    u8 res = 0;
-
-    IIC_Write_Byte(MPU_PWR_MGMT1_REG,0X80);//复位MPU6050
-
-    HAL_Delay(100);
-
-    IIC_Write_Byte(MPU_PWR_MGMT1_REG,0X00);//唤醒MPU6050
-
-    MPU_Set_Gyro_Fsr(3); //陀螺仪传感器,±2000dps
-    MPU_Set_Accel_Fsr(0); //加速度传感器 ±2g
-    MPU_Set_Rate(50); //设置采样率50HZ
-    IIC_Write_Byte(MPU_INT_EN_REG,0X00); //关闭所有中断
-    IIC_Write_Byte(MPU_USER_CTRL_REG,0X00);//I2C主模式关闭
-    IIC_Write_Byte(MPU_FIFO_EN_REG,0X00);//关闭FIFO
-    IIC_Write_Byte(MPU_INTBP_CFG_REG,0X80);//INT引脚低电平有效
-
-    res=IIC_Read_Byte(MPU_DEVICE_ID_REG);
-
-    printf("the addr is:%d\r\n", res);
-
-    if(res==MPU_ADDR)//器件ID正确
-    {
-        IIC_Write_Byte(MPU_PWR_MGMT1_REG,0X01);//设置CLKSEL,PLL X 轴为参考
-        IIC_Write_Byte(MPU_PWR_MGMT2_REG,0X00);//加速度陀螺仪都工作
-        MPU_Set_Rate(50); //设置采样率为50HZ
-    }
-    else
-    {
-    	return 1;
-    }
-
-    return 0;
-}
-
-//设置MPU6050陀螺仪传感器满量程范围
-//fsr:0,±250dps;1,±500dps;2,±1000dps;3,±2000dps
-//返回值:0,设置成功
-//    其他,设置失败
-u8 MPU_Set_Gyro_Fsr(u8 fsr)
-{
-    return IIC_Write_Byte(MPU_GYRO_CFG_REG, fsr<<3);//设置陀螺仪满量程范围
-}
-
-//设置MPU6050加速度传感器满量程范围
-//fsr:0,±2g;1,±4g;2,±8g;3,±16g
-//返回值:0,设置成功
-//    其他,设置失败
-u8 MPU_Set_Accel_Fsr(u8 fsr)
-{
-    return IIC_Write_Byte(MPU_ACCEL_CFG_REG, fsr<<3);//设置加速度传感器满量程范围
-}
-
-//设置MPU6050的数字低通滤波器
-//lpf:数字低通滤波频率(Hz)
-//返回值:0,设置成功
-//    其他,设置失败
-u8 MPU_Set_LPF(u16 lpf)
-{
-    u8 data=0;
-    if(lpf>=188) data=1;
-    else if(lpf>=98) data=2;
-    else if(lpf>=42) data=2;
-    else if(lpf>=42) data=3;
-    else if(lpf>=20) data=4;
-    else if(lpf>=10) data=5;
-    else data=6;
-    return IIC_Write_Byte(MPU_CFG_REG,data);//设置数字低通滤波器
-}
-
-//设置MPU6050的采样率(假定Fs=1KHz)
-//rate:4~1000(Hz)
-//返回值:0,设置成功
-//    其他,设置失败
-u8 MPU_Set_Rate(u16 rate)
-{
-    u8 data;
-    if(rate>1000)rate=1000;
-    if(rate<4)rate=4;
-    data=1000/rate-1;
-    data=IIC_Write_Byte(MPU_SAMPLE_RATE_REG, data);  //设置数字低通滤波器
-    return MPU_Set_LPF(rate/2); //自动设置LPF为采样率的一半
-}
-
-//得到温度值
-//返回值:温度值(扩大了100倍)
-short MPU_Get_Temperature(void)
-{
-    u8 buf[2];
-    short raw;
-    float temp;
-    IIC_Read_Len(MPU_ADDR, MPU_TEMP_OUTH_REG, 2, buf);
-    raw=((u16)buf[0]<<8)|buf[1];
-    temp=36.53+((double)raw)/340;
-
-    return temp*100;;
-}
-
-//得到陀螺仪值(原始值)
-//gx,gy,gz:陀螺仪x,y,z轴的原始读数(带符号)
-//返回值:0,成功
-// 其他,错误代码
-u8 MPU_Get_Gyroscope(short *gx,short *gy,short *gz)
-{
-    u8 buf[6],res;
-    res=IIC_Read_Len(MPU_ADDR,MPU_GYRO_XOUTH_REG,6,buf);
-    if(res==0)
-    {
-        *gx=((u16)buf[0]<<8)|buf[1];
-        *gy=((u16)buf[2]<<8)|buf[3];
-        *gz=((u16)buf[4]<<8)|buf[5];
-    }
-    return res;
-}
-
-//得到加速度值(原始值)
-//ax,ay,az:陀螺仪x,y,z轴的原始读数(带符号)
-//返回值:0,成功
-//    其他,错误代码
-u8 MPU_Get_Accelerometer(short *ax,short *ay,short *az)
-{
-    u8 buf[6],res;
-    res=IIC_Read_Len(MPU_ADDR,MPU_ACCEL_XOUTH_REG,6,buf);
-    if(res==0)
-    {
-        *ax=((u16)buf[0]<<8)|buf[1];
-        *ay=((u16)buf[2]<<8)|buf[3];
-        *az=((u16)buf[4]<<8)|buf[5];
-    }
-    return res;;
-}
-
-/*--------------------以下为使用板载固件DMP的相关代码，这个融合得到的姿态角效果很好*/
-
-
-/**
-  * @brief  获取当前毫秒值
-  * @param  存储最新毫秒值的变量
-  * @retval 无
-  */
-int get_tick_count(unsigned long *count)
-{
-   count[0] = HAL_GetTick();
-	return 0;
-}
-
-
-#include "inv_mpu3.h"
-#include "inv_mpu_dmp_motion_driver3.h"
-
-/* Data requested by client. */
-#define PRINT_ACCEL     (0x01)
-#define PRINT_GYRO      (0x02)
-#define PRINT_QUAT      (0x04)
-
-#define ACCEL_ON        (0x01)
-#define GYRO_ON         (0x02)
-
-#define MOTION          (0)
-#define NO_MOTION       (1)
-
-/* Starting sampling rate. */ //100
-#define DEFAULT_MPU_HZ  (50)
-
-struct rx_s {
-    unsigned char header[3];
-    unsigned char cmd;
-};
-struct hal_s {
-    unsigned char sensors;
-    unsigned char dmp_on;
-    unsigned char wait_for_tap;
-    volatile unsigned char new_gyro;
-    unsigned short report;
-    unsigned short dmp_features;
-    unsigned char motion_int_mode;
-    struct rx_s rx;
-};
-static struct hal_s hal = {0};
-
-/* USB RX binary semaphore. Actually, it's just a flag. Not included in struct
- * because it's declared extern elsewhere.
- */
-volatile unsigned char rx_new;
-
-/* The sensors can be mounted onto the board in any orientation. The mounting
- * matrix seen below tells the MPL how to rotate the raw data from thei
- * driver(s).
- * TODO: The following matrices refer to the configuration on an internal test
- * board at Invensense. If needed, please modify the matrices to match the
- * chip-to-body matrix for your particular set up.
- */
-static signed char gyro_orientation[9] = {-1, 0, 0,
-                                           0,-1, 0,
-                                           0, 0, 1};
-
-/* Every time new gyro data is available, this function is called in an
- * ISR context. In this example, it sets a flag protecting the FIFO read
- * function.
- */
-static void gyro_data_ready_cb(void)
-{
-    hal.new_gyro = 1;
-}
-
-enum packet_type_e {
-    PACKET_TYPE_ACCEL,
-    PACKET_TYPE_GYRO,
-    PACKET_TYPE_QUAT,
-    PACKET_TYPE_TAP,
-    PACKET_TYPE_ANDROID_ORIENT,
-    PACKET_TYPE_PEDO,
-    PACKET_TYPE_MISC
-};
-
-#define BYTE u_char
-/* Send data to the Python client application.
- * Data is formatted as follows:
- * packet[0]    = $
- * packet[1]    = packet type (see packet_type_e)
- * packet[2+]   = data
- */
-void send_packet(char packet_type, void *data)
-{
-
-	#define MAX_BUF_LENGTH  (18)
-    char buf[MAX_BUF_LENGTH], length;
-
-    memset(buf, 0, MAX_BUF_LENGTH);
-    buf[0] = '$';
-    buf[1] = packet_type;
-
-    if (packet_type == PACKET_TYPE_ACCEL || packet_type == PACKET_TYPE_GYRO) {
-        short *sdata = (short*)data;
-        buf[2] = (char)(sdata[0] >> 8);
-        buf[3] = (char)sdata[0];
-        buf[4] = (char)(sdata[1] >> 8);
-        buf[5] = (char)sdata[1];
-        buf[6] = (char)(sdata[2] >> 8);
-        buf[7] = (char)sdata[2];
-        length = 8;
-    } else if (packet_type == PACKET_TYPE_QUAT) {
-        long *ldata = (long*)data;
-        buf[2] = (char)(ldata[0] >> 24);
-        buf[3] = (char)(ldata[0] >> 16);
-        buf[4] = (char)(ldata[0] >> 8);
-        buf[5] = (char)ldata[0];
-        buf[6] = (char)(ldata[1] >> 24);
-        buf[7] = (char)(ldata[1] >> 16);
-        buf[8] = (char)(ldata[1] >> 8);
-        buf[9] = (char)ldata[1];
-        buf[10] = (char)(ldata[2] >> 24);
-        buf[11] = (char)(ldata[2] >> 16);
-        buf[12] = (char)(ldata[2] >> 8);
-        buf[13] = (char)ldata[2];
-        buf[14] = (char)(ldata[3] >> 24);
-        buf[15] = (char)(ldata[3] >> 16);
-        buf[16] = (char)(ldata[3] >> 8);
-        buf[17] = (char)ldata[3];
-        length = 18;
-    } else if (packet_type == PACKET_TYPE_TAP) {
-        buf[2] = ((char*)data)[0];
-        buf[3] = ((char*)data)[1];
-        length = 4;
-    } else if (packet_type == PACKET_TYPE_ANDROID_ORIENT) {
-        buf[2] = ((char*)data)[0];
-        length = 3;
-    } else if (packet_type == PACKET_TYPE_PEDO) {
-        long *ldata = (long*)data;
-        buf[2] = (char)(ldata[0] >> 24);
-        buf[3] = (char)(ldata[0] >> 16);
-        buf[4] = (char)(ldata[0] >> 8);
-        buf[5] = (char)ldata[0];
-        buf[6] = (char)(ldata[1] >> 24);
-        buf[7] = (char)(ldata[1] >> 16);
-        buf[8] = (char)(ldata[1] >> 8);
-        buf[9] = (char)ldata[1];
-        length = 10;
-    } else if (packet_type == PACKET_TYPE_MISC) {
-        buf[2] = ((char*)data)[0];
-        buf[3] = ((char*)data)[1];
-        buf[4] = ((char*)data)[2];
-        buf[5] = ((char*)data)[3];
-        length = 6;
-    }
-
-//    cdcSendDataWaitTilDone((BYTE*)buf, length, CDC0_INTFNUM, 100);
-}
-
-/* These next two functions converts the orientation matrix (see
- * gyro_orientation) to a scalar representation for use by the DMP.
- * NOTE: These functions are borrowed from Invensense's MPL.
- */
-static inline unsigned short inv_row_2_scale(const signed char *row)
-{
-    unsigned short b;
-
-    if (row[0] > 0)
-        b = 0;
-    else if (row[0] < 0)
-        b = 4;
-    else if (row[1] > 0)
-        b = 1;
-    else if (row[1] < 0)
-        b = 5;
-    else if (row[2] > 0)
-        b = 2;
-    else if (row[2] < 0)
-        b = 6;
-    else
-        b = 7;      // error
-    return b;
-}
-static inline unsigned short inv_orientation_matrix_to_scalar(
-    const signed char *mtx)
-{
-    unsigned short scalar;
-
-    /*
-       XYZ  010_001_000 Identity Matrix
-       XZY  001_010_000
-       YXZ  010_000_001
-       YZX  000_010_001
-       ZXY  001_000_010
-       ZYX  000_001_010
-     */
-
-    scalar = inv_row_2_scale(mtx);
-    scalar |= inv_row_2_scale(mtx + 3) << 3;
-    scalar |= inv_row_2_scale(mtx + 6) << 6;
-
-
-    return scalar;
-}
-
-static inline void run_self_test(void)
-{
-    int result;
-    char test_packet[4] = {0};
-    long gyro[3], accel[3];
-
-    result = mpu_run_self_test(gyro, accel);
-    if (result == 0x7) {
-        /* Test passed. We can trust the gyro data here, so let's push it down
-         * to the DMP.
-         */
-        float sens;
-        unsigned short accel_sens;
-        mpu_get_gyro_sens(&sens);
-        gyro[0] = (long)(gyro[0] * sens);
-        gyro[1] = (long)(gyro[1] * sens);
-        gyro[2] = (long)(gyro[2] * sens);
-        dmp_set_gyro_bias(gyro);
-        mpu_get_accel_sens(&accel_sens);
-        accel[0] *= accel_sens;
-        accel[1] *= accel_sens;
-        accel[2] *= accel_sens;
-        dmp_set_accel_bias(accel);
-    }
-
-    /* Report results. */
-    test_packet[0] = 't';
-    test_packet[1] = result;
-    send_packet(PACKET_TYPE_MISC, test_packet);
-}
-
-
-#define INT_EXIT_LPM0 12
-
-void DMP_Init(void)
-{
-    struct int_param_s int_param;
-
-	/* Set up gyro.
-	 * Every function preceded by mpu_ is a driver function and can be found
-	 * in inv_mpu.h.
-	 */
-	int_param.cb = gyro_data_ready_cb;
-	int_param.pin = 16;
-	int_param.lp_exit = INT_EXIT_LPM0;
-	int_param.active_low = 1;
-
-	int result = mpu_init(&int_param);
-
-	printf("mpu_init, %d\r\n", result);
-
-	if(result == 0)     //mpu初始化
-	{
-		if(!mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL))    //设置需要的传感器
-			printf("mpu_set_sensor complete ......\r\n");
-
-		if(!mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL)) //设置fifo
-			printf("mpu_configure_fifo complete ......\r\n");
-
-		if(!mpu_set_sample_rate(DEFAULT_MPU_HZ))              //设置采集样率
-			printf("mpu_set_sample_rate complete ......\r\n");
-
-
-		unsigned short gyro_rate = 0, gyro_fsr = 0;
-		unsigned char accel_fsr = 0;
-
-	    mpu_get_sample_rate(&gyro_rate);
-	    mpu_get_gyro_fsr(&gyro_fsr);
-	    mpu_get_accel_fsr(&accel_fsr);
-
-	    printf("gyro_rate %d, gyro_fsr %d, accel_fsr %d\r\n", gyro_rate, gyro_fsr, accel_fsr);
-
-
-
-		if(!dmp_load_motion_driver_firmware())                //加载dmp固件
-			printf("dmp_load_motion_driver_firmware complete ......\r\n");
-
-		if(!dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation)))
-			printf("dmp_set_orientation complete ......\r\n"); //设置陀螺仪方向
-
-		if(!dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP |
-				DMP_FEATURE_ANDROID_ORIENT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO |
-				DMP_FEATURE_GYRO_CAL))
-			printf("dmp_enable_feature complete ......\r\n");
-
-		if(!dmp_set_fifo_rate(DEFAULT_MPU_HZ))    //设置速率
-			printf("dmp_set_fifo_rate complete ......\r\n");
-
-		run_self_test();                          //自检(非必要)
-
-		if(!mpu_set_dmp_state(1))                 //使能
-			printf("mpu_set_dmp_state complete ......\r\n");
-	}
-
-}
-
-#define q30 1073741824.0
-
-uint8_t Read_DMP(float* Pitch,float* Roll,float* Yaw)
-{
-	short gyro[3], accel[3], sensors;
-	float q0=1.0f,q1=0.0f,q2=0.0f,q3=0.0f;
-	unsigned long sensor_timestamp;
-	unsigned char more;
-	long quat[4];
-
-	int ret = dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors, &more);
-
-//	printf("dmp_read_fifo, %d\r\n", ret);
-
-	if(ret)
-	{
-		return 1;
-	}
-
-	if (sensors & INV_WXYZ_QUAT)
-	{
-		q0=quat[0] / q30;
-		q1=quat[1] / q30;
-		q2=quat[2] / q30;
-		q3=quat[3] / q30;
-		*Pitch = (float)asin(-2 * q1 * q3 + 2 * q0* q2)* 57.3;
-		*Roll =  (float)atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2* q2 + 1)* 57.3; // roll
-		*Yaw =   (float)atan2(2*(q1*q2 + q0*q3),q0*q0+q1*q1-q2*q2-q3*q3) * 57.3;
-		return 0;
-	}
-	else
-	{
-		return 2;
-	}
-
-}
-
-
-
-
-
-

Core备份3/imu3/MPU60503.h

@@ -1,117 +0,0 @@
-/*
- * MPU6050.h
- *
- *  Created on: Oct 26, 2021
- *      Author: Administrator
- */
-
-#ifndef INC_MPU6050_H_
-#define INC_MPU6050_H_
-
-#include "i2c.h"
-#include "inv_mpu3.h"
-
-//#define MPU_ACCEL_OFFS_REG		0X06	//accel_offs寄存器,可读取版本号,寄存器手册未提到
-//#define MPU_PROD_ID_REG			0X0C	//prod id寄存器,在寄存器手册未提到
-#define MPU_SELF_TESTX_REG		0X0D	//自检寄存器X
-#define MPU_SELF_TESTY_REG		0X0E	//自检寄存器Y
-#define MPU_SELF_TESTZ_REG		0X0F	//自检寄存器Z
-#define MPU_SELF_TESTA_REG		0X10	//自检寄存器A
-#define MPU_SAMPLE_RATE_REG		0X19	//采样频率分频器
-#define MPU_CFG_REG				0X1A	//配置寄存器
-#define MPU_GYRO_CFG_REG		0X1B	//陀螺仪配置寄存器
-#define MPU_ACCEL_CFG_REG		0X1C	//加速度计配置寄存器
-#define MPU_MOTION_DET_REG		0X1F	//运动检测阀值设置寄存器
-#define MPU_FIFO_EN_REG			0X23	//FIFO使能寄存器
-#define MPU_I2CMST_CTRL_REG		0X24	//IIC主机控制寄存器
-#define MPU_I2CSLV0_ADDR_REG	0X25	//IIC从机0器件地址寄存器
-#define MPU_I2CSLV0_REG			0X26	//IIC从机0数据地址寄存器
-#define MPU_I2CSLV0_CTRL_REG	0X27	//IIC从机0控制寄存器
-#define MPU_I2CSLV1_ADDR_REG	0X28	//IIC从机1器件地址寄存器
-#define MPU_I2CSLV1_REG			0X29	//IIC从机1数据地址寄存器
-#define MPU_I2CSLV1_CTRL_REG	0X2A	//IIC从机1控制寄存器
-#define MPU_I2CSLV2_ADDR_REG	0X2B	//IIC从机2器件地址寄存器
-#define MPU_I2CSLV2_REG			0X2C	//IIC从机2数据地址寄存器
-#define MPU_I2CSLV2_CTRL_REG	0X2D	//IIC从机2控制寄存器
-#define MPU_I2CSLV3_ADDR_REG	0X2E	//IIC从机3器件地址寄存器
-#define MPU_I2CSLV3_REG			0X2F	//IIC从机3数据地址寄存器
-#define MPU_I2CSLV3_CTRL_REG	0X30	//IIC从机3控制寄存器
-#define MPU_I2CSLV4_ADDR_REG	0X31	//IIC从机4器件地址寄存器
-#define MPU_I2CSLV4_REG			0X32	//IIC从机4数据地址寄存器
-#define MPU_I2CSLV4_DO_REG		0X33	//IIC从机4写数据寄存器
-#define MPU_I2CSLV4_CTRL_REG	0X34	//IIC从机4控制寄存器
-#define MPU_I2CSLV4_DI_REG		0X35	//IIC从机4读数据寄存器
-
-#define MPU_I2CMST_STA_REG		0X36	//IIC主机状态寄存器
-#define MPU_INTBP_CFG_REG		0X37	//中断/旁路设置寄存器
-#define MPU_INT_EN_REG			0X38	//中断使能寄存器
-#define MPU_INT_STA_REG			0X3A	//中断状态寄存器
-
-#define MPU_ACCEL_XOUTH_REG		0X3B	//加速度值,X轴高8位寄存器
-#define MPU_ACCEL_XOUTL_REG		0X3C	//加速度值,X轴低8位寄存器
-#define MPU_ACCEL_YOUTH_REG		0X3D	//加速度值,Y轴高8位寄存器
-#define MPU_ACCEL_YOUTL_REG		0X3E	//加速度值,Y轴低8位寄存器
-#define MPU_ACCEL_ZOUTH_REG		0X3F	//加速度值,Z轴高8位寄存器
-#define MPU_ACCEL_ZOUTL_REG		0X40	//加速度值,Z轴低8位寄存器
-
-#define MPU_TEMP_OUTH_REG		0X41	//温度值高八位寄存器
-#define MPU_TEMP_OUTL_REG		0X42	//温度值低8位寄存器
-
-#define MPU_GYRO_XOUTH_REG		0X43	//陀螺仪值,X轴高8位寄存器
-#define MPU_GYRO_XOUTL_REG		0X44	//陀螺仪值,X轴低8位寄存器
-#define MPU_GYRO_YOUTH_REG		0X45	//陀螺仪值,Y轴高8位寄存器
-#define MPU_GYRO_YOUTL_REG		0X46	//陀螺仪值,Y轴低8位寄存器
-#define MPU_GYRO_ZOUTH_REG		0X47	//陀螺仪值,Z轴高8位寄存器
-#define MPU_GYRO_ZOUTL_REG		0X48	//陀螺仪值,Z轴低8位寄存器
-
-#define MPU_I2CSLV0_DO_REG		0X63	//IIC从机0数据寄存器
-#define MPU_I2CSLV1_DO_REG		0X64	//IIC从机1数据寄存器
-#define MPU_I2CSLV2_DO_REG		0X65	//IIC从机2数据寄存器
-#define MPU_I2CSLV3_DO_REG		0X66	//IIC从机3数据寄存器
-
-#define MPU_I2CMST_DELAY_REG	0X67	//IIC主机延时管理寄存器
-#define MPU_SIGPATH_RST_REG		0X68	//信号通道复位寄存器
-#define MPU_MDETECT_CTRL_REG	0X69	//运动检测控制寄存器
-#define MPU_USER_CTRL_REG		0X6A	//用户控制寄存器
-#define MPU_PWR_MGMT1_REG		0X6B	//电源管理寄存器1
-#define MPU_PWR_MGMT2_REG		0X6C	//电源管理寄存器2
-#define MPU_FIFO_CNTH_REG		0X72	//FIFO计数寄存器高八位
-#define MPU_FIFO_CNTL_REG		0X73	//FIFO计数寄存器低八位
-#define MPU_FIFO_RW_REG			0X74	//FIFO读写寄存器
-#define MPU_DEVICE_ID_REG		0X75	//器件ID寄存器
-
-//如果AD0脚接地,IIC地址为0X68(不包含最低位).
-//如果接V3.3,则IIC地址为0X69(不包含最低位).
-#define MPU_ADDR				0X68
-
-
-//因为模块AD0默认接GND,所以转为读写地址后,为0XD1和0XD0(如果接VCC,则为0XD3和0XD2)
-#define MPU_READ    0XD1
-#define MPU_WRITE   0XD0
-
-#define u8 uint8_t
-#define u16 uint16_t
-
-u8 MPU_Init(void); 								//初始化MPU6050
-u8 IIC_Write_Len(u8 addr,u8 reg,u8 len,u8 *buf);//IIC连续写
-u8 IIC_Read_Len(u8 addr,u8 reg,u8 len,u8 *buf); //IIC连续读
-u8 IIC_Write_Byte(u8 reg,u8 data);				//IIC写一个字节
-u8 IIC_Read_Byte(u8 reg);						//IIC读一个字节
-
-u8 MPU_Set_Gyro_Fsr(u8 fsr);
-u8 MPU_Set_Accel_Fsr(u8 fsr);
-u8 MPU_Set_LPF(u16 lpf);
-u8 MPU_Set_Rate(u16 rate);
-u8 MPU_Set_Fifo(u8 sens);
-
-
-short MPU_Get_Temperature(void);
-u8 MPU_Get_Gyroscope(short *gx,short *gy,short *gz);
-u8 MPU_Get_Accelerometer(short *ax,short *ay,short *az);
-
-//----------------------DMP-------------------------------
-void DMP_Init(void);
-uint8_t Read_DMP(float* Pitch,float* Roll,float* Yaw);
-int get_tick_count(unsigned long *count);
-
-#endif /* INC_MPU6050_H_ */

Core备份3/imu3/dmpKey3.h

@@ -1,494 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-#ifndef DMPKEY_H__
-#define DMPKEY_H__
-
-#define KEY_CFG_25                  (0)
-#define KEY_CFG_24                  (KEY_CFG_25 + 1)
-#define KEY_CFG_26                  (KEY_CFG_24 + 1)
-#define KEY_CFG_27                  (KEY_CFG_26 + 1)
-#define KEY_CFG_21                  (KEY_CFG_27 + 1)
-#define KEY_CFG_20                  (KEY_CFG_21 + 1)
-#define KEY_CFG_TAP4                (KEY_CFG_20 + 1)
-#define KEY_CFG_TAP5                (KEY_CFG_TAP4 + 1)
-#define KEY_CFG_TAP6                (KEY_CFG_TAP5 + 1)
-#define KEY_CFG_TAP7                (KEY_CFG_TAP6 + 1)
-#define KEY_CFG_TAP0                (KEY_CFG_TAP7 + 1)
-#define KEY_CFG_TAP1                (KEY_CFG_TAP0 + 1)
-#define KEY_CFG_TAP2                (KEY_CFG_TAP1 + 1)
-#define KEY_CFG_TAP3                (KEY_CFG_TAP2 + 1)
-#define KEY_CFG_TAP_QUANTIZE        (KEY_CFG_TAP3 + 1)
-#define KEY_CFG_TAP_JERK            (KEY_CFG_TAP_QUANTIZE + 1)
-#define KEY_CFG_DR_INT              (KEY_CFG_TAP_JERK + 1)
-#define KEY_CFG_AUTH                (KEY_CFG_DR_INT + 1)
-#define KEY_CFG_TAP_SAVE_ACCB       (KEY_CFG_AUTH + 1)
-#define KEY_CFG_TAP_CLEAR_STICKY    (KEY_CFG_TAP_SAVE_ACCB + 1)
-#define KEY_CFG_FIFO_ON_EVENT       (KEY_CFG_TAP_CLEAR_STICKY + 1)
-#define KEY_FCFG_ACCEL_INPUT        (KEY_CFG_FIFO_ON_EVENT + 1)
-#define KEY_FCFG_ACCEL_INIT         (KEY_FCFG_ACCEL_INPUT + 1)
-#define KEY_CFG_23                  (KEY_FCFG_ACCEL_INIT + 1)
-#define KEY_FCFG_1                  (KEY_CFG_23 + 1)
-#define KEY_FCFG_3                  (KEY_FCFG_1 + 1)
-#define KEY_FCFG_2                  (KEY_FCFG_3 + 1)
-#define KEY_CFG_3D                  (KEY_FCFG_2 + 1)
-#define KEY_CFG_3B                  (KEY_CFG_3D + 1)
-#define KEY_CFG_3C                  (KEY_CFG_3B + 1)
-#define KEY_FCFG_5                  (KEY_CFG_3C + 1)
-#define KEY_FCFG_4                  (KEY_FCFG_5 + 1)
-#define KEY_FCFG_7                  (KEY_FCFG_4 + 1)
-#define KEY_FCFG_FSCALE             (KEY_FCFG_7 + 1)
-#define KEY_FCFG_AZ                 (KEY_FCFG_FSCALE + 1)
-#define KEY_FCFG_6                  (KEY_FCFG_AZ + 1)
-#define KEY_FCFG_LSB4               (KEY_FCFG_6 + 1)
-#define KEY_CFG_12                  (KEY_FCFG_LSB4 + 1)
-#define KEY_CFG_14                  (KEY_CFG_12 + 1)
-#define KEY_CFG_15                  (KEY_CFG_14 + 1)
-#define KEY_CFG_16                  (KEY_CFG_15 + 1)
-#define KEY_CFG_18                  (KEY_CFG_16 + 1)
-#define KEY_CFG_6                   (KEY_CFG_18 + 1)
-#define KEY_CFG_7                   (KEY_CFG_6 + 1)
-#define KEY_CFG_4                   (KEY_CFG_7 + 1)
-#define KEY_CFG_5                   (KEY_CFG_4 + 1)
-#define KEY_CFG_2                   (KEY_CFG_5 + 1)
-#define KEY_CFG_3                   (KEY_CFG_2 + 1)
-#define KEY_CFG_1                   (KEY_CFG_3 + 1)
-#define KEY_CFG_EXTERNAL            (KEY_CFG_1 + 1)
-#define KEY_CFG_8                   (KEY_CFG_EXTERNAL + 1)
-#define KEY_CFG_9                   (KEY_CFG_8 + 1)
-#define KEY_CFG_ORIENT_3            (KEY_CFG_9 + 1)
-#define KEY_CFG_ORIENT_2            (KEY_CFG_ORIENT_3 + 1)
-#define KEY_CFG_ORIENT_1            (KEY_CFG_ORIENT_2 + 1)
-#define KEY_CFG_GYRO_SOURCE         (KEY_CFG_ORIENT_1 + 1)
-#define KEY_CFG_ORIENT_IRQ_1        (KEY_CFG_GYRO_SOURCE + 1)
-#define KEY_CFG_ORIENT_IRQ_2        (KEY_CFG_ORIENT_IRQ_1 + 1)
-#define KEY_CFG_ORIENT_IRQ_3        (KEY_CFG_ORIENT_IRQ_2 + 1)
-#define KEY_FCFG_MAG_VAL            (KEY_CFG_ORIENT_IRQ_3 + 1)
-#define KEY_FCFG_MAG_MOV            (KEY_FCFG_MAG_VAL + 1)
-#define KEY_CFG_LP_QUAT             (KEY_FCFG_MAG_MOV + 1)
-
-/* MPU6050 keys */
-#define KEY_CFG_ACCEL_FILTER        (KEY_CFG_LP_QUAT + 1)
-#define KEY_CFG_MOTION_BIAS         (KEY_CFG_ACCEL_FILTER + 1)
-#define KEY_TEMPLABEL               (KEY_CFG_MOTION_BIAS + 1)
-
-#define KEY_D_0_22                  (KEY_TEMPLABEL + 1)
-#define KEY_D_0_24                  (KEY_D_0_22 + 1)
-#define KEY_D_0_36                  (KEY_D_0_24 + 1)
-#define KEY_D_0_52                  (KEY_D_0_36 + 1)
-#define KEY_D_0_96                  (KEY_D_0_52 + 1)
-#define KEY_D_0_104                 (KEY_D_0_96 + 1)
-#define KEY_D_0_108                 (KEY_D_0_104 + 1)
-#define KEY_D_0_163                 (KEY_D_0_108 + 1)
-#define KEY_D_0_188                 (KEY_D_0_163 + 1)
-#define KEY_D_0_192                 (KEY_D_0_188 + 1)
-#define KEY_D_0_224                 (KEY_D_0_192 + 1)
-#define KEY_D_0_228                 (KEY_D_0_224 + 1)
-#define KEY_D_0_232                 (KEY_D_0_228 + 1)
-#define KEY_D_0_236                 (KEY_D_0_232 + 1)
-
-#define KEY_DMP_PREVPTAT            (KEY_D_0_236 + 1)
-#define KEY_D_1_2                   (KEY_DMP_PREVPTAT + 1)
-#define KEY_D_1_4                   (KEY_D_1_2 + 1)
-#define KEY_D_1_8                   (KEY_D_1_4 + 1)
-#define KEY_D_1_10                  (KEY_D_1_8 + 1)
-#define KEY_D_1_24                  (KEY_D_1_10 + 1)
-#define KEY_D_1_28                  (KEY_D_1_24 + 1)
-#define KEY_D_1_36                  (KEY_D_1_28 + 1)
-#define KEY_D_1_40                  (KEY_D_1_36 + 1)
-#define KEY_D_1_44                  (KEY_D_1_40 + 1)
-#define KEY_D_1_72                  (KEY_D_1_44 + 1)
-#define KEY_D_1_74                  (KEY_D_1_72 + 1)
-#define KEY_D_1_79                  (KEY_D_1_74 + 1)
-#define KEY_D_1_88                  (KEY_D_1_79 + 1)
-#define KEY_D_1_90                  (KEY_D_1_88 + 1)
-#define KEY_D_1_92                  (KEY_D_1_90 + 1)
-#define KEY_D_1_96                  (KEY_D_1_92 + 1)
-#define KEY_D_1_98                  (KEY_D_1_96 + 1)
-#define KEY_D_1_100                 (KEY_D_1_98 + 1)
-#define KEY_D_1_106                 (KEY_D_1_100 + 1)
-#define KEY_D_1_108                 (KEY_D_1_106 + 1)
-#define KEY_D_1_112                 (KEY_D_1_108 + 1)
-#define KEY_D_1_128                 (KEY_D_1_112 + 1)
-#define KEY_D_1_152                 (KEY_D_1_128 + 1)
-#define KEY_D_1_160                 (KEY_D_1_152 + 1)
-#define KEY_D_1_168                 (KEY_D_1_160 + 1)
-#define KEY_D_1_175                 (KEY_D_1_168 + 1)
-#define KEY_D_1_176                 (KEY_D_1_175 + 1)
-#define KEY_D_1_178                 (KEY_D_1_176 + 1)
-#define KEY_D_1_179                 (KEY_D_1_178 + 1)
-#define KEY_D_1_218                 (KEY_D_1_179 + 1)
-#define KEY_D_1_232                 (KEY_D_1_218 + 1)
-#define KEY_D_1_236                 (KEY_D_1_232 + 1)
-#define KEY_D_1_240                 (KEY_D_1_236 + 1)
-#define KEY_D_1_244                 (KEY_D_1_240 + 1)
-#define KEY_D_1_250                 (KEY_D_1_244 + 1)
-#define KEY_D_1_252                 (KEY_D_1_250 + 1)
-#define KEY_D_2_12                  (KEY_D_1_252 + 1)
-#define KEY_D_2_96                  (KEY_D_2_12 + 1)
-#define KEY_D_2_108                 (KEY_D_2_96 + 1)
-#define KEY_D_2_208                 (KEY_D_2_108 + 1)
-#define KEY_FLICK_MSG               (KEY_D_2_208 + 1)
-#define KEY_FLICK_COUNTER           (KEY_FLICK_MSG + 1)
-#define KEY_FLICK_LOWER             (KEY_FLICK_COUNTER + 1)
-#define KEY_CFG_FLICK_IN            (KEY_FLICK_LOWER + 1)
-#define KEY_FLICK_UPPER             (KEY_CFG_FLICK_IN + 1)
-#define KEY_CGNOTICE_INTR           (KEY_FLICK_UPPER + 1)
-#define KEY_D_2_224                 (KEY_CGNOTICE_INTR + 1)
-#define KEY_D_2_244                 (KEY_D_2_224 + 1)
-#define KEY_D_2_248                 (KEY_D_2_244 + 1)
-#define KEY_D_2_252                 (KEY_D_2_248 + 1)
-
-#define KEY_D_GYRO_BIAS_X               (KEY_D_2_252 + 1)
-#define KEY_D_GYRO_BIAS_Y               (KEY_D_GYRO_BIAS_X + 1)
-#define KEY_D_GYRO_BIAS_Z               (KEY_D_GYRO_BIAS_Y + 1)
-#define KEY_D_ACC_BIAS_X                (KEY_D_GYRO_BIAS_Z + 1)
-#define KEY_D_ACC_BIAS_Y                (KEY_D_ACC_BIAS_X + 1)
-#define KEY_D_ACC_BIAS_Z                (KEY_D_ACC_BIAS_Y + 1)
-#define KEY_D_GYRO_ENABLE               (KEY_D_ACC_BIAS_Z + 1)
-#define KEY_D_ACCEL_ENABLE              (KEY_D_GYRO_ENABLE + 1)
-#define KEY_D_QUAT_ENABLE               (KEY_D_ACCEL_ENABLE +1)
-#define KEY_D_OUTPUT_ENABLE             (KEY_D_QUAT_ENABLE + 1)
-#define KEY_D_CR_TIME_G                 (KEY_D_OUTPUT_ENABLE + 1)
-#define KEY_D_CR_TIME_A                 (KEY_D_CR_TIME_G + 1)
-#define KEY_D_CR_TIME_Q                 (KEY_D_CR_TIME_A + 1)
-#define KEY_D_CS_TAX                    (KEY_D_CR_TIME_Q + 1)
-#define KEY_D_CS_TAY                    (KEY_D_CS_TAX + 1)
-#define KEY_D_CS_TAZ                    (KEY_D_CS_TAY + 1)
-#define KEY_D_CS_TGX                    (KEY_D_CS_TAZ + 1)
-#define KEY_D_CS_TGY                    (KEY_D_CS_TGX + 1)
-#define KEY_D_CS_TGZ                    (KEY_D_CS_TGY + 1)
-#define KEY_D_CS_TQ0                    (KEY_D_CS_TGZ + 1)
-#define KEY_D_CS_TQ1                    (KEY_D_CS_TQ0 + 1)
-#define KEY_D_CS_TQ2                    (KEY_D_CS_TQ1 + 1)
-#define KEY_D_CS_TQ3                    (KEY_D_CS_TQ2 + 1)
-
-/* Compass keys */
-#define KEY_CPASS_BIAS_X            (KEY_D_CS_TQ3 + 1)
-#define KEY_CPASS_BIAS_Y            (KEY_CPASS_BIAS_X + 1)
-#define KEY_CPASS_BIAS_Z            (KEY_CPASS_BIAS_Y + 1)
-#define KEY_CPASS_MTX_00            (KEY_CPASS_BIAS_Z + 1)
-#define KEY_CPASS_MTX_01            (KEY_CPASS_MTX_00 + 1)
-#define KEY_CPASS_MTX_02            (KEY_CPASS_MTX_01 + 1)
-#define KEY_CPASS_MTX_10            (KEY_CPASS_MTX_02 + 1)
-#define KEY_CPASS_MTX_11            (KEY_CPASS_MTX_10 + 1)
-#define KEY_CPASS_MTX_12            (KEY_CPASS_MTX_11 + 1)
-#define KEY_CPASS_MTX_20            (KEY_CPASS_MTX_12 + 1)
-#define KEY_CPASS_MTX_21            (KEY_CPASS_MTX_20 + 1)
-#define KEY_CPASS_MTX_22            (KEY_CPASS_MTX_21 + 1)
-
-/* Gesture Keys */
-#define KEY_DMP_TAPW_MIN            (KEY_CPASS_MTX_22 + 1)
-#define KEY_DMP_TAP_THR_X           (KEY_DMP_TAPW_MIN + 1)
-#define KEY_DMP_TAP_THR_Y           (KEY_DMP_TAP_THR_X + 1)
-#define KEY_DMP_TAP_THR_Z           (KEY_DMP_TAP_THR_Y + 1)
-#define KEY_DMP_SH_TH_Y             (KEY_DMP_TAP_THR_Z + 1)
-#define KEY_DMP_SH_TH_X             (KEY_DMP_SH_TH_Y + 1)
-#define KEY_DMP_SH_TH_Z             (KEY_DMP_SH_TH_X + 1)
-#define KEY_DMP_ORIENT              (KEY_DMP_SH_TH_Z + 1)
-#define KEY_D_ACT0                  (KEY_DMP_ORIENT + 1)
-#define KEY_D_ACSX                  (KEY_D_ACT0 + 1)
-#define KEY_D_ACSY                  (KEY_D_ACSX + 1)
-#define KEY_D_ACSZ                  (KEY_D_ACSY + 1)
-
-#define KEY_X_GRT_Y_TMP             (KEY_D_ACSZ + 1)
-#define KEY_SKIP_X_GRT_Y_TMP        (KEY_X_GRT_Y_TMP + 1)
-#define KEY_SKIP_END_COMPARE        (KEY_SKIP_X_GRT_Y_TMP + 1)
-#define KEY_END_COMPARE_Y_X_TMP2    (KEY_SKIP_END_COMPARE + 1)       
-#define KEY_CFG_ANDROID_ORIENT_INT  (KEY_END_COMPARE_Y_X_TMP2 + 1)
-#define KEY_NO_ORIENT_INTERRUPT     (KEY_CFG_ANDROID_ORIENT_INT + 1)
-#define KEY_END_COMPARE_Y_X_TMP     (KEY_NO_ORIENT_INTERRUPT + 1)
-#define KEY_END_ORIENT_1            (KEY_END_COMPARE_Y_X_TMP + 1)
-#define KEY_END_COMPARE_Y_X         (KEY_END_ORIENT_1 + 1) 
-#define KEY_END_ORIENT              (KEY_END_COMPARE_Y_X + 1)
-#define KEY_X_GRT_Y                 (KEY_END_ORIENT + 1)
-#define KEY_NOT_TIME_MINUS_1        (KEY_X_GRT_Y + 1)       
-#define KEY_END_COMPARE_Y_X_TMP3    (KEY_NOT_TIME_MINUS_1 + 1) 
-#define KEY_X_GRT_Y_TMP2            (KEY_END_COMPARE_Y_X_TMP3 + 1)
-
-/* Authenticate Keys */
-#define KEY_D_AUTH_OUT              (KEY_X_GRT_Y_TMP2 + 1)
-#define KEY_D_AUTH_IN               (KEY_D_AUTH_OUT + 1)
-#define KEY_D_AUTH_A                (KEY_D_AUTH_IN + 1)
-#define KEY_D_AUTH_B                (KEY_D_AUTH_A + 1)
-
-/* Pedometer standalone only keys */
-#define KEY_D_PEDSTD_BP_B           (KEY_D_AUTH_B + 1)
-#define KEY_D_PEDSTD_HP_A           (KEY_D_PEDSTD_BP_B + 1)
-#define KEY_D_PEDSTD_HP_B           (KEY_D_PEDSTD_HP_A + 1)
-#define KEY_D_PEDSTD_BP_A4          (KEY_D_PEDSTD_HP_B + 1)
-#define KEY_D_PEDSTD_BP_A3          (KEY_D_PEDSTD_BP_A4 + 1)
-#define KEY_D_PEDSTD_BP_A2          (KEY_D_PEDSTD_BP_A3 + 1)
-#define KEY_D_PEDSTD_BP_A1          (KEY_D_PEDSTD_BP_A2 + 1)
-#define KEY_D_PEDSTD_INT_THRSH      (KEY_D_PEDSTD_BP_A1 + 1)
-#define KEY_D_PEDSTD_CLIP           (KEY_D_PEDSTD_INT_THRSH + 1)
-#define KEY_D_PEDSTD_SB             (KEY_D_PEDSTD_CLIP + 1)
-#define KEY_D_PEDSTD_SB_TIME        (KEY_D_PEDSTD_SB + 1)
-#define KEY_D_PEDSTD_PEAKTHRSH      (KEY_D_PEDSTD_SB_TIME + 1)
-#define KEY_D_PEDSTD_TIML           (KEY_D_PEDSTD_PEAKTHRSH + 1)
-#define KEY_D_PEDSTD_TIMH           (KEY_D_PEDSTD_TIML + 1)
-#define KEY_D_PEDSTD_PEAK           (KEY_D_PEDSTD_TIMH + 1)
-#define KEY_D_PEDSTD_TIMECTR        (KEY_D_PEDSTD_PEAK + 1)
-#define KEY_D_PEDSTD_STEPCTR        (KEY_D_PEDSTD_TIMECTR + 1)
-#define KEY_D_PEDSTD_WALKTIME       (KEY_D_PEDSTD_STEPCTR + 1)
-#define KEY_D_PEDSTD_DECI           (KEY_D_PEDSTD_WALKTIME + 1)
-
-/*Host Based No Motion*/
-#define KEY_D_HOST_NO_MOT           (KEY_D_PEDSTD_DECI + 1)
-
-/* EIS keys */
-#define KEY_P_EIS_FIFO_FOOTER       (KEY_D_HOST_NO_MOT + 1)
-#define KEY_P_EIS_FIFO_YSHIFT       (KEY_P_EIS_FIFO_FOOTER + 1)
-#define KEY_P_EIS_DATA_RATE         (KEY_P_EIS_FIFO_YSHIFT + 1)
-#define KEY_P_EIS_FIFO_XSHIFT       (KEY_P_EIS_DATA_RATE + 1)
-#define KEY_P_EIS_FIFO_SYNC         (KEY_P_EIS_FIFO_XSHIFT + 1)
-#define KEY_P_EIS_FIFO_ZSHIFT       (KEY_P_EIS_FIFO_SYNC + 1)
-#define KEY_P_EIS_FIFO_READY        (KEY_P_EIS_FIFO_ZSHIFT + 1)
-#define KEY_DMP_FOOTER              (KEY_P_EIS_FIFO_READY + 1)
-#define KEY_DMP_INTX_HC             (KEY_DMP_FOOTER + 1)
-#define KEY_DMP_INTX_PH             (KEY_DMP_INTX_HC + 1)
-#define KEY_DMP_INTX_SH             (KEY_DMP_INTX_PH + 1)
-#define KEY_DMP_AINV_SH             (KEY_DMP_INTX_SH + 1)
-#define KEY_DMP_A_INV_XH            (KEY_DMP_AINV_SH + 1)
-#define KEY_DMP_AINV_PH             (KEY_DMP_A_INV_XH + 1)
-#define KEY_DMP_CTHX_H              (KEY_DMP_AINV_PH + 1)
-#define KEY_DMP_CTHY_H              (KEY_DMP_CTHX_H + 1)
-#define KEY_DMP_CTHZ_H              (KEY_DMP_CTHY_H + 1)
-#define KEY_DMP_NCTHX_H             (KEY_DMP_CTHZ_H + 1)
-#define KEY_DMP_NCTHY_H             (KEY_DMP_NCTHX_H + 1)
-#define KEY_DMP_NCTHZ_H             (KEY_DMP_NCTHY_H + 1)
-#define KEY_DMP_CTSQ_XH             (KEY_DMP_NCTHZ_H + 1)
-#define KEY_DMP_CTSQ_YH             (KEY_DMP_CTSQ_XH + 1)
-#define KEY_DMP_CTSQ_ZH             (KEY_DMP_CTSQ_YH + 1)
-#define KEY_DMP_INTX_H              (KEY_DMP_CTSQ_ZH + 1)
-#define KEY_DMP_INTY_H              (KEY_DMP_INTX_H + 1)
-#define KEY_DMP_INTZ_H              (KEY_DMP_INTY_H + 1)
-//#define KEY_DMP_HPX_H               (KEY_DMP_INTZ_H + 1)
-//#define KEY_DMP_HPY_H               (KEY_DMP_HPX_H + 1)
-//#define KEY_DMP_HPZ_H               (KEY_DMP_HPY_H + 1)
-
-/* Stream keys */
-#define KEY_STREAM_P_GYRO_Z         (KEY_DMP_INTZ_H + 1)
-#define KEY_STREAM_P_GYRO_Y         (KEY_STREAM_P_GYRO_Z + 1)
-#define KEY_STREAM_P_GYRO_X         (KEY_STREAM_P_GYRO_Y + 1)
-#define KEY_STREAM_P_TEMP           (KEY_STREAM_P_GYRO_X + 1)
-#define KEY_STREAM_P_AUX_Y          (KEY_STREAM_P_TEMP + 1)
-#define KEY_STREAM_P_AUX_X          (KEY_STREAM_P_AUX_Y + 1)
-#define KEY_STREAM_P_AUX_Z          (KEY_STREAM_P_AUX_X + 1)
-#define KEY_STREAM_P_ACCEL_Y        (KEY_STREAM_P_AUX_Z + 1)
-#define KEY_STREAM_P_ACCEL_X        (KEY_STREAM_P_ACCEL_Y + 1)
-#define KEY_STREAM_P_FOOTER         (KEY_STREAM_P_ACCEL_X + 1)
-#define KEY_STREAM_P_ACCEL_Z        (KEY_STREAM_P_FOOTER + 1)
-
-#define NUM_KEYS                    (KEY_STREAM_P_ACCEL_Z + 1)
-
-typedef struct {
-    unsigned short key;
-    unsigned short addr;
-} tKeyLabel;
-
-#define DINA0A 0x0a
-#define DINA22 0x22
-#define DINA42 0x42
-#define DINA5A 0x5a
-
-#define DINA06 0x06
-#define DINA0E 0x0e
-#define DINA16 0x16
-#define DINA1E 0x1e
-#define DINA26 0x26
-#define DINA2E 0x2e
-#define DINA36 0x36
-#define DINA3E 0x3e
-#define DINA46 0x46
-#define DINA4E 0x4e
-#define DINA56 0x56
-#define DINA5E 0x5e
-#define DINA66 0x66
-#define DINA6E 0x6e
-#define DINA76 0x76
-#define DINA7E 0x7e
-
-#define DINA00 0x00
-#define DINA08 0x08
-#define DINA10 0x10
-#define DINA18 0x18
-#define DINA20 0x20
-#define DINA28 0x28
-#define DINA30 0x30
-#define DINA38 0x38
-#define DINA40 0x40
-#define DINA48 0x48
-#define DINA50 0x50
-#define DINA58 0x58
-#define DINA60 0x60
-#define DINA68 0x68
-#define DINA70 0x70
-#define DINA78 0x78
-
-#define DINA04 0x04
-#define DINA0C 0x0c
-#define DINA14 0x14
-#define DINA1C 0x1C
-#define DINA24 0x24
-#define DINA2C 0x2c
-#define DINA34 0x34
-#define DINA3C 0x3c
-#define DINA44 0x44
-#define DINA4C 0x4c
-#define DINA54 0x54
-#define DINA5C 0x5c
-#define DINA64 0x64
-#define DINA6C 0x6c
-#define DINA74 0x74
-#define DINA7C 0x7c
-
-#define DINA01 0x01
-#define DINA09 0x09
-#define DINA11 0x11
-#define DINA19 0x19
-#define DINA21 0x21
-#define DINA29 0x29
-#define DINA31 0x31
-#define DINA39 0x39
-#define DINA41 0x41
-#define DINA49 0x49
-#define DINA51 0x51
-#define DINA59 0x59
-#define DINA61 0x61
-#define DINA69 0x69
-#define DINA71 0x71
-#define DINA79 0x79
-
-#define DINA25 0x25
-#define DINA2D 0x2d
-#define DINA35 0x35
-#define DINA3D 0x3d
-#define DINA4D 0x4d
-#define DINA55 0x55
-#define DINA5D 0x5D
-#define DINA6D 0x6d
-#define DINA75 0x75
-#define DINA7D 0x7d
-
-#define DINADC 0xdc
-#define DINAF2 0xf2
-#define DINAAB 0xab
-#define DINAAA 0xaa
-#define DINAF1 0xf1
-#define DINADF 0xdf
-#define DINADA 0xda
-#define DINAB1 0xb1
-#define DINAB9 0xb9
-#define DINAF3 0xf3
-#define DINA8B 0x8b
-#define DINAA3 0xa3
-#define DINA91 0x91
-#define DINAB6 0xb6
-#define DINAB4 0xb4
-
-
-#define DINC00 0x00
-#define DINC01 0x01
-#define DINC02 0x02
-#define DINC03 0x03
-#define DINC08 0x08
-#define DINC09 0x09
-#define DINC0A 0x0a
-#define DINC0B 0x0b
-#define DINC10 0x10
-#define DINC11 0x11
-#define DINC12 0x12
-#define DINC13 0x13
-#define DINC18 0x18
-#define DINC19 0x19
-#define DINC1A 0x1a
-#define DINC1B 0x1b
-
-#define DINC20 0x20
-#define DINC21 0x21
-#define DINC22 0x22
-#define DINC23 0x23
-#define DINC28 0x28
-#define DINC29 0x29
-#define DINC2A 0x2a
-#define DINC2B 0x2b
-#define DINC30 0x30
-#define DINC31 0x31
-#define DINC32 0x32
-#define DINC33 0x33
-#define DINC38 0x38
-#define DINC39 0x39
-#define DINC3A 0x3a
-#define DINC3B 0x3b
-
-#define DINC40 0x40
-#define DINC41 0x41
-#define DINC42 0x42
-#define DINC43 0x43
-#define DINC48 0x48
-#define DINC49 0x49
-#define DINC4A 0x4a
-#define DINC4B 0x4b
-#define DINC50 0x50
-#define DINC51 0x51
-#define DINC52 0x52
-#define DINC53 0x53
-#define DINC58 0x58
-#define DINC59 0x59
-#define DINC5A 0x5a
-#define DINC5B 0x5b
-
-#define DINC60 0x60
-#define DINC61 0x61
-#define DINC62 0x62
-#define DINC63 0x63
-#define DINC68 0x68
-#define DINC69 0x69
-#define DINC6A 0x6a
-#define DINC6B 0x6b
-#define DINC70 0x70
-#define DINC71 0x71
-#define DINC72 0x72
-#define DINC73 0x73
-#define DINC78 0x78
-#define DINC79 0x79
-#define DINC7A 0x7a
-#define DINC7B 0x7b
-
-#define DIND40 0x40
-
-
-#define DINA80 0x80
-#define DINA90 0x90
-#define DINAA0 0xa0
-#define DINAC9 0xc9
-#define DINACB 0xcb
-#define DINACD 0xcd
-#define DINACF 0xcf
-#define DINAC8 0xc8
-#define DINACA 0xca
-#define DINACC 0xcc
-#define DINACE 0xce
-#define DINAD8 0xd8
-#define DINADD 0xdd
-#define DINAF8 0xf0
-#define DINAFE 0xfe
-
-#define DINBF8 0xf8
-#define DINAC0 0xb0
-#define DINAC1 0xb1
-#define DINAC2 0xb4
-#define DINAC3 0xb5
-#define DINAC4 0xb8
-#define DINAC5 0xb9
-#define DINBC0 0xc0
-#define DINBC2 0xc2
-#define DINBC4 0xc4
-#define DINBC6 0xc6
-
-
-
-#endif // DMPKEY_H__

Core备份3/imu3/dmpmap3.h

@@ -1,264 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-#ifndef DMPMAP_H
-#define DMPMAP_H
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#define DMP_PTAT    0
-#define DMP_XGYR    2
-#define DMP_YGYR    4
-#define DMP_ZGYR    6
-#define DMP_XACC    8
-#define DMP_YACC    10
-#define DMP_ZACC    12
-#define DMP_ADC1    14
-#define DMP_ADC2    16
-#define DMP_ADC3    18
-#define DMP_BIASUNC    20
-#define DMP_FIFORT    22
-#define DMP_INVGSFH    24
-#define DMP_INVGSFL    26
-#define DMP_1H    28
-#define DMP_1L    30
-#define DMP_BLPFSTCH    32
-#define DMP_BLPFSTCL    34
-#define DMP_BLPFSXH    36
-#define DMP_BLPFSXL    38
-#define DMP_BLPFSYH    40
-#define DMP_BLPFSYL    42
-#define DMP_BLPFSZH    44
-#define DMP_BLPFSZL    46
-#define DMP_BLPFMTC    48
-#define DMP_SMC    50
-#define DMP_BLPFMXH    52
-#define DMP_BLPFMXL    54
-#define DMP_BLPFMYH    56
-#define DMP_BLPFMYL    58
-#define DMP_BLPFMZH    60
-#define DMP_BLPFMZL    62
-#define DMP_BLPFC    64
-#define DMP_SMCTH    66
-#define DMP_0H2    68
-#define DMP_0L2    70
-#define DMP_BERR2H    72
-#define DMP_BERR2L    74
-#define DMP_BERR2NH    76
-#define DMP_SMCINC    78
-#define DMP_ANGVBXH    80
-#define DMP_ANGVBXL    82
-#define DMP_ANGVBYH    84
-#define DMP_ANGVBYL    86
-#define DMP_ANGVBZH    88
-#define DMP_ANGVBZL    90
-#define DMP_BERR1H    92
-#define DMP_BERR1L    94
-#define DMP_ATCH    96
-#define DMP_BIASUNCSF    98
-#define DMP_ACT2H    100
-#define DMP_ACT2L    102
-#define DMP_GSFH    104
-#define DMP_GSFL    106
-#define DMP_GH    108
-#define DMP_GL    110
-#define DMP_0_5H    112
-#define DMP_0_5L    114
-#define DMP_0_0H    116
-#define DMP_0_0L    118
-#define DMP_1_0H    120
-#define DMP_1_0L    122
-#define DMP_1_5H    124
-#define DMP_1_5L    126
-#define DMP_TMP1AH    128
-#define DMP_TMP1AL    130
-#define DMP_TMP2AH    132
-#define DMP_TMP2AL    134
-#define DMP_TMP3AH    136
-#define DMP_TMP3AL    138
-#define DMP_TMP4AH    140
-#define DMP_TMP4AL    142
-#define DMP_XACCW    144
-#define DMP_TMP5    146
-#define DMP_XACCB    148
-#define DMP_TMP8    150
-#define DMP_YACCB    152
-#define DMP_TMP9    154
-#define DMP_ZACCB    156
-#define DMP_TMP10    158
-#define DMP_DZH    160
-#define DMP_DZL    162
-#define DMP_XGCH    164
-#define DMP_XGCL    166
-#define DMP_YGCH    168
-#define DMP_YGCL    170
-#define DMP_ZGCH    172
-#define DMP_ZGCL    174
-#define DMP_YACCW    176
-#define DMP_TMP7    178
-#define DMP_AFB1H    180
-#define DMP_AFB1L    182
-#define DMP_AFB2H    184
-#define DMP_AFB2L    186
-#define DMP_MAGFBH    188
-#define DMP_MAGFBL    190
-#define DMP_QT1H    192
-#define DMP_QT1L    194
-#define DMP_QT2H    196
-#define DMP_QT2L    198
-#define DMP_QT3H    200
-#define DMP_QT3L    202
-#define DMP_QT4H    204
-#define DMP_QT4L    206
-#define DMP_CTRL1H    208
-#define DMP_CTRL1L    210
-#define DMP_CTRL2H    212
-#define DMP_CTRL2L    214
-#define DMP_CTRL3H    216
-#define DMP_CTRL3L    218
-#define DMP_CTRL4H    220
-#define DMP_CTRL4L    222
-#define DMP_CTRLS1    224
-#define DMP_CTRLSF1    226
-#define DMP_CTRLS2    228
-#define DMP_CTRLSF2    230
-#define DMP_CTRLS3    232
-#define DMP_CTRLSFNLL    234
-#define DMP_CTRLS4    236
-#define DMP_CTRLSFNL2    238
-#define DMP_CTRLSFNL    240
-#define DMP_TMP30    242
-#define DMP_CTRLSFJT    244
-#define DMP_TMP31    246
-#define DMP_TMP11    248
-#define DMP_CTRLSF2_2    250
-#define DMP_TMP12    252
-#define DMP_CTRLSF1_2    254
-#define DMP_PREVPTAT    256
-#define DMP_ACCZB    258
-#define DMP_ACCXB    264
-#define DMP_ACCYB    266
-#define DMP_1HB    272
-#define DMP_1LB    274
-#define DMP_0H    276
-#define DMP_0L    278
-#define DMP_ASR22H    280
-#define DMP_ASR22L    282
-#define DMP_ASR6H    284
-#define DMP_ASR6L    286
-#define DMP_TMP13    288
-#define DMP_TMP14    290
-#define DMP_FINTXH    292
-#define DMP_FINTXL    294
-#define DMP_FINTYH    296
-#define DMP_FINTYL    298
-#define DMP_FINTZH    300
-#define DMP_FINTZL    302
-#define DMP_TMP1BH    304
-#define DMP_TMP1BL    306
-#define DMP_TMP2BH    308
-#define DMP_TMP2BL    310
-#define DMP_TMP3BH    312
-#define DMP_TMP3BL    314
-#define DMP_TMP4BH    316
-#define DMP_TMP4BL    318
-#define DMP_STXG    320
-#define DMP_ZCTXG    322
-#define DMP_STYG    324
-#define DMP_ZCTYG    326
-#define DMP_STZG    328
-#define DMP_ZCTZG    330
-#define DMP_CTRLSFJT2    332
-#define DMP_CTRLSFJTCNT    334
-#define DMP_PVXG    336
-#define DMP_TMP15    338
-#define DMP_PVYG    340
-#define DMP_TMP16    342
-#define DMP_PVZG    344
-#define DMP_TMP17    346
-#define DMP_MNMFLAGH    352
-#define DMP_MNMFLAGL    354
-#define DMP_MNMTMH    356
-#define DMP_MNMTML    358
-#define DMP_MNMTMTHRH    360
-#define DMP_MNMTMTHRL    362
-#define DMP_MNMTHRH    364
-#define DMP_MNMTHRL    366
-#define DMP_ACCQD4H    368
-#define DMP_ACCQD4L    370
-#define DMP_ACCQD5H    372
-#define DMP_ACCQD5L    374
-#define DMP_ACCQD6H    376
-#define DMP_ACCQD6L    378
-#define DMP_ACCQD7H    380
-#define DMP_ACCQD7L    382
-#define DMP_ACCQD0H    384
-#define DMP_ACCQD0L    386
-#define DMP_ACCQD1H    388
-#define DMP_ACCQD1L    390
-#define DMP_ACCQD2H    392
-#define DMP_ACCQD2L    394
-#define DMP_ACCQD3H    396
-#define DMP_ACCQD3L    398
-#define DMP_XN2H    400
-#define DMP_XN2L    402
-#define DMP_XN1H    404
-#define DMP_XN1L    406
-#define DMP_YN2H    408
-#define DMP_YN2L    410
-#define DMP_YN1H    412
-#define DMP_YN1L    414
-#define DMP_YH    416
-#define DMP_YL    418
-#define DMP_B0H    420
-#define DMP_B0L    422
-#define DMP_A1H    424
-#define DMP_A1L    426
-#define DMP_A2H    428
-#define DMP_A2L    430
-#define DMP_SEM1    432
-#define DMP_FIFOCNT    434
-#define DMP_SH_TH_X    436
-#define DMP_PACKET    438
-#define DMP_SH_TH_Y    440
-#define DMP_FOOTER    442
-#define DMP_SH_TH_Z    444
-#define DMP_TEMP29    448
-#define DMP_TEMP30    450
-#define DMP_XACCB_PRE    452
-#define DMP_XACCB_PREL    454
-#define DMP_YACCB_PRE    456
-#define DMP_YACCB_PREL    458
-#define DMP_ZACCB_PRE    460
-#define DMP_ZACCB_PREL    462
-#define DMP_TMP22    464
-#define DMP_TAP_TIMER    466
-#define DMP_TAP_THX    468
-#define DMP_TAP_THY    472
-#define DMP_TAP_THZ    476
-#define DMP_TAPW_MIN    478
-#define DMP_TMP25    480
-#define DMP_TMP26    482
-#define DMP_TMP27    484
-#define DMP_TMP28    486
-#define DMP_ORIENT    488
-#define DMP_THRSH    490
-#define DMP_ENDIANH    492
-#define DMP_ENDIANL    494
-#define DMP_BLPFNMTCH    496
-#define DMP_BLPFNMTCL    498
-#define DMP_BLPFNMXH    500
-#define DMP_BLPFNMXL    502
-#define DMP_BLPFNMYH    504
-#define DMP_BLPFNMYL    506
-#define DMP_BLPFNMZH    508
-#define DMP_BLPFNMZL    510
-#ifdef __cplusplus
-}
-#endif
-#endif // DMPMAP_H

Core备份3/imu3/inv_mpu3.c

@@ -1,2774 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
-    See included License.txt for License information.
- $
- */
-/**
- *  @addtogroup  DRIVERS Sensor Driver Layer
- *  @brief       Hardware drivers to communicate with sensors via I2C.
- *
- *  @{
- *      @file       inv_mpu.c
- *      @brief      An I2C-based driver for Invensense gyroscopes.
- *      @details    This driver currently works for the following devices:
- *                  MPU6050
- *                  MPU6500
- *                  MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus)
- *                  MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus)
- */
-#include <stdio.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-#include "inv_mpu3.h"
-
-#include "MPU60503.h"
-
-
-/* The following functions must be defined for this platform:
- * i2c_write(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char const *data)
- * i2c_read(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char *data)
- * delay_ms(unsigned long num_ms)
- * get_ms(unsigned long *count)
- * reg_int_cb(void (*cb)(void), unsigned char port, unsigned char pin)
- * labs(long x)
- * fabsf(float x)
- * min(int a, int b)
- */
-#if defined MOTION_DRIVER_TARGET_MSP430
-#include "msp430.h"
-#include "msp430_i2c.h"
-#include "msp430_clock.h"
-#include "msp430_interrupt.h"
-#define i2c_write   msp430_i2c_write
-#define i2c_read    msp430_i2c_read
-#define delay_ms    msp430_delay_ms
-#define get_ms      msp430_get_clock_ms
-static inline int reg_int_cb(struct int_param_s *int_param)
-{
-    return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit,
-        int_param->active_low);
-}
-#define log_i(...)     do {} while (0)
-#define log_e(...)     do {} while (0)
-/* labs is already defined by TI's toolchain. */
-/* fabs is for doubles. fabsf is for floats. */
-#define fabs        fabsf
-#define min(a,b) ((a<b)?a:b)
-#elif defined EMPL_TARGET_MSP430
-#include "msp430.h"
-#include "msp430_i2c.h"
-#include "msp430_clock.h"
-#include "msp430_interrupt.h"
-#include "log.h"
-#define i2c_write   msp430_i2c_write
-#define i2c_read    msp430_i2c_read
-#define delay_ms    msp430_delay_ms
-#define get_ms      msp430_get_clock_ms
-static inline int reg_int_cb(struct int_param_s *int_param)
-{
-    return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit,
-        int_param->active_low);
-}
-#define log_i       MPL_LOGI
-#define log_e       MPL_LOGE
-/* labs is already defined by TI's toolchain. */
-/* fabs is for doubles. fabsf is for floats. */
-#define fabs        fabsf
-#define min(a,b) ((a<b)?a:b)
-#elif defined EMPL_TARGET_UC3L0
-/* Instead of using the standard TWI driver from the ASF library, we're using
- * a TWI driver that follows the slave address + register address convention.
- */
-#include "twi.h"
-#include "delay.h"
-#include "sysclk.h"
-#include "log.h"
-#include "sensors_xplained.h"
-#include "uc3l0_clock.h"
-#define i2c_write(a, b, c, d)   twi_write(a, b, d, c)
-#define i2c_read(a, b, c, d)    twi_read(a, b, d, c)
-/* delay_ms is a function already defined in ASF. */
-#define get_ms  uc3l0_get_clock_ms
-static inline int reg_int_cb(struct int_param_s *int_param)
-{
-    sensor_board_irq_connect(int_param->pin, int_param->cb, int_param->arg);
-    return 0;
-}
-#define log_i       MPL_LOGI
-#define log_e       MPL_LOGE
-/* UC3 is a 32-bit processor, so abs and labs are equivalent. */
-#define labs        abs
-#define fabs(x)     (((x)>0)?(x):-(x))
-#elif defined MOTION_DRIVER_TARGET_STM32
-
-/* The following functions must be defined for this platform:
- * i2c_write(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char const *data)
- * i2c_read(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char *data)
- * delay_ms(unsigned long num_ms)
- * get_ms(unsigned long *count)
- * reg_int_cb(void (*cb)(void), unsigned char port, unsigned char pin)
- * labs(long x)
- * fabsf(float x)
- * min(int a, int b)
- */
-
-#define i2c_write   IIC_Write_Len
-#define i2c_read    IIC_Read_Len
-#define delay_ms    HAL_Delay
-#define get_ms      get_tick_count
-//static inline int reg_int_cb(struct int_param_s *int_param)
-//{
-////    return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit,
-////        int_param->active_low);
-//}
-//#define log_i(...)     do {} while (0)
-//#define log_e(...)     do {} while (0)
-
-#define log_i     printf
-#define log_e     printf
-
-/* labs is already defined by TI's toolchain. */
-/* fabs is for doubles. fabsf is for floats. */
-#define fabs        fabsf
-#define min(a,b) ((a<b)?a:b)
-
-#else
-#error  Gyro driver is missing the system layer implementations.
-#endif
-
-#if !defined MPU6050 && !defined MPU9150 && !defined MPU6500 && !defined MPU9250
-#error  Which gyro are you using? Define MPUxxxx in your compiler options.
-#endif
-
-/* Time for some messy macro work. =]
- * #define MPU9150
- * is equivalent to..
- * #define MPU6050
- * #define AK8975_SECONDARY
- *
- * #define MPU9250
- * is equivalent to..
- * #define MPU6500
- * #define AK8963_SECONDARY
- */
-#if defined MPU9150
-#ifndef MPU6050
-#define MPU6050
-#endif                          /* #ifndef MPU6050 */
-#if defined AK8963_SECONDARY
-#error "MPU9150 and AK8963_SECONDARY cannot both be defined."
-#elif !defined AK8975_SECONDARY /* #if defined AK8963_SECONDARY */
-#define AK8975_SECONDARY
-#endif                          /* #if defined AK8963_SECONDARY */
-#elif defined MPU9250           /* #if defined MPU9150 */
-#ifndef MPU6500
-#define MPU6500
-#endif                          /* #ifndef MPU6500 */
-#if defined AK8975_SECONDARY
-#error "MPU9250 and AK8975_SECONDARY cannot both be defined."
-#elif !defined AK8963_SECONDARY /* #if defined AK8975_SECONDARY */
-#define AK8963_SECONDARY
-#endif                          /* #if defined AK8975_SECONDARY */
-#endif                          /* #if defined MPU9150 */
-
-#if defined AK8975_SECONDARY || defined AK8963_SECONDARY
-#define AK89xx_SECONDARY
-#else
-/* #warning "No compass = less profit for Invensense. Lame." */
-#endif
-
-static int set_int_enable(unsigned char enable);
-
-/* Hardware registers needed by driver. */
-struct gyro_reg_s {
-    unsigned char who_am_i;
-    unsigned char rate_div;
-    unsigned char lpf;
-    unsigned char prod_id;
-    unsigned char user_ctrl;
-    unsigned char fifo_en;
-    unsigned char gyro_cfg;
-    unsigned char accel_cfg;
-    unsigned char accel_cfg2;
-    unsigned char lp_accel_odr;
-    unsigned char motion_thr;
-    unsigned char motion_dur;
-    unsigned char fifo_count_h;
-    unsigned char fifo_r_w;
-    unsigned char raw_gyro;
-    unsigned char raw_accel;
-    unsigned char temp;
-    unsigned char int_enable;
-    unsigned char dmp_int_status;
-    unsigned char int_status;
-    unsigned char accel_intel;
-    unsigned char pwr_mgmt_1;
-    unsigned char pwr_mgmt_2;
-    unsigned char int_pin_cfg;
-    unsigned char mem_r_w;
-    unsigned char accel_offs;
-    unsigned char i2c_mst;
-    unsigned char bank_sel;
-    unsigned char mem_start_addr;
-    unsigned char prgm_start_h;
-#if defined AK89xx_SECONDARY
-    unsigned char s0_addr;
-    unsigned char s0_reg;
-    unsigned char s0_ctrl;
-    unsigned char s1_addr;
-    unsigned char s1_reg;
-    unsigned char s1_ctrl;
-    unsigned char s4_ctrl;
-    unsigned char s0_do;
-    unsigned char s1_do;
-    unsigned char i2c_delay_ctrl;
-    unsigned char raw_compass;
-    /* The I2C_MST_VDDIO bit is in this register. */
-    unsigned char yg_offs_tc;
-#endif
-};
-
-/* Information specific to a particular device. */
-struct hw_s {
-    unsigned char addr;
-    unsigned short max_fifo;
-    unsigned char num_reg;
-    unsigned short temp_sens;
-    short temp_offset;
-    unsigned short bank_size;
-#if defined AK89xx_SECONDARY
-    unsigned short compass_fsr;
-#endif
-};
-
-/* When entering motion interrupt mode, the driver keeps track of the
- * previous state so that it can be restored at a later time.
- * TODO: This is tacky. Fix it.
- */
-struct motion_int_cache_s {
-    unsigned short gyro_fsr;
-    unsigned char accel_fsr;
-    unsigned short lpf;
-    unsigned short sample_rate;
-    unsigned char sensors_on;
-    unsigned char fifo_sensors;
-    unsigned char dmp_on;
-};
-
-/* Cached chip configuration data.
- * TODO: A lot of these can be handled with a bitmask.
- */
-struct chip_cfg_s {
-    /* Matches gyro_cfg >> 3 & 0x03 */
-    unsigned char gyro_fsr;
-    /* Matches accel_cfg >> 3 & 0x03 */
-    unsigned char accel_fsr;
-    /* Enabled sensors. Uses same masks as fifo_en, NOT pwr_mgmt_2. */
-    unsigned char sensors;
-    /* Matches config register. */
-    unsigned char lpf;
-    unsigned char clk_src;
-    /* Sample rate, NOT rate divider. */
-    unsigned short sample_rate;
-    /* Matches fifo_en register. */
-    unsigned char fifo_enable;
-    /* Matches int enable register. */
-    unsigned char int_enable;
-    /* 1 if devices on auxiliary I2C bus appear on the primary. */
-    unsigned char bypass_mode;
-    /* 1 if half-sensitivity.
-     * NOTE: This doesn't belong here, but everything else in hw_s is const,
-     * and this allows us to save some precious RAM.
-     */
-    unsigned char accel_half;
-    /* 1 if device in low-power accel-only mode. */
-    unsigned char lp_accel_mode;
-    /* 1 if interrupts are only triggered on motion events. */
-    unsigned char int_motion_only;
-    struct motion_int_cache_s cache;
-    /* 1 for active low interrupts. */
-    unsigned char active_low_int;
-    /* 1 for latched interrupts. */
-    unsigned char latched_int;
-    /* 1 if DMP is enabled. */
-    unsigned char dmp_on;
-    /* Ensures that DMP will only be loaded once. */
-    unsigned char dmp_loaded;
-    /* Sampling rate used when DMP is enabled. */
-    unsigned short dmp_sample_rate;
-#ifdef AK89xx_SECONDARY
-    /* Compass sample rate. */
-    unsigned short compass_sample_rate;
-    unsigned char compass_addr;
-    short mag_sens_adj[3];
-#endif
-};
-
-/* Information for self-test. */
-struct test_s {
-    unsigned long gyro_sens;
-    unsigned long accel_sens;
-    unsigned char reg_rate_div;
-    unsigned char reg_lpf;
-    unsigned char reg_gyro_fsr;
-    unsigned char reg_accel_fsr;
-    unsigned short wait_ms;
-    unsigned char packet_thresh;
-    float min_dps;
-    float max_dps;
-    float max_gyro_var;
-    float min_g;
-    float max_g;
-    float max_accel_var;
-};
-
-/* Gyro driver state variables. */
-struct gyro_state_s {
-    const struct gyro_reg_s *reg;
-    const struct hw_s *hw;
-    struct chip_cfg_s chip_cfg;
-    const struct test_s *test;
-};
-
-/* Filter configurations. */
-enum lpf_e {
-    INV_FILTER_256HZ_NOLPF2 = 0,
-    INV_FILTER_188HZ,
-    INV_FILTER_98HZ,
-    INV_FILTER_42HZ,
-    INV_FILTER_20HZ,
-    INV_FILTER_10HZ,
-    INV_FILTER_5HZ,
-    INV_FILTER_2100HZ_NOLPF,
-    NUM_FILTER
-};
-
-/* Full scale ranges. */
-enum gyro_fsr_e {
-    INV_FSR_250DPS = 0,
-    INV_FSR_500DPS,
-    INV_FSR_1000DPS,
-    INV_FSR_2000DPS,
-    NUM_GYRO_FSR
-};
-
-/* Full scale ranges. */
-enum accel_fsr_e {
-    INV_FSR_2G = 0,
-    INV_FSR_4G,
-    INV_FSR_8G,
-    INV_FSR_16G,
-    NUM_ACCEL_FSR
-};
-
-/* Clock sources. */
-enum clock_sel_e {
-    INV_CLK_INTERNAL = 0,
-    INV_CLK_PLL,
-    NUM_CLK
-};
-
-/* Low-power accel wakeup rates. */
-enum lp_accel_rate_e {
-#if defined MPU6050
-    INV_LPA_1_25HZ,
-    INV_LPA_5HZ,
-    INV_LPA_20HZ,
-    INV_LPA_40HZ
-#elif defined MPU6500
-    INV_LPA_0_3125HZ,
-    INV_LPA_0_625HZ,
-    INV_LPA_1_25HZ,
-    INV_LPA_2_5HZ,
-    INV_LPA_5HZ,
-    INV_LPA_10HZ,
-    INV_LPA_20HZ,
-    INV_LPA_40HZ,
-    INV_LPA_80HZ,
-    INV_LPA_160HZ,
-    INV_LPA_320HZ,
-    INV_LPA_640HZ
-#endif
-};
-
-#define BIT_I2C_MST_VDDIO   (0x80)
-#define BIT_FIFO_EN         (0x40)
-#define BIT_DMP_EN          (0x80)
-#define BIT_FIFO_RST        (0x04)
-#define BIT_DMP_RST         (0x08)
-#define BIT_FIFO_OVERFLOW   (0x10)
-#define BIT_DATA_RDY_EN     (0x01)
-#define BIT_DMP_INT_EN      (0x02)
-#define BIT_MOT_INT_EN      (0x40)
-#define BITS_FSR            (0x18)
-#define BITS_LPF            (0x07)
-#define BITS_HPF            (0x07)
-#define BITS_CLK            (0x07)
-#define BIT_FIFO_SIZE_1024  (0x40)
-#define BIT_FIFO_SIZE_2048  (0x80)
-#define BIT_FIFO_SIZE_4096  (0xC0)
-#define BIT_RESET           (0x80)
-#define BIT_SLEEP           (0x40)
-#define BIT_S0_DELAY_EN     (0x01)
-#define BIT_S2_DELAY_EN     (0x04)
-#define BITS_SLAVE_LENGTH   (0x0F)
-#define BIT_SLAVE_BYTE_SW   (0x40)
-#define BIT_SLAVE_GROUP     (0x10)
-#define BIT_SLAVE_EN        (0x80)
-#define BIT_I2C_READ        (0x80)
-#define BITS_I2C_MASTER_DLY (0x1F)
-#define BIT_AUX_IF_EN       (0x20)
-#define BIT_ACTL            (0x80)
-#define BIT_LATCH_EN        (0x20)
-#define BIT_ANY_RD_CLR      (0x10)
-#define BIT_BYPASS_EN       (0x02)
-#define BITS_WOM_EN         (0xC0)
-#define BIT_LPA_CYCLE       (0x20)
-#define BIT_STBY_XA         (0x20)
-#define BIT_STBY_YA         (0x10)
-#define BIT_STBY_ZA         (0x08)
-#define BIT_STBY_XG         (0x04)
-#define BIT_STBY_YG         (0x02)
-#define BIT_STBY_ZG         (0x01)
-#define BIT_STBY_XYZA       (BIT_STBY_XA | BIT_STBY_YA | BIT_STBY_ZA)
-#define BIT_STBY_XYZG       (BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG)
-
-#if defined AK8975_SECONDARY
-#define SUPPORTS_AK89xx_HIGH_SENS   (0x00)
-#define AK89xx_FSR                  (9830)
-#elif defined AK8963_SECONDARY
-#define SUPPORTS_AK89xx_HIGH_SENS   (0x10)
-#define AK89xx_FSR                  (4915)
-#endif
-
-#ifdef AK89xx_SECONDARY
-#define AKM_REG_WHOAMI      (0x00)
-
-#define AKM_REG_ST1         (0x02)
-#define AKM_REG_HXL         (0x03)
-#define AKM_REG_ST2         (0x09)
-
-#define AKM_REG_CNTL        (0x0A)
-#define AKM_REG_ASTC        (0x0C)
-#define AKM_REG_ASAX        (0x10)
-#define AKM_REG_ASAY        (0x11)
-#define AKM_REG_ASAZ        (0x12)
-
-#define AKM_DATA_READY      (0x01)
-#define AKM_DATA_OVERRUN    (0x02)
-#define AKM_OVERFLOW        (0x80)
-#define AKM_DATA_ERROR      (0x40)
-
-#define AKM_BIT_SELF_TEST   (0x40)
-
-#define AKM_POWER_DOWN          (0x00 | SUPPORTS_AK89xx_HIGH_SENS)
-#define AKM_SINGLE_MEASUREMENT  (0x01 | SUPPORTS_AK89xx_HIGH_SENS)
-#define AKM_FUSE_ROM_ACCESS     (0x0F | SUPPORTS_AK89xx_HIGH_SENS)
-#define AKM_MODE_SELF_TEST      (0x08 | SUPPORTS_AK89xx_HIGH_SENS)
-
-#define AKM_WHOAMI      (0x48)
-#endif
-
-#if defined MPU6050
-const struct gyro_reg_s reg = {
-    .who_am_i       = 0x75,
-    .rate_div       = 0x19,
-    .lpf            = 0x1A,
-    .prod_id        = 0x0C,
-    .user_ctrl      = 0x6A,
-    .fifo_en        = 0x23,
-    .gyro_cfg       = 0x1B,
-    .accel_cfg      = 0x1C,
-    .motion_thr     = 0x1F,
-    .motion_dur     = 0x20,
-    .fifo_count_h   = 0x72,
-    .fifo_r_w       = 0x74,
-    .raw_gyro       = 0x43,
-    .raw_accel      = 0x3B,
-    .temp           = 0x41,
-    .int_enable     = 0x38,
-    .dmp_int_status = 0x39,
-    .int_status     = 0x3A,
-    .pwr_mgmt_1     = 0x6B,
-    .pwr_mgmt_2     = 0x6C,
-    .int_pin_cfg    = 0x37,
-    .mem_r_w        = 0x6F,
-    .accel_offs     = 0x06,
-    .i2c_mst        = 0x24,
-    .bank_sel       = 0x6D,
-    .mem_start_addr = 0x6E,
-    .prgm_start_h   = 0x70
-#ifdef AK89xx_SECONDARY
-    ,.raw_compass   = 0x49,
-    .yg_offs_tc     = 0x01,
-    .s0_addr        = 0x25,
-    .s0_reg         = 0x26,
-    .s0_ctrl        = 0x27,
-    .s1_addr        = 0x28,
-    .s1_reg         = 0x29,
-    .s1_ctrl        = 0x2A,
-    .s4_ctrl        = 0x34,
-    .s0_do          = 0x63,
-    .s1_do          = 0x64,
-    .i2c_delay_ctrl = 0x67
-#endif
-};
-const struct hw_s hw = {
-    .addr           = 0x68,
-    .max_fifo       = 1024,
-    .num_reg        = 118,
-    .temp_sens      = 340,
-    .temp_offset    = -521,
-    .bank_size      = 256
-#if defined AK89xx_SECONDARY
-    ,.compass_fsr    = AK89xx_FSR
-#endif
-};
-
-const struct test_s test = {
-    .gyro_sens      = 32768/250,
-    .accel_sens     = 32768/16,
-    .reg_rate_div   = 0,    /* 1kHz. */
-    .reg_lpf        = 1,    /* 188Hz. */
-    .reg_gyro_fsr   = 0,    /* 250dps. */
-    .reg_accel_fsr  = 0x18, /* 16g. */
-    .wait_ms        = 50,
-    .packet_thresh  = 5,    /* 5% */
-    .min_dps        = 10.f,
-    .max_dps        = 105.f,
-    .max_gyro_var   = 0.14f,
-    .min_g          = 0.3f,
-    .max_g          = 0.95f,
-    .max_accel_var  = 0.14f
-};
-
-static struct gyro_state_s st = {
-    .reg = &reg,
-    .hw = &hw,
-    .test = &test
-};
-#elif defined MPU6500
-const struct gyro_reg_s reg = {
-    .who_am_i       = 0x75,
-    .rate_div       = 0x19,
-    .lpf            = 0x1A,
-    .prod_id        = 0x0C,
-    .user_ctrl      = 0x6A,
-    .fifo_en        = 0x23,
-    .gyro_cfg       = 0x1B,
-    .accel_cfg      = 0x1C,
-    .accel_cfg2     = 0x1D,
-    .lp_accel_odr   = 0x1E,
-    .motion_thr     = 0x1F,
-    .motion_dur     = 0x20,
-    .fifo_count_h   = 0x72,
-    .fifo_r_w       = 0x74,
-    .raw_gyro       = 0x43,
-    .raw_accel      = 0x3B,
-    .temp           = 0x41,
-    .int_enable     = 0x38,
-    .dmp_int_status = 0x39,
-    .int_status     = 0x3A,
-    .accel_intel    = 0x69,
-    .pwr_mgmt_1     = 0x6B,
-    .pwr_mgmt_2     = 0x6C,
-    .int_pin_cfg    = 0x37,
-    .mem_r_w        = 0x6F,
-    .accel_offs     = 0x77,
-    .i2c_mst        = 0x24,
-    .bank_sel       = 0x6D,
-    .mem_start_addr = 0x6E,
-    .prgm_start_h   = 0x70
-#ifdef AK89xx_SECONDARY
-    ,.raw_compass   = 0x49,
-    .s0_addr        = 0x25,
-    .s0_reg         = 0x26,
-    .s0_ctrl        = 0x27,
-    .s1_addr        = 0x28,
-    .s1_reg         = 0x29,
-    .s1_ctrl        = 0x2A,
-    .s4_ctrl        = 0x34,
-    .s0_do          = 0x63,
-    .s1_do          = 0x64,
-    .i2c_delay_ctrl = 0x67
-#endif
-};
-const struct hw_s hw = {
-    .addr           = 0x68,
-    .max_fifo       = 1024,
-    .num_reg        = 128,
-    .temp_sens      = 321,
-    .temp_offset    = 0,
-    .bank_size      = 256
-#if defined AK89xx_SECONDARY
-    ,.compass_fsr    = AK89xx_FSR
-#endif
-};
-
-const struct test_s test = {
-    .gyro_sens      = 32768/250,
-    .accel_sens     = 32768/16,
-    .reg_rate_div   = 0,    /* 1kHz. */
-    .reg_lpf        = 1,    /* 188Hz. */
-    .reg_gyro_fsr   = 0,    /* 250dps. */
-    .reg_accel_fsr  = 0x18, /* 16g. */
-    .wait_ms        = 50,
-    .packet_thresh  = 5,    /* 5% */
-    .min_dps        = 10.f,
-    .max_dps        = 105.f,
-    .max_gyro_var   = 0.14f,
-    .min_g          = 0.3f,
-    .max_g          = 0.95f,
-    .max_accel_var  = 0.14f
-};
-
-static struct gyro_state_s st = {
-    .reg = &reg,
-    .hw = &hw,
-    .test = &test
-};
-#endif
-
-#define MAX_PACKET_LENGTH (12)
-
-#ifdef AK89xx_SECONDARY
-static int setup_compass(void);
-#define MAX_COMPASS_SAMPLE_RATE (100)
-#endif
-
-/**
- *  @brief      Enable/disable data ready interrupt.
- *  If the DMP is on, the DMP interrupt is enabled. Otherwise, the data ready
- *  interrupt is used.
- *  @param[in]  enable      1 to enable interrupt.
- *  @return     0 if successful.
- */
-static int set_int_enable(unsigned char enable)
-{
-    unsigned char tmp;
-
-    if (st.chip_cfg.dmp_on) {
-        if (enable)
-            tmp = BIT_DMP_INT_EN;
-        else
-            tmp = 0x00;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp))
-            return -1;
-        st.chip_cfg.int_enable = tmp;
-    } else {
-        if (!st.chip_cfg.sensors)
-            return -1;
-        if (enable && st.chip_cfg.int_enable)
-            return 0;
-        if (enable)
-            tmp = BIT_DATA_RDY_EN;
-        else
-            tmp = 0x00;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp))
-            return -1;
-        st.chip_cfg.int_enable = tmp;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Register dump for testing.
- *  @return     0 if successful.
- */
-int mpu_reg_dump(void)
-{
-    unsigned char ii;
-    unsigned char data;
-
-    for (ii = 0; ii < st.hw->num_reg; ii++) {
-        if (ii == st.reg->fifo_r_w || ii == st.reg->mem_r_w)
-            continue;
-        if (i2c_read(st.hw->addr, ii, 1, &data))
-            return -1;
-        log_i("%#5x: %#5x\r\n", ii, data);
-    }
-    return 0;
-}
-
-/**
- *  @brief      Read from a single register.
- *  NOTE: The memory and FIFO read/write registers cannot be accessed.
- *  @param[in]  reg     Register address.
- *  @param[out] data    Register data.
- *  @return     0 if successful.
- */
-int mpu_read_reg(unsigned char reg, unsigned char *data)
-{
-    if (reg == st.reg->fifo_r_w || reg == st.reg->mem_r_w)
-        return -1;
-    if (reg >= st.hw->num_reg)
-        return -1;
-    return i2c_read(st.hw->addr, reg, 1, data);
-}
-
-/**
- *  @brief      Initialize hardware.
- *  Initial configuration:\n
- *  Gyro FSR: +/- 2000DPS\n
- *  Accel FSR +/- 2G\n
- *  DLPF: 42Hz\n
- *  FIFO rate: 50Hz\n
- *  Clock source: Gyro PLL\n
- *  FIFO: Disabled.\n
- *  Data ready interrupt: Disabled, active low, unlatched.
- *  @param[in]  int_param   Platform-specific parameters to interrupt API.
- *  @return     0 if successful.
- */
-int mpu_init(struct int_param_s *int_param)
-{
-    unsigned char data[6], rev;
-
-    /* Reset device. */
-    data[0] = BIT_RESET;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
-        return -1;
-    delay_ms(100);
-
-    /* Wake up chip. */
-    data[0] = 0x00;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
-        return -1;
-
-#if defined MPU6050
-    /* Check product revision. */
-    if (i2c_read(st.hw->addr, st.reg->accel_offs, 6, data))
-        return -1;
-    rev = ((data[5] & 0x01) << 2) | ((data[3] & 0x01) << 1) |
-        (data[1] & 0x01);
-
-    if (rev) {
-        /* Congrats, these parts are better. */
-        if (rev == 1)
-            st.chip_cfg.accel_half = 1;
-        else if (rev == 2)
-            st.chip_cfg.accel_half = 0;
-        else {
-            log_e("Unsupported software product rev %d.\n", rev);
-            return -1;
-        }
-    } else {
-        if (i2c_read(st.hw->addr, st.reg->prod_id, 1, data))
-            return -1;
-        rev = data[0] & 0x0F;
-        if (!rev) {
-            log_e("Product ID read as 0 indicates device is either "
-                "incompatible or an MPU3050.\n");
-            return -1;
-        } else if (rev == 4) {
-            log_i("Half sensitivity part found.\n");
-            st.chip_cfg.accel_half = 1;
-        } else
-            st.chip_cfg.accel_half = 0;
-    }
-#elif defined MPU6500
-#define MPU6500_MEM_REV_ADDR    (0x17)
-    if (mpu_read_mem(MPU6500_MEM_REV_ADDR, 1, &rev))
-        return -1;
-    if (rev == 0x1)
-        st.chip_cfg.accel_half = 0;
-    else {
-        log_e("Unsupported software product rev %d.\n", rev);
-        return -1;
-    }
-
-    /* MPU6500 shares 4kB of memory between the DMP and the FIFO. Since the
-     * first 3kB are needed by the DMP, we'll use the last 1kB for the FIFO.
-     */
-    data[0] = BIT_FIFO_SIZE_1024 | 0x8;
-    if (i2c_write(st.hw->addr, st.reg->accel_cfg2, 1, data))
-        return -1;
-#endif
-
-    /* Set to invalid values to ensure no I2C writes are skipped. */
-    st.chip_cfg.sensors = 0xFF;
-    st.chip_cfg.gyro_fsr = 0xFF;
-    st.chip_cfg.accel_fsr = 0xFF;
-    st.chip_cfg.lpf = 0xFF;
-    st.chip_cfg.sample_rate = 0xFFFF;
-    st.chip_cfg.fifo_enable = 0xFF;
-    st.chip_cfg.bypass_mode = 0xFF;
-#ifdef AK89xx_SECONDARY
-    st.chip_cfg.compass_sample_rate = 0xFFFF;
-#endif
-    /* mpu_set_sensors always preserves this setting. */
-    st.chip_cfg.clk_src = INV_CLK_PLL;
-    /* Handled in next call to mpu_set_bypass. */
-    st.chip_cfg.active_low_int = 1;
-    st.chip_cfg.latched_int = 0;
-    st.chip_cfg.int_motion_only = 0;
-    st.chip_cfg.lp_accel_mode = 0;
-    memset(&st.chip_cfg.cache, 0, sizeof(st.chip_cfg.cache));
-    st.chip_cfg.dmp_on = 0;
-    st.chip_cfg.dmp_loaded = 0;
-    st.chip_cfg.dmp_sample_rate = 0;
-
-    if (mpu_set_gyro_fsr(2000))
-        return -1;
-    if (mpu_set_accel_fsr(2))
-        return -1;
-    if (mpu_set_lpf(42))
-        return -1;
-    if (mpu_set_sample_rate(50))
-        return -1;
-    if (mpu_configure_fifo(0))
-        return -1;
-
-#ifndef MOTION_DRIVER_TARGET_STM32
-    if (int_param)
-        reg_int_cb(int_param);
-#endif
-
-#ifdef AK89xx_SECONDARY
-    setup_compass();
-    if (mpu_set_compass_sample_rate(10))
-        return -1;
-#else
-    /* Already disabled by setup_compass. */
-    if (mpu_set_bypass(0))
-        return -1;
-#endif
-
-    mpu_set_sensors(0);
-    return 0;
-}
-
-/**
- *  @brief      Enter low-power accel-only mode.
- *  In low-power accel mode, the chip goes to sleep and only wakes up to sample
- *  the accelerometer at one of the following frequencies:
- *  \n MPU6050: 1.25Hz, 5Hz, 20Hz, 40Hz
- *  \n MPU6500: 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz
- *  \n If the requested rate is not one listed above, the device will be set to
- *  the next highest rate. Requesting a rate above the maximum supported
- *  frequency will result in an error.
- *  \n To select a fractional wake-up frequency, round down the value passed to
- *  @e rate.
- *  @param[in]  rate        Minimum sampling rate, or zero to disable LP
- *                          accel mode.
- *  @return     0 if successful.
- */
-int mpu_lp_accel_mode(unsigned char rate)
-{
-    unsigned char tmp[2];
-
-    if (rate > 40)
-        return -1;
-
-    if (!rate) {
-        mpu_set_int_latched(0);
-        tmp[0] = 0;
-        tmp[1] = BIT_STBY_XYZG;
-        if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp))
-            return -1;
-        st.chip_cfg.lp_accel_mode = 0;
-        return 0;
-    }
-    /* For LP accel, we automatically configure the hardware to produce latched
-     * interrupts. In LP accel mode, the hardware cycles into sleep mode before
-     * it gets a chance to deassert the interrupt pin; therefore, we shift this
-     * responsibility over to the MCU.
-     *
-     * Any register read will clear the interrupt.
-     */
-    mpu_set_int_latched(1);
-#if defined MPU6050
-    tmp[0] = BIT_LPA_CYCLE;
-    if (rate == 1) {
-        tmp[1] = INV_LPA_1_25HZ;
-        mpu_set_lpf(5);
-    } else if (rate <= 5) {
-        tmp[1] = INV_LPA_5HZ;
-        mpu_set_lpf(5);
-    } else if (rate <= 20) {
-        tmp[1] = INV_LPA_20HZ;
-        mpu_set_lpf(10);
-    } else {
-        tmp[1] = INV_LPA_40HZ;
-        mpu_set_lpf(20);
-    }
-    tmp[1] = (tmp[1] << 6) | BIT_STBY_XYZG;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp))
-        return -1;
-#elif defined MPU6500
-    /* Set wake frequency. */
-    if (rate == 1)
-        tmp[0] = INV_LPA_1_25HZ;
-    else if (rate == 2)
-        tmp[0] = INV_LPA_2_5HZ;
-    else if (rate <= 5)
-        tmp[0] = INV_LPA_5HZ;
-    else if (rate <= 10)
-        tmp[0] = INV_LPA_10HZ;
-    else if (rate <= 20)
-        tmp[0] = INV_LPA_20HZ;
-    else if (rate <= 40)
-        tmp[0] = INV_LPA_40HZ;
-    else if (rate <= 80)
-        tmp[0] = INV_LPA_80HZ;
-    else if (rate <= 160)
-        tmp[0] = INV_LPA_160HZ;
-    else if (rate <= 320)
-        tmp[0] = INV_LPA_320HZ;
-    else
-        tmp[0] = INV_LPA_640HZ;
-    if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, tmp))
-        return -1;
-    tmp[0] = BIT_LPA_CYCLE;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, tmp))
-        return -1;
-#endif
-    st.chip_cfg.sensors = INV_XYZ_ACCEL;
-    st.chip_cfg.clk_src = 0;
-    st.chip_cfg.lp_accel_mode = 1;
-    mpu_configure_fifo(0);
-
-    return 0;
-}
-
-/**
- *  @brief      Read raw gyro data directly from the registers.
- *  @param[out] data        Raw data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds. Null if not needed.
- *  @return     0 if successful.
- */
-int mpu_get_gyro_reg(short *data, unsigned long *timestamp)
-{
-    unsigned char tmp[6];
-
-    if (!(st.chip_cfg.sensors & INV_XYZ_GYRO))
-        return -1;
-
-    if (i2c_read(st.hw->addr, st.reg->raw_gyro, 6, tmp))
-        return -1;
-    data[0] = (tmp[0] << 8) | tmp[1];
-    data[1] = (tmp[2] << 8) | tmp[3];
-    data[2] = (tmp[4] << 8) | tmp[5];
-    if (timestamp)
-        get_ms(timestamp);
-    return 0;
-}
-
-/**
- *  @brief      Read raw accel data directly from the registers.
- *  @param[out] data        Raw data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds. Null if not needed.
- *  @return     0 if successful.
- */
-int mpu_get_accel_reg(short *data, unsigned long *timestamp)
-{
-    unsigned char tmp[6];
-
-    if (!(st.chip_cfg.sensors & INV_XYZ_ACCEL))
-        return -1;
-
-    if (i2c_read(st.hw->addr, st.reg->raw_accel, 6, tmp))
-        return -1;
-    data[0] = (tmp[0] << 8) | tmp[1];
-    data[1] = (tmp[2] << 8) | tmp[3];
-    data[2] = (tmp[4] << 8) | tmp[5];
-    if (timestamp)
-        get_ms(timestamp);
-    return 0;
-}
-
-/**
- *  @brief      Read temperature data directly from the registers.
- *  @param[out] data        Data in q16 format.
- *  @param[out] timestamp   Timestamp in milliseconds. Null if not needed.
- *  @return     0 if successful.
- */
-int mpu_get_temperature(long *data, unsigned long *timestamp)
-{
-    unsigned char tmp[2];
-    short raw;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    if (i2c_read(st.hw->addr, st.reg->temp, 2, tmp))
-        return -1;
-    raw = (tmp[0] << 8) | tmp[1];
-    if (timestamp)
-        get_ms(timestamp);
-
-    data[0] = (long)((35 + ((raw - (float)st.hw->temp_offset) / st.hw->temp_sens)) * 65536L);
-    return 0;
-}
-
-/**
- *  @brief      Push biases to the accel bias registers.
- *  This function expects biases relative to the current sensor output, and
- *  these biases will be added to the factory-supplied values.
- *  @param[in]  accel_bias  New biases.
- *  @return     0 if successful.
- */
-int mpu_set_accel_bias(const long *accel_bias)
-{
-    unsigned char data[6];
-    short accel_hw[3];
-    short got_accel[3];
-    short fg[3];
-
-    if (!accel_bias)
-        return -1;
-    if (!accel_bias[0] && !accel_bias[1] && !accel_bias[2])
-        return 0;
-
-    if (i2c_read(st.hw->addr, 3, 3, data))
-        return -1;
-    fg[0] = ((data[0] >> 4) + 8) & 0xf;
-    fg[1] = ((data[1] >> 4) + 8) & 0xf;
-    fg[2] = ((data[2] >> 4) + 8) & 0xf;
-
-    accel_hw[0] = (short)(accel_bias[0] * 2 / (64 + fg[0]));
-    accel_hw[1] = (short)(accel_bias[1] * 2 / (64 + fg[1]));
-    accel_hw[2] = (short)(accel_bias[2] * 2 / (64 + fg[2]));
-
-    if (i2c_read(st.hw->addr, 0x06, 6, data))
-        return -1;
-
-    got_accel[0] = ((short)data[0] << 8) | data[1];
-    got_accel[1] = ((short)data[2] << 8) | data[3];
-    got_accel[2] = ((short)data[4] << 8) | data[5];
-
-    accel_hw[0] += got_accel[0];
-    accel_hw[1] += got_accel[1];
-    accel_hw[2] += got_accel[2];
-
-    data[0] = (accel_hw[0] >> 8) & 0xff;
-    data[1] = (accel_hw[0]) & 0xff;
-    data[2] = (accel_hw[1] >> 8) & 0xff;
-    data[3] = (accel_hw[1]) & 0xff;
-    data[4] = (accel_hw[2] >> 8) & 0xff;
-    data[5] = (accel_hw[2]) & 0xff;
-
-    if (i2c_write(st.hw->addr, 0x06, 6, data))
-        return -1;
-    return 0;
-}
-
-/**
- *  @brief  Reset FIFO read/write pointers.
- *  @return 0 if successful.
- */
-int mpu_reset_fifo(void)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    data = 0;
-    if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-        return -1;
-
-    if (st.chip_cfg.dmp_on) {
-        data = BIT_FIFO_RST | BIT_DMP_RST;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-            return -1;
-        delay_ms(50);
-        data = BIT_DMP_EN | BIT_FIFO_EN;
-        if (st.chip_cfg.sensors & INV_XYZ_COMPASS)
-            data |= BIT_AUX_IF_EN;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-            return -1;
-        if (st.chip_cfg.int_enable)
-            data = BIT_DMP_INT_EN;
-        else
-            data = 0;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data))
-            return -1;
-        data = 0;
-        if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &data))
-            return -1;
-    } else {
-        data = BIT_FIFO_RST;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-            return -1;
-        if (st.chip_cfg.bypass_mode || !(st.chip_cfg.sensors & INV_XYZ_COMPASS))
-            data = BIT_FIFO_EN;
-        else
-            data = BIT_FIFO_EN | BIT_AUX_IF_EN;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-            return -1;
-        delay_ms(50);
-        if (st.chip_cfg.int_enable)
-            data = BIT_DATA_RDY_EN;
-        else
-            data = 0;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data))
-            return -1;
-        if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &st.chip_cfg.fifo_enable))
-            return -1;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Get the gyro full-scale range.
- *  @param[out] fsr Current full-scale range.
- *  @return     0 if successful.
- */
-int mpu_get_gyro_fsr(unsigned short *fsr)
-{
-    switch (st.chip_cfg.gyro_fsr) {
-    case INV_FSR_250DPS:
-        fsr[0] = 250;
-        break;
-    case INV_FSR_500DPS:
-        fsr[0] = 500;
-        break;
-    case INV_FSR_1000DPS:
-        fsr[0] = 1000;
-        break;
-    case INV_FSR_2000DPS:
-        fsr[0] = 2000;
-        break;
-    default:
-        fsr[0] = 0;
-        break;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Set the gyro full-scale range.
- *  @param[in]  fsr Desired full-scale range.
- *  @return     0 if successful.
- */
-int mpu_set_gyro_fsr(unsigned short fsr)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    switch (fsr) {
-    case 250:
-        data = INV_FSR_250DPS << 3;
-        break;
-    case 500:
-        data = INV_FSR_500DPS << 3;
-        break;
-    case 1000:
-        data = INV_FSR_1000DPS << 3;
-        break;
-    case 2000:
-        data = INV_FSR_2000DPS << 3;
-        break;
-    default:
-        return -1;
-    }
-
-    if (st.chip_cfg.gyro_fsr == (data >> 3))
-        return 0;
-    if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, &data))
-        return -1;
-    st.chip_cfg.gyro_fsr = data >> 3;
-    return 0;
-}
-
-/**
- *  @brief      Get the accel full-scale range.
- *  @param[out] fsr Current full-scale range.
- *  @return     0 if successful.
- */
-int mpu_get_accel_fsr(unsigned char *fsr)
-{
-    switch (st.chip_cfg.accel_fsr) {
-    case INV_FSR_2G:
-        fsr[0] = 2;
-        break;
-    case INV_FSR_4G:
-        fsr[0] = 4;
-        break;
-    case INV_FSR_8G:
-        fsr[0] = 8;
-        break;
-    case INV_FSR_16G:
-        fsr[0] = 16;
-        break;
-    default:
-        return -1;
-    }
-    if (st.chip_cfg.accel_half)
-        fsr[0] <<= 1;
-    return 0;
-}
-
-/**
- *  @brief      Set the accel full-scale range.
- *  @param[in]  fsr Desired full-scale range.
- *  @return     0 if successful.
- */
-int mpu_set_accel_fsr(unsigned char fsr)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    switch (fsr) {
-    case 2:
-        data = INV_FSR_2G << 3;
-        break;
-    case 4:
-        data = INV_FSR_4G << 3;
-        break;
-    case 8:
-        data = INV_FSR_8G << 3;
-        break;
-    case 16:
-        data = INV_FSR_16G << 3;
-        break;
-    default:
-        return -1;
-    }
-
-    if (st.chip_cfg.accel_fsr == (data >> 3))
-        return 0;
-    if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, &data))
-        return -1;
-    st.chip_cfg.accel_fsr = data >> 3;
-    return 0;
-}
-
-/**
- *  @brief      Get the current DLPF setting.
- *  @param[out] lpf Current LPF setting.
- *  0 if successful.
- */
-int mpu_get_lpf(unsigned short *lpf)
-{
-    switch (st.chip_cfg.lpf) {
-    case INV_FILTER_188HZ:
-        lpf[0] = 188;
-        break;
-    case INV_FILTER_98HZ:
-        lpf[0] = 98;
-        break;
-    case INV_FILTER_42HZ:
-        lpf[0] = 42;
-        break;
-    case INV_FILTER_20HZ:
-        lpf[0] = 20;
-        break;
-    case INV_FILTER_10HZ:
-        lpf[0] = 10;
-        break;
-    case INV_FILTER_5HZ:
-        lpf[0] = 5;
-        break;
-    case INV_FILTER_256HZ_NOLPF2:
-    case INV_FILTER_2100HZ_NOLPF:
-    default:
-        lpf[0] = 0;
-        break;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Set digital low pass filter.
- *  The following LPF settings are supported: 188, 98, 42, 20, 10, 5.
- *  @param[in]  lpf Desired LPF setting.
- *  @return     0 if successful.
- */
-int mpu_set_lpf(unsigned short lpf)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    if (lpf >= 188)
-        data = INV_FILTER_188HZ;
-    else if (lpf >= 98)
-        data = INV_FILTER_98HZ;
-    else if (lpf >= 42)
-        data = INV_FILTER_42HZ;
-    else if (lpf >= 20)
-        data = INV_FILTER_20HZ;
-    else if (lpf >= 10)
-        data = INV_FILTER_10HZ;
-    else
-        data = INV_FILTER_5HZ;
-
-    if (st.chip_cfg.lpf == data)
-        return 0;
-    if (i2c_write(st.hw->addr, st.reg->lpf, 1, &data))
-        return -1;
-    st.chip_cfg.lpf = data;
-    return 0;
-}
-
-/**
- *  @brief      Get sampling rate.
- *  @param[out] rate    Current sampling rate (Hz).
- *  @return     0 if successful.
- */
-int mpu_get_sample_rate(unsigned short *rate)
-{
-    if (st.chip_cfg.dmp_on)
-        return -1;
-    else
-        rate[0] = st.chip_cfg.sample_rate;
-
-    return 0;
-}
-
-/**
- *  @brief      Set sampling rate.
- *  Sampling rate must be between 4Hz and 1kHz.
- *  @param[in]  rate    Desired sampling rate (Hz).
- *  @return     0 if successful.
- */
-int mpu_set_sample_rate(unsigned short rate)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    if (st.chip_cfg.dmp_on)
-        return -1;
-    else {
-        if (st.chip_cfg.lp_accel_mode) {
-            if (rate && (rate <= 40)) {
-                /* Just stay in low-power accel mode. */
-                mpu_lp_accel_mode(rate);
-                return 0;
-            }
-            /* Requested rate exceeds the allowed frequencies in LP accel mode,
-             * switch back to full-power mode.
-             */
-            mpu_lp_accel_mode(0);
-        }
-        if (rate < 4)
-            rate = 4;
-        else if (rate > 1000)
-            rate = 1000;
-
-        data = 1000 / rate - 1;
-        if (i2c_write(st.hw->addr, st.reg->rate_div, 1, &data))
-            return -1;
-
-        st.chip_cfg.sample_rate = 1000 / (1 + data);
-
-#ifdef AK89xx_SECONDARY
-        mpu_set_compass_sample_rate(min(st.chip_cfg.compass_sample_rate, MAX_COMPASS_SAMPLE_RATE));
-#endif
-
-        /* Automatically set LPF to 1/2 sampling rate. */
-        mpu_set_lpf(st.chip_cfg.sample_rate >> 1);
-        return 0;
-    }
-}
-
-/**
- *  @brief      Get compass sampling rate.
- *  @param[out] rate    Current compass sampling rate (Hz).
- *  @return     0 if successful.
- */
-int mpu_get_compass_sample_rate(unsigned short *rate)
-{
-#ifdef AK89xx_SECONDARY
-    rate[0] = st.chip_cfg.compass_sample_rate;
-    return 0;
-#else
-    rate[0] = 0;
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Set compass sampling rate.
- *  The compass on the auxiliary I2C bus is read by the MPU hardware at a
- *  maximum of 100Hz. The actual rate can be set to a fraction of the gyro
- *  sampling rate.
- *
- *  \n WARNING: The new rate may be different than what was requested. Call
- *  mpu_get_compass_sample_rate to check the actual setting.
- *  @param[in]  rate    Desired compass sampling rate (Hz).
- *  @return     0 if successful.
- */
-int mpu_set_compass_sample_rate(unsigned short rate)
-{
-#ifdef AK89xx_SECONDARY
-    unsigned char div;
-    if (!rate || rate > st.chip_cfg.sample_rate || rate > MAX_COMPASS_SAMPLE_RATE)
-        return -1;
-
-    div = st.chip_cfg.sample_rate / rate - 1;
-    if (i2c_write(st.hw->addr, st.reg->s4_ctrl, 1, &div))
-        return -1;
-    st.chip_cfg.compass_sample_rate = st.chip_cfg.sample_rate / (div + 1);
-    return 0;
-#else
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Get gyro sensitivity scale factor.
- *  @param[out] sens    Conversion from hardware units to dps.
- *  @return     0 if successful.
- */
-int mpu_get_gyro_sens(float *sens)
-{
-    switch (st.chip_cfg.gyro_fsr) {
-    case INV_FSR_250DPS:
-        sens[0] = 131.f;
-        break;
-    case INV_FSR_500DPS:
-        sens[0] = 65.5f;
-        break;
-    case INV_FSR_1000DPS:
-        sens[0] = 32.8f;
-        break;
-    case INV_FSR_2000DPS:
-        sens[0] = 16.4f;
-        break;
-    default:
-        return -1;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Get accel sensitivity scale factor.
- *  @param[out] sens    Conversion from hardware units to g's.
- *  @return     0 if successful.
- */
-int mpu_get_accel_sens(unsigned short *sens)
-{
-    switch (st.chip_cfg.accel_fsr) {
-    case INV_FSR_2G:
-        sens[0] = 16384;
-        break;
-    case INV_FSR_4G:
-        sens[0] = 8092;
-        break;
-    case INV_FSR_8G:
-        sens[0] = 4096;
-        break;
-    case INV_FSR_16G:
-        sens[0] = 2048;
-        break;
-    default:
-        return -1;
-    }
-    if (st.chip_cfg.accel_half)
-        sens[0] >>= 1;
-    return 0;
-}
-
-/**
- *  @brief      Get current FIFO configuration.
- *  @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  @param[out] sensors Mask of sensors in FIFO.
- *  @return     0 if successful.
- */
-int mpu_get_fifo_config(unsigned char *sensors)
-{
-    sensors[0] = st.chip_cfg.fifo_enable;
-    return 0;
-}
-
-/**
- *  @brief      Select which sensors are pushed to FIFO.
- *  @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  @param[in]  sensors Mask of sensors to push to FIFO.
- *  @return     0 if successful.
- */
-int mpu_configure_fifo(unsigned char sensors)
-{
-    unsigned char prev;
-    int result = 0;
-
-    /* Compass data isn't going into the FIFO. Stop trying. */
-    sensors &= ~INV_XYZ_COMPASS;
-
-    if (st.chip_cfg.dmp_on)
-        return 0;
-    else {
-        if (!(st.chip_cfg.sensors))
-            return -1;
-        prev = st.chip_cfg.fifo_enable;
-        st.chip_cfg.fifo_enable = sensors & st.chip_cfg.sensors;
-        if (st.chip_cfg.fifo_enable != sensors)
-            /* You're not getting what you asked for. Some sensors are
-             * asleep.
-             */
-            result = -1;
-        else
-            result = 0;
-        if (sensors || st.chip_cfg.lp_accel_mode)
-            set_int_enable(1);
-        else
-            set_int_enable(0);
-        if (sensors) {
-            if (mpu_reset_fifo()) {
-                st.chip_cfg.fifo_enable = prev;
-                return -1;
-            }
-        }
-    }
-
-    return result;
-}
-
-/**
- *  @brief      Get current power state.
- *  @param[in]  power_on    1 if turned on, 0 if suspended.
- *  @return     0 if successful.
- */
-int mpu_get_power_state(unsigned char *power_on)
-{
-    if (st.chip_cfg.sensors)
-        power_on[0] = 1;
-    else
-        power_on[0] = 0;
-    return 0;
-}
-
-/**
- *  @brief      Turn specific sensors on/off.
- *  @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  \n INV_XYZ_COMPASS
- *  @param[in]  sensors    Mask of sensors to wake.
- *  @return     0 if successful.
- */
-int mpu_set_sensors(unsigned char sensors)
-{
-    unsigned char data;
-#ifdef AK89xx_SECONDARY
-    unsigned char user_ctrl;
-#endif
-
-    if (sensors & INV_XYZ_GYRO)
-        data = INV_CLK_PLL;
-    else if (sensors)
-        data = 0;
-    else
-        data = BIT_SLEEP;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, &data)) {
-        st.chip_cfg.sensors = 0;
-        return -1;
-    }
-    st.chip_cfg.clk_src = data & ~BIT_SLEEP;
-
-    data = 0;
-    if (!(sensors & INV_X_GYRO))
-        data |= BIT_STBY_XG;
-    if (!(sensors & INV_Y_GYRO))
-        data |= BIT_STBY_YG;
-    if (!(sensors & INV_Z_GYRO))
-        data |= BIT_STBY_ZG;
-    if (!(sensors & INV_XYZ_ACCEL))
-        data |= BIT_STBY_XYZA;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_2, 1, &data)) {
-        st.chip_cfg.sensors = 0;
-        return -1;
-    }
-
-    if (sensors && (sensors != INV_XYZ_ACCEL))
-        /* Latched interrupts only used in LP accel mode. */
-        mpu_set_int_latched(0);
-
-#ifdef AK89xx_SECONDARY
-#ifdef AK89xx_BYPASS
-    if (sensors & INV_XYZ_COMPASS)
-        mpu_set_bypass(1);
-    else
-        mpu_set_bypass(0);
-#else
-    if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &user_ctrl))
-        return -1;
-    /* Handle AKM power management. */
-    if (sensors & INV_XYZ_COMPASS) {
-        data = AKM_SINGLE_MEASUREMENT;
-        user_ctrl |= BIT_AUX_IF_EN;
-    } else {
-        data = AKM_POWER_DOWN;
-        user_ctrl &= ~BIT_AUX_IF_EN;
-    }
-    if (st.chip_cfg.dmp_on)
-        user_ctrl |= BIT_DMP_EN;
-    else
-        user_ctrl &= ~BIT_DMP_EN;
-    if (i2c_write(st.hw->addr, st.reg->s1_do, 1, &data))
-        return -1;
-    /* Enable/disable I2C master mode. */
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &user_ctrl))
-        return -1;
-#endif
-#endif
-
-    st.chip_cfg.sensors = sensors;
-    st.chip_cfg.lp_accel_mode = 0;
-    delay_ms(50);
-    return 0;
-}
-
-/**
- *  @brief      Read the MPU interrupt status registers.
- *  @param[out] status  Mask of interrupt bits.
- *  @return     0 if successful.
- */
-int mpu_get_int_status(short *status)
-{
-    unsigned char tmp[2];
-    if (!st.chip_cfg.sensors)
-        return -1;
-    if (i2c_read(st.hw->addr, st.reg->dmp_int_status, 2, tmp))
-        return -1;
-    status[0] = (tmp[0] << 8) | tmp[1];
-    return 0;
-}
-
-/**
- *  @brief      Get one packet from the FIFO.
- *  If @e sensors does not contain a particular sensor, disregard the data
- *  returned to that pointer.
- *  \n @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  \n If the FIFO has no new data, @e sensors will be zero.
- *  \n If the FIFO is disabled, @e sensors will be zero and this function will
- *  return a non-zero error code.
- *  @param[out] gyro        Gyro data in hardware units.
- *  @param[out] accel       Accel data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds.
- *  @param[out] sensors     Mask of sensors read from FIFO.
- *  @param[out] more        Number of remaining packets.
- *  @return     0 if successful.
- */
-int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
-        unsigned char *sensors, unsigned char *more)
-{
-    /* Assumes maximum packet size is gyro (6) + accel (6). */
-    unsigned char data[MAX_PACKET_LENGTH];
-    unsigned char packet_size = 0;
-    unsigned short fifo_count, index = 0;
-
-    if (st.chip_cfg.dmp_on)
-        return -1;
-
-    sensors[0] = 0;
-    if (!st.chip_cfg.sensors)
-        return -1;
-    if (!st.chip_cfg.fifo_enable)
-        return -1;
-
-    if (st.chip_cfg.fifo_enable & INV_X_GYRO)
-        packet_size += 2;
-    if (st.chip_cfg.fifo_enable & INV_Y_GYRO)
-        packet_size += 2;
-    if (st.chip_cfg.fifo_enable & INV_Z_GYRO)
-        packet_size += 2;
-    if (st.chip_cfg.fifo_enable & INV_XYZ_ACCEL)
-        packet_size += 6;
-
-    if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data))
-        return -1;
-    fifo_count = (data[0] << 8) | data[1];
-    if (fifo_count < packet_size)
-        return 0;
-//    log_i("FIFO count: %hd\n", fifo_count);
-    if (fifo_count > (st.hw->max_fifo >> 1)) {
-        /* FIFO is 50% full, better check overflow bit. */
-        if (i2c_read(st.hw->addr, st.reg->int_status, 1, data))
-            return -1;
-        if (data[0] & BIT_FIFO_OVERFLOW) {
-            mpu_reset_fifo();
-            return -2;
-        }
-    }
-    get_ms((unsigned long*)timestamp);
-
-    if (i2c_read(st.hw->addr, st.reg->fifo_r_w, packet_size, data))
-        return -1;
-    more[0] = fifo_count / packet_size - 1;
-    sensors[0] = 0;
-
-    if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_XYZ_ACCEL) {
-        accel[0] = (data[index+0] << 8) | data[index+1];
-        accel[1] = (data[index+2] << 8) | data[index+3];
-        accel[2] = (data[index+4] << 8) | data[index+5];
-        sensors[0] |= INV_XYZ_ACCEL;
-        index += 6;
-    }
-    if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_X_GYRO) {
-        gyro[0] = (data[index+0] << 8) | data[index+1];
-        sensors[0] |= INV_X_GYRO;
-        index += 2;
-    }
-    if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_Y_GYRO) {
-        gyro[1] = (data[index+0] << 8) | data[index+1];
-        sensors[0] |= INV_Y_GYRO;
-        index += 2;
-    }
-    if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_Z_GYRO) {
-        gyro[2] = (data[index+0] << 8) | data[index+1];
-        sensors[0] |= INV_Z_GYRO;
-        index += 2;
-    }
-
-    return 0;
-}
-
-/**
- *  @brief      Get one unparsed packet from the FIFO.
- *  This function should be used if the packet is to be parsed elsewhere.
- *  @param[in]  length  Length of one FIFO packet.
- *  @param[in]  data    FIFO packet.
- *  @param[in]  more    Number of remaining packets.
- */
-int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
-    unsigned char *more)
-{
-    unsigned char tmp[2];
-    unsigned short fifo_count;
-
-//    printf("addr %d, dmp_on %d, sensors %d\r\n", st.hw->addr, st.chip_cfg.dmp_on, st.chip_cfg.sensors);
-
-    if (!st.chip_cfg.dmp_on)
-        return -1;
-    if (!st.chip_cfg.sensors)
-        return -1;
-
-//    printf("----1\r\n");
-
-    if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, tmp))
-        return -1;
-
-//    printf("----2\r\n");
-
-    fifo_count = (tmp[0] << 8) | tmp[1];
-    if (fifo_count < length) {
-        more[0] = 0;
-        return -1;
-    }
-
-//    printf("----3\r\n");
-    if (fifo_count > (st.hw->max_fifo >> 1)) {
-
-//        printf("----3.1\r\n");
-        /* FIFO is 50% full, better check overflow bit. */
-        if (i2c_read(st.hw->addr, st.reg->int_status, 1, tmp))
-            return -1;
-
-//        printf("----3.2\r\n");
-        if (tmp[0] & BIT_FIFO_OVERFLOW) {
-            mpu_reset_fifo();
-            return -2;
-        }
-    }
-
-//    printf("----4\r\n");
-    if (i2c_read(st.hw->addr, st.reg->fifo_r_w, length, data))
-        return -1;
-
-    more[0] = fifo_count / length - 1;
-    return 0;
-}
-
-/**
- *  @brief      Set device to bypass mode.
- *  @param[in]  bypass_on   1 to enable bypass mode.
- *  @return     0 if successful.
- */
-int mpu_set_bypass(unsigned char bypass_on)
-{
-    unsigned char tmp;
-
-    if (st.chip_cfg.bypass_mode == bypass_on)
-        return 0;
-
-    if (bypass_on) {
-        if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
-            return -1;
-        tmp &= ~BIT_AUX_IF_EN;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
-            return -1;
-        delay_ms(3);
-        tmp = BIT_BYPASS_EN;
-        if (st.chip_cfg.active_low_int)
-            tmp |= BIT_ACTL;
-        if (st.chip_cfg.latched_int)
-            tmp |= BIT_LATCH_EN | BIT_ANY_RD_CLR;
-        if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp))
-            return -1;
-    } else {
-        /* Enable I2C master mode if compass is being used. */
-        if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
-            return -1;
-        if (st.chip_cfg.sensors & INV_XYZ_COMPASS)
-            tmp |= BIT_AUX_IF_EN;
-        else
-            tmp &= ~BIT_AUX_IF_EN;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
-            return -1;
-        delay_ms(3);
-        if (st.chip_cfg.active_low_int)
-            tmp = BIT_ACTL;
-        else
-            tmp = 0;
-        if (st.chip_cfg.latched_int)
-            tmp |= BIT_LATCH_EN | BIT_ANY_RD_CLR;
-        if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp))
-            return -1;
-    }
-    st.chip_cfg.bypass_mode = bypass_on;
-    return 0;
-}
-
-/**
- *  @brief      Set interrupt level.
- *  @param[in]  active_low  1 for active low, 0 for active high.
- *  @return     0 if successful.
- */
-int mpu_set_int_level(unsigned char active_low)
-{
-    st.chip_cfg.active_low_int = active_low;
-    return 0;
-}
-
-/**
- *  @brief      Enable latched interrupts.
- *  Any MPU register will clear the interrupt.
- *  @param[in]  enable  1 to enable, 0 to disable.
- *  @return     0 if successful.
- */
-int mpu_set_int_latched(unsigned char enable)
-{
-    unsigned char tmp;
-    if (st.chip_cfg.latched_int == enable)
-        return 0;
-
-    if (enable)
-        tmp = BIT_LATCH_EN | BIT_ANY_RD_CLR;
-    else
-        tmp = 0;
-    if (st.chip_cfg.bypass_mode)
-        tmp |= BIT_BYPASS_EN;
-    if (st.chip_cfg.active_low_int)
-        tmp |= BIT_ACTL;
-    if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp))
-        return -1;
-    st.chip_cfg.latched_int = enable;
-    return 0;
-}
-
-#ifdef MPU6050
-static int get_accel_prod_shift(float *st_shift)
-{
-    unsigned char tmp[4], shift_code[3], ii;
-
-    if (i2c_read(st.hw->addr, 0x0D, 4, tmp))
-        return 0x07;
-
-    shift_code[0] = ((tmp[0] & 0xE0) >> 3) | ((tmp[3] & 0x30) >> 4);
-    shift_code[1] = ((tmp[1] & 0xE0) >> 3) | ((tmp[3] & 0x0C) >> 2);
-    shift_code[2] = ((tmp[2] & 0xE0) >> 3) | (tmp[3] & 0x03);
-    for (ii = 0; ii < 3; ii++) {
-        if (!shift_code[ii]) {
-            st_shift[ii] = 0.f;
-            continue;
-        }
-        /* Equivalent to..
-         * st_shift[ii] = 0.34f * powf(0.92f/0.34f, (shift_code[ii]-1) / 30.f)
-         */
-        st_shift[ii] = 0.34f;
-        while (--shift_code[ii])
-            st_shift[ii] *= 1.034f;
-    }
-    return 0;
-}
-
-static int accel_self_test(long *bias_regular, long *bias_st)
-{
-    int jj, result = 0;
-    float st_shift[3], st_shift_cust, st_shift_var;
-
-    get_accel_prod_shift(st_shift);
-    for(jj = 0; jj < 3; jj++) {
-        st_shift_cust = labs(bias_regular[jj] - bias_st[jj]) / 65536.f;
-        if (st_shift[jj]) {
-            st_shift_var = st_shift_cust / st_shift[jj] - 1.f;
-            if (fabs(st_shift_var) > test.max_accel_var)
-                result |= 1 << jj;
-        } else if ((st_shift_cust < test.min_g) ||
-            (st_shift_cust > test.max_g))
-            result |= 1 << jj;
-    }
-
-    return result;
-}
-
-static int gyro_self_test(long *bias_regular, long *bias_st)
-{
-    int jj, result = 0;
-    unsigned char tmp[3];
-    float st_shift, st_shift_cust, st_shift_var;
-
-    if (i2c_read(st.hw->addr, 0x0D, 3, tmp))
-        return 0x07;
-
-    tmp[0] &= 0x1F;
-    tmp[1] &= 0x1F;
-    tmp[2] &= 0x1F;
-
-    for (jj = 0; jj < 3; jj++) {
-        st_shift_cust = labs(bias_regular[jj] - bias_st[jj]) / 65536.f;
-        if (tmp[jj]) {
-            st_shift = 3275.f / test.gyro_sens;
-            while (--tmp[jj])
-                st_shift *= 1.046f;
-            st_shift_var = st_shift_cust / st_shift - 1.f;
-            if (fabs(st_shift_var) > test.max_gyro_var)
-                result |= 1 << jj;
-        } else if ((st_shift_cust < test.min_dps) ||
-            (st_shift_cust > test.max_dps))
-            result |= 1 << jj;
-    }
-    return result;
-}
-
-#ifdef AK89xx_SECONDARY
-static int compass_self_test(void)
-{
-    unsigned char tmp[6];
-    unsigned char tries = 10;
-    int result = 0x07;
-    short data;
-
-    mpu_set_bypass(1);
-
-    tmp[0] = AKM_POWER_DOWN;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp))
-        return 0x07;
-    tmp[0] = AKM_BIT_SELF_TEST;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_ASTC, 1, tmp))
-        goto AKM_restore;
-    tmp[0] = AKM_MODE_SELF_TEST;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp))
-        goto AKM_restore;
-
-    do {
-        delay_ms(10);
-        if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ST1, 1, tmp))
-            goto AKM_restore;
-        if (tmp[0] & AKM_DATA_READY)
-            break;
-    } while (tries--);
-    if (!(tmp[0] & AKM_DATA_READY))
-        goto AKM_restore;
-
-    if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_HXL, 6, tmp))
-        goto AKM_restore;
-
-    result = 0;
-    data = (short)(tmp[1] << 8) | tmp[0];
-    if ((data > 100) || (data < -100))
-        result |= 0x01;
-    data = (short)(tmp[3] << 8) | tmp[2];
-    if ((data > 100) || (data < -100))
-        result |= 0x02;
-    data = (short)(tmp[5] << 8) | tmp[4];
-    if ((data > -300) || (data < -1000))
-        result |= 0x04;
-
-AKM_restore:
-    tmp[0] = 0 | SUPPORTS_AK89xx_HIGH_SENS;
-    i2c_write(st.chip_cfg.compass_addr, AKM_REG_ASTC, 1, tmp);
-    tmp[0] = SUPPORTS_AK89xx_HIGH_SENS;
-    i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp);
-    mpu_set_bypass(0);
-    return result;
-}
-#endif
-#endif
-
-static int get_st_biases(long *gyro, long *accel, unsigned char hw_test)
-{
-    unsigned char data[MAX_PACKET_LENGTH];
-    unsigned char packet_count, ii;
-    unsigned short fifo_count;
-
-    data[0] = 0x01;
-    data[1] = 0;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, data))
-        return -1;
-    delay_ms(200);
-    data[0] = 0;
-    if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
-        return -1;
-    data[0] = BIT_FIFO_RST | BIT_DMP_RST;
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
-        return -1;
-    delay_ms(15);
-    data[0] = st.test->reg_lpf;
-    if (i2c_write(st.hw->addr, st.reg->lpf, 1, data))
-        return -1;
-    data[0] = st.test->reg_rate_div;
-    if (i2c_write(st.hw->addr, st.reg->rate_div, 1, data))
-        return -1;
-    if (hw_test)
-        data[0] = st.test->reg_gyro_fsr | 0xE0;
-    else
-        data[0] = st.test->reg_gyro_fsr;
-    if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, data))
-        return -1;
-
-    if (hw_test)
-        data[0] = st.test->reg_accel_fsr | 0xE0;
-    else
-        data[0] = test.reg_accel_fsr;
-    if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, data))
-        return -1;
-    if (hw_test)
-        delay_ms(200);
-
-    /* Fill FIFO for test.wait_ms milliseconds. */
-    data[0] = BIT_FIFO_EN;
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
-        return -1;
-
-    data[0] = INV_XYZ_GYRO | INV_XYZ_ACCEL;
-    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
-        return -1;
-    delay_ms(test.wait_ms);
-    data[0] = 0;
-    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
-        return -1;
-
-    if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data))
-        return -1;
-
-    fifo_count = (data[0] << 8) | data[1];
-    packet_count = fifo_count / MAX_PACKET_LENGTH;
-    gyro[0] = gyro[1] = gyro[2] = 0;
-    accel[0] = accel[1] = accel[2] = 0;
-
-    for (ii = 0; ii < packet_count; ii++) {
-        short accel_cur[3], gyro_cur[3];
-        if (i2c_read(st.hw->addr, st.reg->fifo_r_w, MAX_PACKET_LENGTH, data))
-            return -1;
-        accel_cur[0] = ((short)data[0] << 8) | data[1];
-        accel_cur[1] = ((short)data[2] << 8) | data[3];
-        accel_cur[2] = ((short)data[4] << 8) | data[5];
-        accel[0] += (long)accel_cur[0];
-        accel[1] += (long)accel_cur[1];
-        accel[2] += (long)accel_cur[2];
-        gyro_cur[0] = (((short)data[6] << 8) | data[7]);
-        gyro_cur[1] = (((short)data[8] << 8) | data[9]);
-        gyro_cur[2] = (((short)data[10] << 8) | data[11]);
-        gyro[0] += (long)gyro_cur[0];
-        gyro[1] += (long)gyro_cur[1];
-        gyro[2] += (long)gyro_cur[2];
-    }
-#ifdef EMPL_NO_64BIT
-    gyro[0] = (long)(((float)gyro[0]*65536.f) / test.gyro_sens / packet_count);
-    gyro[1] = (long)(((float)gyro[1]*65536.f) / test.gyro_sens / packet_count);
-    gyro[2] = (long)(((float)gyro[2]*65536.f) / test.gyro_sens / packet_count);
-    if (has_accel) {
-        accel[0] = (long)(((float)accel[0]*65536.f) / test.accel_sens /
-            packet_count);
-        accel[1] = (long)(((float)accel[1]*65536.f) / test.accel_sens /
-            packet_count);
-        accel[2] = (long)(((float)accel[2]*65536.f) / test.accel_sens /
-            packet_count);
-        /* Don't remove gravity! */
-        accel[2] -= 65536L;
-    }
-#else
-    gyro[0] = (long)(((long long)gyro[0]<<16) / test.gyro_sens / packet_count);
-    gyro[1] = (long)(((long long)gyro[1]<<16) / test.gyro_sens / packet_count);
-    gyro[2] = (long)(((long long)gyro[2]<<16) / test.gyro_sens / packet_count);
-    accel[0] = (long)(((long long)accel[0]<<16) / test.accel_sens /
-        packet_count);
-    accel[1] = (long)(((long long)accel[1]<<16) / test.accel_sens /
-        packet_count);
-    accel[2] = (long)(((long long)accel[2]<<16) / test.accel_sens /
-        packet_count);
-    /* Don't remove gravity! */
-    if (accel[2] > 0L)
-        accel[2] -= 65536L;
-    else
-        accel[2] += 65536L;
-#endif
-
-    return 0;
-}
-
-/**
- *  @brief      Trigger gyro/accel/compass self-test.
- *  On success/error, the self-test returns a mask representing the sensor(s)
- *  that failed. For each bit, a one (1) represents a "pass" case; conversely,
- *  a zero (0) indicates a failure.
- *
- *  \n The mask is defined as follows:
- *  \n Bit 0:   Gyro.
- *  \n Bit 1:   Accel.
- *  \n Bit 2:   Compass.
- *
- *  \n Currently, the hardware self-test is unsupported for MPU6500. However,
- *  this function can still be used to obtain the accel and gyro biases.
- *
- *  \n This function must be called with the device either face-up or face-down
- *  (z-axis is parallel to gravity).
- *  @param[out] gyro        Gyro biases in q16 format.
- *  @param[out] accel       Accel biases (if applicable) in q16 format.
- *  @return     Result mask (see above).
- */
-int mpu_run_self_test(long *gyro, long *accel)
-{
-#ifdef MPU6050
-    const unsigned char tries = 2;
-    long gyro_st[3], accel_st[3];
-    unsigned char accel_result, gyro_result;
-#ifdef AK89xx_SECONDARY
-    unsigned char compass_result;
-#endif
-    int ii;
-#endif
-    int result;
-    unsigned char accel_fsr, fifo_sensors, sensors_on;
-    unsigned short gyro_fsr, sample_rate, lpf;
-    unsigned char dmp_was_on;
-
-    if (st.chip_cfg.dmp_on) {
-        mpu_set_dmp_state(0);
-        dmp_was_on = 1;
-    } else
-        dmp_was_on = 0;
-
-    /* Get initial settings. */
-    mpu_get_gyro_fsr(&gyro_fsr);
-    mpu_get_accel_fsr(&accel_fsr);
-    mpu_get_lpf(&lpf);
-    mpu_get_sample_rate(&sample_rate);
-    sensors_on = st.chip_cfg.sensors;
-    mpu_get_fifo_config(&fifo_sensors);
-
-    /* For older chips, the self-test will be different. */
-#if defined MPU6050
-    for (ii = 0; ii < tries; ii++)
-        if (!get_st_biases(gyro, accel, 0))
-            break;
-    if (ii == tries) {
-        /* If we reach this point, we most likely encountered an I2C error.
-         * We'll just report an error for all three sensors.
-         */
-        result = 0;
-        goto restore;
-    }
-    for (ii = 0; ii < tries; ii++)
-        if (!get_st_biases(gyro_st, accel_st, 1))
-            break;
-    if (ii == tries) {
-        /* Again, probably an I2C error. */
-        result = 0;
-        goto restore;
-    }
-    accel_result = accel_self_test(accel, accel_st);
-    gyro_result = gyro_self_test(gyro, gyro_st);
-
-    result = 0;
-    if (!gyro_result)
-        result |= 0x01;
-    if (!accel_result)
-        result |= 0x02;
-
-#ifdef AK89xx_SECONDARY
-    compass_result = compass_self_test();
-    if (!compass_result)
-        result |= 0x04;
-#endif
-restore:
-#elif defined MPU6500
-    /* For now, this function will return a "pass" result for all three sensors
-     * for compatibility with current test applications.
-     */
-    get_st_biases(gyro, accel, 0);
-    result = 0x7;
-#endif
-    /* Set to invalid values to ensure no I2C writes are skipped. */
-    st.chip_cfg.gyro_fsr = 0xFF;
-    st.chip_cfg.accel_fsr = 0xFF;
-    st.chip_cfg.lpf = 0xFF;
-    st.chip_cfg.sample_rate = 0xFFFF;
-    st.chip_cfg.sensors = 0xFF;
-    st.chip_cfg.fifo_enable = 0xFF;
-    st.chip_cfg.clk_src = INV_CLK_PLL;
-    mpu_set_gyro_fsr(gyro_fsr);
-    mpu_set_accel_fsr(accel_fsr);
-    mpu_set_lpf(lpf);
-    mpu_set_sample_rate(sample_rate);
-    mpu_set_sensors(sensors_on);
-    mpu_configure_fifo(fifo_sensors);
-
-    if (dmp_was_on)
-        mpu_set_dmp_state(1);
-
-    return result;
-}
-
-/**
- *  @brief      Write to the DMP memory.
- *  This function prevents I2C writes past the bank boundaries. The DMP memory
- *  is only accessible when the chip is awake.
- *  @param[in]  mem_addr    Memory location (bank << 8 | start address)
- *  @param[in]  length      Number of bytes to write.
- *  @param[in]  data        Bytes to write to memory.
- *  @return     0 if successful.
- */
-int mpu_write_mem(unsigned short mem_addr, unsigned short length,
-        unsigned char *data)
-{
-    unsigned char tmp[2];
-
-    if (!data)
-        return -1;
-    if (!st.chip_cfg.sensors)
-        return -1;
-
-    tmp[0] = (unsigned char)(mem_addr >> 8);
-    tmp[1] = (unsigned char)(mem_addr & 0xFF);
-
-    /* Check bank boundaries. */
-    if (tmp[1] + length > st.hw->bank_size)
-        return -1;
-
-    if (i2c_write(st.hw->addr, st.reg->bank_sel, 2, tmp))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->mem_r_w, length, data))
-        return -1;
-    return 0;
-}
-
-/**
- *  @brief      Read from the DMP memory.
- *  This function prevents I2C reads past the bank boundaries. The DMP memory
- *  is only accessible when the chip is awake.
- *  @param[in]  mem_addr    Memory location (bank << 8 | start address)
- *  @param[in]  length      Number of bytes to read.
- *  @param[out] data        Bytes read from memory.
- *  @return     0 if successful.
- */
-int mpu_read_mem(unsigned short mem_addr, unsigned short length,
-        unsigned char *data)
-{
-    unsigned char tmp[2];
-
-    if (!data)
-        return -1;
-    if (!st.chip_cfg.sensors)
-        return -1;
-
-    tmp[0] = (unsigned char)(mem_addr >> 8);
-    tmp[1] = (unsigned char)(mem_addr & 0xFF);
-
-    /* Check bank boundaries. */
-    if (tmp[1] + length > st.hw->bank_size)
-        return -1;
-
-    if (i2c_write(st.hw->addr, st.reg->bank_sel, 2, tmp))
-        return -1;
-    if (i2c_read(st.hw->addr, st.reg->mem_r_w, length, data))
-        return -1;
-    return 0;
-}
-
-/**
- *  @brief      Load and verify DMP image.
- *  @param[in]  length      Length of DMP image.
- *  @param[in]  firmware    DMP code.
- *  @param[in]  start_addr  Starting address of DMP code memory.
- *  @param[in]  sample_rate Fixed sampling rate used when DMP is enabled.
- *  @return     0 if successful.
- */
-int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
-    unsigned short start_addr, unsigned short sample_rate)
-{
-    unsigned short ii;
-    unsigned short this_write;
-    /* Must divide evenly into st.hw->bank_size to avoid bank crossings. */
-#define LOAD_CHUNK  (16)
-    unsigned char cur[LOAD_CHUNK], tmp[2];
-
-    if (st.chip_cfg.dmp_loaded)
-        /* DMP should only be loaded once. */
-        return -1;
-
-    if (!firmware)
-        return -1;
-    for (ii = 0; ii < length; ii += this_write) {
-        this_write = min(LOAD_CHUNK, length - ii);
-        if (mpu_write_mem(ii, this_write, (unsigned char*)&firmware[ii]))
-            return -1;
-        if (mpu_read_mem(ii, this_write, cur))
-            return -1;
-        if (memcmp(firmware+ii, cur, this_write))
-            return -2;
-    }
-
-    /* Set program start address. */
-    tmp[0] = start_addr >> 8;
-    tmp[1] = start_addr & 0xFF;
-    if (i2c_write(st.hw->addr, st.reg->prgm_start_h, 2, tmp))
-        return -1;
-
-    st.chip_cfg.dmp_loaded = 1;
-    st.chip_cfg.dmp_sample_rate = sample_rate;
-    return 0;
-}
-
-/**
- *  @brief      Enable/disable DMP support.
- *  @param[in]  enable  1 to turn on the DMP.
- *  @return     0 if successful.
- */
-int mpu_set_dmp_state(unsigned char enable)
-{
-    unsigned char tmp;
-    if (st.chip_cfg.dmp_on == enable)
-        return 0;
-
-    if (enable) {
-        if (!st.chip_cfg.dmp_loaded)
-            return -1;
-        /* Disable data ready interrupt. */
-        set_int_enable(0);
-        /* Disable bypass mode. */
-        mpu_set_bypass(0);
-        /* Keep constant sample rate, FIFO rate controlled by DMP. */
-        mpu_set_sample_rate(st.chip_cfg.dmp_sample_rate);
-        /* Remove FIFO elements. */
-        tmp = 0;
-        i2c_write(st.hw->addr, 0x23, 1, &tmp);
-        st.chip_cfg.dmp_on = 1;
-        /* Enable DMP interrupt. */
-        set_int_enable(1);
-        mpu_reset_fifo();
-    } else {
-        /* Disable DMP interrupt. */
-        set_int_enable(0);
-        /* Restore FIFO settings. */
-        tmp = st.chip_cfg.fifo_enable;
-        i2c_write(st.hw->addr, 0x23, 1, &tmp);
-        st.chip_cfg.dmp_on = 0;
-        mpu_reset_fifo();
-    }
-    return 0;
-}
-
-/**
- *  @brief      Get DMP state.
- *  @param[out] enabled 1 if enabled.
- *  @return     0 if successful.
- */
-int mpu_get_dmp_state(unsigned char *enabled)
-{
-    enabled[0] = st.chip_cfg.dmp_on;
-    return 0;
-}
-
-
-/* This initialization is similar to the one in ak8975.c. */
-static int setup_compass(void)
-{
-#ifdef AK89xx_SECONDARY
-    unsigned char data[4], akm_addr;
-
-    mpu_set_bypass(1);
-
-    /* Find compass. Possible addresses range from 0x0C to 0x0F. */
-    for (akm_addr = 0x0C; akm_addr <= 0x0F; akm_addr++) {
-        int result;
-        result = i2c_read(akm_addr, AKM_REG_WHOAMI, 1, data);
-        if (!result && (data[0] == AKM_WHOAMI))
-            break;
-    }
-
-    if (akm_addr > 0x0F) {
-        /* TODO: Handle this case in all compass-related functions. */
-        log_e("Compass not found.\n");
-        return -1;
-    }
-
-    st.chip_cfg.compass_addr = akm_addr;
-
-    data[0] = AKM_POWER_DOWN;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data))
-        return -1;
-    delay_ms(1);
-
-    data[0] = AKM_FUSE_ROM_ACCESS;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data))
-        return -1;
-    delay_ms(1);
-
-    /* Get sensitivity adjustment data from fuse ROM. */
-    if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ASAX, 3, data))
-        return -1;
-    st.chip_cfg.mag_sens_adj[0] = (long)data[0] + 128;
-    st.chip_cfg.mag_sens_adj[1] = (long)data[1] + 128;
-    st.chip_cfg.mag_sens_adj[2] = (long)data[2] + 128;
-
-    data[0] = AKM_POWER_DOWN;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data))
-        return -1;
-    delay_ms(1);
-
-    mpu_set_bypass(0);
-
-    /* Set up master mode, master clock, and ES bit. */
-    data[0] = 0x40;
-    if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data))
-        return -1;
-
-    /* Slave 0 reads from AKM data registers. */
-    data[0] = BIT_I2C_READ | st.chip_cfg.compass_addr;
-    if (i2c_write(st.hw->addr, st.reg->s0_addr, 1, data))
-        return -1;
-
-    /* Compass reads start at this register. */
-    data[0] = AKM_REG_ST1;
-    if (i2c_write(st.hw->addr, st.reg->s0_reg, 1, data))
-        return -1;
-
-    /* Enable slave 0, 8-byte reads. */
-    data[0] = BIT_SLAVE_EN | 8;
-    if (i2c_write(st.hw->addr, st.reg->s0_ctrl, 1, data))
-        return -1;
-
-    /* Slave 1 changes AKM measurement mode. */
-    data[0] = st.chip_cfg.compass_addr;
-    if (i2c_write(st.hw->addr, st.reg->s1_addr, 1, data))
-        return -1;
-
-    /* AKM measurement mode register. */
-    data[0] = AKM_REG_CNTL;
-    if (i2c_write(st.hw->addr, st.reg->s1_reg, 1, data))
-        return -1;
-
-    /* Enable slave 1, 1-byte writes. */
-    data[0] = BIT_SLAVE_EN | 1;
-    if (i2c_write(st.hw->addr, st.reg->s1_ctrl, 1, data))
-        return -1;
-
-    /* Set slave 1 data. */
-    data[0] = AKM_SINGLE_MEASUREMENT;
-    if (i2c_write(st.hw->addr, st.reg->s1_do, 1, data))
-        return -1;
-
-    /* Trigger slave 0 and slave 1 actions at each sample. */
-    data[0] = 0x03;
-    if (i2c_write(st.hw->addr, st.reg->i2c_delay_ctrl, 1, data))
-        return -1;
-
-#ifdef MPU9150
-    /* For the MPU9150, the auxiliary I2C bus needs to be set to VDD. */
-    data[0] = BIT_I2C_MST_VDDIO;
-    if (i2c_write(st.hw->addr, st.reg->yg_offs_tc, 1, data))
-        return -1;
-#endif
-
-    return 0;
-#else
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Read raw compass data.
- *  @param[out] data        Raw data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds. Null if not needed.
- *  @return     0 if successful.
- */
-int mpu_get_compass_reg(short *data, unsigned long *timestamp)
-{
-#ifdef AK89xx_SECONDARY
-    unsigned char tmp[9];
-
-    if (!(st.chip_cfg.sensors & INV_XYZ_COMPASS))
-        return -1;
-
-#ifdef AK89xx_BYPASS
-    if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ST1, 8, tmp))
-        return -1;
-    tmp[8] = AKM_SINGLE_MEASUREMENT;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp+8))
-        return -1;
-#else
-    if (i2c_read(st.hw->addr, st.reg->raw_compass, 8, tmp))
-        return -1;
-#endif
-
-#if defined AK8975_SECONDARY
-    /* AK8975 doesn't have the overrun error bit. */
-    if (!(tmp[0] & AKM_DATA_READY))
-        return -2;
-    if ((tmp[7] & AKM_OVERFLOW) || (tmp[7] & AKM_DATA_ERROR))
-        return -3;
-#elif defined AK8963_SECONDARY
-    /* AK8963 doesn't have the data read error bit. */
-    if (!(tmp[0] & AKM_DATA_READY) || (tmp[0] & AKM_DATA_OVERRUN))
-        return -2;
-    if (tmp[7] & AKM_OVERFLOW)
-        return -3;
-#endif
-    data[0] = (tmp[2] << 8) | tmp[1];
-    data[1] = (tmp[4] << 8) | tmp[3];
-    data[2] = (tmp[6] << 8) | tmp[5];
-
-    data[0] = ((long)data[0] * st.chip_cfg.mag_sens_adj[0]) >> 8;
-    data[1] = ((long)data[1] * st.chip_cfg.mag_sens_adj[1]) >> 8;
-    data[2] = ((long)data[2] * st.chip_cfg.mag_sens_adj[2]) >> 8;
-
-    if (timestamp)
-        get_ms(timestamp);
-    return 0;
-#else
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Get the compass full-scale range.
- *  @param[out] fsr Current full-scale range.
- *  @return     0 if successful.
- */
-int mpu_get_compass_fsr(unsigned short *fsr)
-{
-#ifdef AK89xx_SECONDARY
-    fsr[0] = st.hw->compass_fsr;
-    return 0;
-#else
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Enters LP accel motion interrupt mode.
- *  The behaviour of this feature is very different between the MPU6050 and the
- *  MPU6500. Each chip's version of this feature is explained below.
- *
- *  \n The hardware motion threshold can be between 32mg and 8160mg in 32mg
- *  increments.
- *
- *  \n Low-power accel mode supports the following frequencies:
- *  \n 1.25Hz, 5Hz, 20Hz, 40Hz
- *
- *  \n MPU6500:
- *  \n Unlike the MPU6050 version, the hardware does not "lock in" a reference
- *  sample. The hardware monitors the accel data and detects any large change
- *  over a short period of time.
- *
- *  \n The hardware motion threshold can be between 4mg and 1020mg in 4mg
- *  increments.
- *
- *  \n MPU6500 Low-power accel mode supports the following frequencies:
- *  \n 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz
- *
- *  \n\n NOTES:
- *  \n The driver will round down @e thresh to the nearest supported value if
- *  an unsupported threshold is selected.
- *  \n To select a fractional wake-up frequency, round down the value passed to
- *  @e lpa_freq.
- *  \n The MPU6500 does not support a delay parameter. If this function is used
- *  for the MPU6500, the value passed to @e time will be ignored.
- *  \n To disable this mode, set @e lpa_freq to zero. The driver will restore
- *  the previous configuration.
- *
- *  @param[in]  thresh      Motion threshold in mg.
- *  @param[in]  time        Duration in milliseconds that the accel data must
- *                          exceed @e thresh before motion is reported.
- *  @param[in]  lpa_freq    Minimum sampling rate, or zero to disable.
- *  @return     0 if successful.
- */
-int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time,
-    unsigned char lpa_freq)
-{
-    unsigned char data[3];
-
-    if (lpa_freq) {
-        unsigned char thresh_hw;
-
-#if defined MPU6500
-        /* 1LSb = 4mg. */
-        if (thresh > 1020)
-            thresh_hw = 255;
-        else if (thresh < 4)
-            thresh_hw = 1;
-        else
-            thresh_hw = thresh >> 2;
-#endif
-
-        if (!time)
-            /* Minimum duration must be 1ms. */
-            time = 1;
-
-#if defined MPU6500
-        if (lpa_freq > 640)
-#endif
-            /* At this point, the chip has not been re-configured, so the
-             * function can safely exit.
-             */
-            return -1;
-
-        if (!st.chip_cfg.int_motion_only) {
-            /* Store current settings for later. */
-            if (st.chip_cfg.dmp_on) {
-                mpu_set_dmp_state(0);
-                st.chip_cfg.cache.dmp_on = 1;
-            } else
-                st.chip_cfg.cache.dmp_on = 0;
-            mpu_get_gyro_fsr(&st.chip_cfg.cache.gyro_fsr);
-            mpu_get_accel_fsr(&st.chip_cfg.cache.accel_fsr);
-            mpu_get_lpf(&st.chip_cfg.cache.lpf);
-            mpu_get_sample_rate(&st.chip_cfg.cache.sample_rate);
-            st.chip_cfg.cache.sensors_on = st.chip_cfg.sensors;
-            mpu_get_fifo_config(&st.chip_cfg.cache.fifo_sensors);
-        }
-
-#if defined MPU6500
-        /* Disable hardware interrupts. */
-        set_int_enable(0);
-
-        /* Enter full-power accel-only mode, no FIFO/DMP. */
-        data[0] = 0;
-        data[1] = 0;
-        data[2] = BIT_STBY_XYZG;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 3, data))
-            goto lp_int_restore;
-
-        /* Set motion threshold. */
-        data[0] = thresh_hw;
-        if (i2c_write(st.hw->addr, st.reg->motion_thr, 1, data))
-            goto lp_int_restore;
-
-        /* Set wake frequency. */
-        if (lpa_freq == 1)
-            data[0] = INV_LPA_1_25HZ;
-        else if (lpa_freq == 2)
-            data[0] = INV_LPA_2_5HZ;
-        else if (lpa_freq <= 5)
-            data[0] = INV_LPA_5HZ;
-        else if (lpa_freq <= 10)
-            data[0] = INV_LPA_10HZ;
-        else if (lpa_freq <= 20)
-            data[0] = INV_LPA_20HZ;
-        else if (lpa_freq <= 40)
-            data[0] = INV_LPA_40HZ;
-        else if (lpa_freq <= 80)
-            data[0] = INV_LPA_80HZ;
-        else if (lpa_freq <= 160)
-            data[0] = INV_LPA_160HZ;
-        else if (lpa_freq <= 320)
-            data[0] = INV_LPA_320HZ;
-        else
-            data[0] = INV_LPA_640HZ;
-        if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, data))
-            goto lp_int_restore;
-
-        /* Enable motion interrupt (MPU6500 version). */
-        data[0] = BITS_WOM_EN;
-        if (i2c_write(st.hw->addr, st.reg->accel_intel, 1, data))
-            goto lp_int_restore;
-
-        /* Enable cycle mode. */
-        data[0] = BIT_LPA_CYCLE;
-        if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
-            goto lp_int_restore;
-
-        /* Enable interrupt. */
-        data[0] = BIT_MOT_INT_EN;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data))
-            goto lp_int_restore;
-
-        st.chip_cfg.int_motion_only = 1;
-        return 0;
-#endif
-    } else {
-        /* Don't "restore" the previous state if no state has been saved. */
-        int ii;
-        char *cache_ptr = (char*)&st.chip_cfg.cache;
-        for (ii = 0; ii < sizeof(st.chip_cfg.cache); ii++) {
-            if (cache_ptr[ii] != 0)
-                goto lp_int_restore;
-        }
-        /* If we reach this point, motion interrupt mode hasn't been used yet. */
-        return -1;
-    }
-lp_int_restore:
-    /* Set to invalid values to ensure no I2C writes are skipped. */
-    st.chip_cfg.gyro_fsr = 0xFF;
-    st.chip_cfg.accel_fsr = 0xFF;
-    st.chip_cfg.lpf = 0xFF;
-    st.chip_cfg.sample_rate = 0xFFFF;
-    st.chip_cfg.sensors = 0xFF;
-    st.chip_cfg.fifo_enable = 0xFF;
-    st.chip_cfg.clk_src = INV_CLK_PLL;
-    mpu_set_sensors(st.chip_cfg.cache.sensors_on);
-    mpu_set_gyro_fsr(st.chip_cfg.cache.gyro_fsr);
-    mpu_set_accel_fsr(st.chip_cfg.cache.accel_fsr);
-    mpu_set_lpf(st.chip_cfg.cache.lpf);
-    mpu_set_sample_rate(st.chip_cfg.cache.sample_rate);
-    mpu_configure_fifo(st.chip_cfg.cache.fifo_sensors);
-
-    if (st.chip_cfg.cache.dmp_on)
-        mpu_set_dmp_state(1);
-
-#ifdef MPU6500
-    /* Disable motion interrupt (MPU6500 version). */
-    data[0] = 0;
-    if (i2c_write(st.hw->addr, st.reg->accel_intel, 1, data))
-        goto lp_int_restore;
-#endif
-
-    st.chip_cfg.int_motion_only = 0;
-    return 0;
-}
-
-/**
- *  @}
- */
-

Core备份3/imu3/inv_mpu3.h

@@ -1,132 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
-    See included License.txt for License information.
- $
- */
-/**
- *  @addtogroup  DRIVERS Sensor Driver Layer
- *  @brief       Hardware drivers to communicate with sensors via I2C.
- *
- *  @{
- *      @file       inv_mpu.h
- *      @brief      An I2C-based driver for Invensense gyroscopes.
- *      @details    This driver currently works for the following devices:
- *                  MPU6050
- *                  MPU6500
- *                  MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus)
- *                  MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus)
- */
-
-#ifndef _INV_MPU_H_
-#define _INV_MPU_H_
-
-#define MOTION_DRIVER_TARGET_STM32
-#define MPU6050
-//#define EMPL
-//#define USE_DMP
-
-#define INV_X_GYRO      (0x40)
-#define INV_Y_GYRO      (0x20)
-#define INV_Z_GYRO      (0x10)
-#define INV_XYZ_GYRO    (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO)
-#define INV_XYZ_ACCEL   (0x08)
-#define INV_XYZ_COMPASS (0x01)
-
-struct int_param_s {
-#if defined EMPL_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_STM32
-    void (*cb)(void);
-    unsigned short pin;
-    unsigned char lp_exit;
-    unsigned char active_low;
-#elif defined EMPL_TARGET_UC3L0
-    unsigned long pin;
-    void (*cb)(volatile void*);
-    void *arg;
-#endif
-};
-
-#define MPU_INT_STATUS_DATA_READY       (0x0001)
-#define MPU_INT_STATUS_DMP              (0x0002)
-#define MPU_INT_STATUS_PLL_READY        (0x0004)
-#define MPU_INT_STATUS_I2C_MST          (0x0008)
-#define MPU_INT_STATUS_FIFO_OVERFLOW    (0x0010)
-#define MPU_INT_STATUS_ZMOT             (0x0020)
-#define MPU_INT_STATUS_MOT              (0x0040)
-#define MPU_INT_STATUS_FREE_FALL        (0x0080)
-#define MPU_INT_STATUS_DMP_0            (0x0100)
-#define MPU_INT_STATUS_DMP_1            (0x0200)
-#define MPU_INT_STATUS_DMP_2            (0x0400)
-#define MPU_INT_STATUS_DMP_3            (0x0800)
-#define MPU_INT_STATUS_DMP_4            (0x1000)
-#define MPU_INT_STATUS_DMP_5            (0x2000)
-
-/* Set up APIs */
-int mpu_init(struct int_param_s *int_param);
-int mpu_init_slave(void);
-int mpu_set_bypass(unsigned char bypass_on);
-
-/* Configuration APIs */
-int mpu_lp_accel_mode(unsigned char rate);
-int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time,
-    unsigned char lpa_freq);
-int mpu_set_int_level(unsigned char active_low);
-int mpu_set_int_latched(unsigned char enable);
-
-int mpu_set_dmp_state(unsigned char enable);
-int mpu_get_dmp_state(unsigned char *enabled);
-
-int mpu_get_lpf(unsigned short *lpf);
-int mpu_set_lpf(unsigned short lpf);
-
-int mpu_get_gyro_fsr(unsigned short *fsr);
-int mpu_set_gyro_fsr(unsigned short fsr);
-
-int mpu_get_accel_fsr(unsigned char *fsr);
-int mpu_set_accel_fsr(unsigned char fsr);
-
-int mpu_get_compass_fsr(unsigned short *fsr);
-
-int mpu_get_gyro_sens(float *sens);
-int mpu_get_accel_sens(unsigned short *sens);
-
-int mpu_get_sample_rate(unsigned short *rate);
-int mpu_set_sample_rate(unsigned short rate);
-int mpu_get_compass_sample_rate(unsigned short *rate);
-int mpu_set_compass_sample_rate(unsigned short rate);
-
-int mpu_get_fifo_config(unsigned char *sensors);
-int mpu_configure_fifo(unsigned char sensors);
-
-int mpu_get_power_state(unsigned char *power_on);
-int mpu_set_sensors(unsigned char sensors);
-
-int mpu_set_accel_bias(const long *accel_bias);
-
-/* Data getter/setter APIs */
-int mpu_get_gyro_reg(short *data, unsigned long *timestamp);
-int mpu_get_accel_reg(short *data, unsigned long *timestamp);
-int mpu_get_compass_reg(short *data, unsigned long *timestamp);
-int mpu_get_temperature(long *data, unsigned long *timestamp);
-
-int mpu_get_int_status(short *status);
-int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
-    unsigned char *sensors, unsigned char *more);
-int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
-    unsigned char *more);
-int mpu_reset_fifo(void);
-
-int mpu_write_mem(unsigned short mem_addr, unsigned short length,
-    unsigned char *data);
-int mpu_read_mem(unsigned short mem_addr, unsigned short length,
-    unsigned char *data);
-int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
-    unsigned short start_addr, unsigned short sample_rate);
-
-int mpu_reg_dump(void);
-int mpu_read_reg(unsigned char reg, unsigned char *data);
-int mpu_run_self_test(long *gyro, long *accel);
-int mpu_register_tap_cb(void (*func)(unsigned char, unsigned char));
-
-#endif  /* #ifndef _INV_MPU_H_ */
-

Core备份3/imu3/inv_mpu_dmp_motion_driver3.c

@@ -1,1380 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
-    See included License.txt for License information.
- $
- */
-/**
- *  @addtogroup  DRIVERS Sensor Driver Layer
- *  @brief       Hardware drivers to communicate with sensors via I2C.
- *
- *  @{
- *      @file       inv_mpu_dmp_motion_driver.c
- *      @brief      DMP image and interface functions.
- *      @details    All functions are preceded by the dmp_ prefix to
- *                  differentiate among MPL and general driver function calls.
- */
-#include <stdio.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-#include "inv_mpu3.h"
-#include "inv_mpu_dmp_motion_driver3.h"
-#include "dmpKey3.h"
-#include "dmpmap3.h"
-
-#include "MPU60503.h"
-
-/* The following functions must be defined for this platform:
- * i2c_write(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char const *data)
- * i2c_read(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char *data)
- * delay_ms(unsigned long num_ms)
- * get_ms(unsigned long *count)
- */
-#if defined MOTION_DRIVER_TARGET_MSP430
-#include "msp430.h"
-#include "msp430_clock.h"
-#define delay_ms    msp430_delay_ms
-#define get_ms      msp430_get_clock_ms
-#define log_i(...)     do {} while (0)
-#define log_e(...)     do {} while (0)
-
-#elif defined EMPL_TARGET_MSP430
-#include "msp430.h"
-#include "msp430_clock.h"
-#include "log.h"
-#define delay_ms    msp430_delay_ms
-#define get_ms      msp430_get_clock_ms
-#define log_i       MPL_LOGI
-#define log_e       MPL_LOGE
-
-#elif defined EMPL_TARGET_UC3L0
-/* Instead of using the standard TWI driver from the ASF library, we're using
- * a TWI driver that follows the slave address + register address convention.
- */
-#include "delay.h"
-#include "sysclk.h"
-#include "log.h"
-#include "uc3l0_clock.h"
-/* delay_ms is a function already defined in ASF. */
-#define get_ms  uc3l0_get_clock_ms
-#define log_i       MPL_LOGI
-#define log_e       MPL_LOGE
-
-#elif defined MOTION_DRIVER_TARGET_STM32
-
-#define delay_ms    HAL_Delay
-#define get_ms      get_tick_count
-
-#define log_i(...)     do {} while (0)
-#define log_e(...)     do {} while (0)
-
-#else
-#error  Gyro driver is missing the system layer implementations.
-#endif
-
-/* These defines are copied from dmpDefaultMPU6050.c in the general MPL
- * releases. These defines may change for each DMP image, so be sure to modify
- * these values when switching to a new image.
- */
-#define CFG_LP_QUAT             (2712)
-#define END_ORIENT_TEMP         (1866)
-#define CFG_27                  (2742)
-#define CFG_20                  (2224)
-#define CFG_23                  (2745)
-#define CFG_FIFO_ON_EVENT       (2690)
-#define END_PREDICTION_UPDATE   (1761)
-#define CGNOTICE_INTR           (2620)
-#define X_GRT_Y_TMP             (1358)
-#define CFG_DR_INT              (1029)
-#define CFG_AUTH                (1035)
-#define UPDATE_PROP_ROT         (1835)
-#define END_COMPARE_Y_X_TMP2    (1455)
-#define SKIP_X_GRT_Y_TMP        (1359)
-#define SKIP_END_COMPARE        (1435)
-#define FCFG_3                  (1088)
-#define FCFG_2                  (1066)
-#define FCFG_1                  (1062)
-#define END_COMPARE_Y_X_TMP3    (1434)
-#define FCFG_7                  (1073)
-#define FCFG_6                  (1106)
-#define FLAT_STATE_END          (1713)
-#define SWING_END_4             (1616)
-#define SWING_END_2             (1565)
-#define SWING_END_3             (1587)
-#define SWING_END_1             (1550)
-#define CFG_8                   (2718)
-#define CFG_15                  (2727)
-#define CFG_16                  (2746)
-#define CFG_EXT_GYRO_BIAS       (1189)
-#define END_COMPARE_Y_X_TMP     (1407)
-#define DO_NOT_UPDATE_PROP_ROT  (1839)
-#define CFG_7                   (1205)
-#define FLAT_STATE_END_TEMP     (1683)
-#define END_COMPARE_Y_X         (1484)
-#define SKIP_SWING_END_1        (1551)
-#define SKIP_SWING_END_3        (1588)
-#define SKIP_SWING_END_2        (1566)
-#define TILTG75_START           (1672)
-#define CFG_6                   (2753)
-#define TILTL75_END             (1669)
-#define END_ORIENT              (1884)
-#define CFG_FLICK_IN            (2573)
-#define TILTL75_START           (1643)
-#define CFG_MOTION_BIAS         (1208)
-#define X_GRT_Y                 (1408)
-#define TEMPLABEL               (2324)
-#define CFG_ANDROID_ORIENT_INT  (1853)
-#define CFG_GYRO_RAW_DATA       (2722)
-#define X_GRT_Y_TMP2            (1379)
-
-#define D_0_22                  (22+512)
-#define D_0_24                  (24+512)
-
-#define D_0_36                  (36)
-#define D_0_52                  (52)
-#define D_0_96                  (96)
-#define D_0_104                 (104)
-#define D_0_108                 (108)
-#define D_0_163                 (163)
-#define D_0_188                 (188)
-#define D_0_192                 (192)
-#define D_0_224                 (224)
-#define D_0_228                 (228)
-#define D_0_232                 (232)
-#define D_0_236                 (236)
-
-#define D_1_2                   (256 + 2)
-#define D_1_4                   (256 + 4)
-#define D_1_8                   (256 + 8)
-#define D_1_10                  (256 + 10)
-#define D_1_24                  (256 + 24)
-#define D_1_28                  (256 + 28)
-#define D_1_36                  (256 + 36)
-#define D_1_40                  (256 + 40)
-#define D_1_44                  (256 + 44)
-#define D_1_72                  (256 + 72)
-#define D_1_74                  (256 + 74)
-#define D_1_79                  (256 + 79)
-#define D_1_88                  (256 + 88)
-#define D_1_90                  (256 + 90)
-#define D_1_92                  (256 + 92)
-#define D_1_96                  (256 + 96)
-#define D_1_98                  (256 + 98)
-#define D_1_106                 (256 + 106)
-#define D_1_108                 (256 + 108)
-#define D_1_112                 (256 + 112)
-#define D_1_128                 (256 + 144)
-#define D_1_152                 (256 + 12)
-#define D_1_160                 (256 + 160)
-#define D_1_176                 (256 + 176)
-#define D_1_178                 (256 + 178)
-#define D_1_218                 (256 + 218)
-#define D_1_232                 (256 + 232)
-#define D_1_236                 (256 + 236)
-#define D_1_240                 (256 + 240)
-#define D_1_244                 (256 + 244)
-#define D_1_250                 (256 + 250)
-#define D_1_252                 (256 + 252)
-#define D_2_12                  (512 + 12)
-#define D_2_96                  (512 + 96)
-#define D_2_108                 (512 + 108)
-#define D_2_208                 (512 + 208)
-#define D_2_224                 (512 + 224)
-#define D_2_236                 (512 + 236)
-#define D_2_244                 (512 + 244)
-#define D_2_248                 (512 + 248)
-#define D_2_252                 (512 + 252)
-
-#define CPASS_BIAS_X            (35 * 16 + 4)
-#define CPASS_BIAS_Y            (35 * 16 + 8)
-#define CPASS_BIAS_Z            (35 * 16 + 12)
-#define CPASS_MTX_00            (36 * 16)
-#define CPASS_MTX_01            (36 * 16 + 4)
-#define CPASS_MTX_02            (36 * 16 + 8)
-#define CPASS_MTX_10            (36 * 16 + 12)
-#define CPASS_MTX_11            (37 * 16)
-#define CPASS_MTX_12            (37 * 16 + 4)
-#define CPASS_MTX_20            (37 * 16 + 8)
-#define CPASS_MTX_21            (37 * 16 + 12)
-#define CPASS_MTX_22            (43 * 16 + 12)
-#define D_EXT_GYRO_BIAS_X       (61 * 16)
-#define D_EXT_GYRO_BIAS_Y       (61 * 16) + 4
-#define D_EXT_GYRO_BIAS_Z       (61 * 16) + 8
-#define D_ACT0                  (40 * 16)
-#define D_ACSX                  (40 * 16 + 4)
-#define D_ACSY                  (40 * 16 + 8)
-#define D_ACSZ                  (40 * 16 + 12)
-
-#define FLICK_MSG               (45 * 16 + 4)
-#define FLICK_COUNTER           (45 * 16 + 8)
-#define FLICK_LOWER             (45 * 16 + 12)
-#define FLICK_UPPER             (46 * 16 + 12)
-
-#define D_AUTH_OUT              (992)
-#define D_AUTH_IN               (996)
-#define D_AUTH_A                (1000)
-#define D_AUTH_B                (1004)
-
-#define D_PEDSTD_BP_B           (768 + 0x1C)
-#define D_PEDSTD_HP_A           (768 + 0x78)
-#define D_PEDSTD_HP_B           (768 + 0x7C)
-#define D_PEDSTD_BP_A4          (768 + 0x40)
-#define D_PEDSTD_BP_A3          (768 + 0x44)
-#define D_PEDSTD_BP_A2          (768 + 0x48)
-#define D_PEDSTD_BP_A1          (768 + 0x4C)
-#define D_PEDSTD_INT_THRSH      (768 + 0x68)
-#define D_PEDSTD_CLIP           (768 + 0x6C)
-#define D_PEDSTD_SB             (768 + 0x28)
-#define D_PEDSTD_SB_TIME        (768 + 0x2C)
-#define D_PEDSTD_PEAKTHRSH      (768 + 0x98)
-#define D_PEDSTD_TIML           (768 + 0x2A)
-#define D_PEDSTD_TIMH           (768 + 0x2E)
-#define D_PEDSTD_PEAK           (768 + 0X94)
-#define D_PEDSTD_STEPCTR        (768 + 0x60)
-#define D_PEDSTD_TIMECTR        (964)
-#define D_PEDSTD_DECI           (768 + 0xA0)
-
-#define D_HOST_NO_MOT           (976)
-#define D_ACCEL_BIAS            (660)
-
-#define D_ORIENT_GAP            (76)
-
-#define D_TILT0_H               (48)
-#define D_TILT0_L               (50)
-#define D_TILT1_H               (52)
-#define D_TILT1_L               (54)
-#define D_TILT2_H               (56)
-#define D_TILT2_L               (58)
-#define D_TILT3_H               (60)
-#define D_TILT3_L               (62)
-
-#define DMP_CODE_SIZE           (3062)
-
-static const unsigned char dmp_memory[DMP_CODE_SIZE] = {
-    /* bank # 0 */
-    0x00, 0x00, 0x70, 0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,
-    0x00, 0x65, 0x00, 0x54, 0xff, 0xef, 0x00, 0x00, 0xfa, 0x80, 0x00, 0x0b, 0x12, 0x82, 0x00, 0x01,
-    0x03, 0x0c, 0x30, 0xc3, 0x0e, 0x8c, 0x8c, 0xe9, 0x14, 0xd5, 0x40, 0x02, 0x13, 0x71, 0x0f, 0x8e,
-    0x38, 0x83, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83, 0x25, 0x8e, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83,
-    0xff, 0xff, 0xff, 0xff, 0x0f, 0xfe, 0xa9, 0xd6, 0x24, 0x00, 0x04, 0x00, 0x1a, 0x82, 0x79, 0xa1,
-    0x00, 0x00, 0x00, 0x3c, 0xff, 0xff, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x38, 0x83, 0x6f, 0xa2,
-    0x00, 0x3e, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xca, 0xe3, 0x09, 0x3e, 0x80, 0x00, 0x00,
-    0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,
-    0x00, 0x0c, 0x00, 0x00, 0x00, 0x0c, 0x18, 0x6e, 0x00, 0x00, 0x06, 0x92, 0x0a, 0x16, 0xc0, 0xdf,
-    0xff, 0xff, 0x02, 0x56, 0xfd, 0x8c, 0xd3, 0x77, 0xff, 0xe1, 0xc4, 0x96, 0xe0, 0xc5, 0xbe, 0xaa,
-    0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0x0b, 0x2b, 0x00, 0x00, 0x16, 0x57, 0x00, 0x00, 0x03, 0x59,
-    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1d, 0xfa, 0x00, 0x02, 0x6c, 0x1d, 0x00, 0x00, 0x00, 0x00,
-    0x3f, 0xff, 0xdf, 0xeb, 0x00, 0x3e, 0xb3, 0xb6, 0x00, 0x0d, 0x22, 0x78, 0x00, 0x00, 0x2f, 0x3c,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x19, 0x42, 0xb5, 0x00, 0x00, 0x39, 0xa2, 0x00, 0x00, 0xb3, 0x65,
-    0xd9, 0x0e, 0x9f, 0xc9, 0x1d, 0xcf, 0x4c, 0x34, 0x30, 0x00, 0x00, 0x00, 0x50, 0x00, 0x00, 0x00,
-    0x3b, 0xb6, 0x7a, 0xe8, 0x00, 0x64, 0x00, 0x00, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    /* bank # 1 */
-    0x10, 0x00, 0x00, 0x00, 0x10, 0x00, 0xfa, 0x92, 0x10, 0x00, 0x22, 0x5e, 0x00, 0x0d, 0x22, 0x9f,
-    0x00, 0x01, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00, 0xff, 0x46, 0x00, 0x00, 0x63, 0xd4, 0x00, 0x00,
-    0x10, 0x00, 0x00, 0x00, 0x04, 0xd6, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00,
-    0x00, 0x00, 0x10, 0x72, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x06, 0x00, 0x02, 0x00, 0x05, 0x00, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x05, 0x00, 0x64, 0x00, 0x20, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x03, 0x00,
-    0x00, 0x00, 0x00, 0x32, 0xf8, 0x98, 0x00, 0x00, 0xff, 0x65, 0x00, 0x00, 0x83, 0x0f, 0x00, 0x00,
-    0xff, 0x9b, 0xfc, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00,
-    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0xb2, 0x6a, 0x00, 0x02, 0x00, 0x00,
-    0x00, 0x01, 0xfb, 0x83, 0x00, 0x68, 0x00, 0x00, 0x00, 0xd9, 0xfc, 0x00, 0x7c, 0xf1, 0xff, 0x83,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x64, 0x03, 0xe8, 0x00, 0x64, 0x00, 0x28,
-    0x00, 0x00, 0x00, 0x25, 0x00, 0x00, 0x00, 0x00, 0x16, 0xa0, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00,
-    0x00, 0x00, 0x10, 0x00, 0x00, 0x2f, 0x00, 0x00, 0x00, 0x00, 0x01, 0xf4, 0x00, 0x00, 0x10, 0x00,
-    /* bank # 2 */
-    0x00, 0x28, 0x00, 0x00, 0xff, 0xff, 0x45, 0x81, 0xff, 0xff, 0xfa, 0x72, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x44, 0x00, 0x05, 0x00, 0x05, 0xba, 0xc6, 0x00, 0x47, 0x78, 0xa2,
-    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
-    0x00, 0x00, 0x25, 0x4d, 0x00, 0x2f, 0x70, 0x6d, 0x00, 0x00, 0x05, 0xae, 0x00, 0x0c, 0x02, 0xd0,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x64, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0e, 0x00, 0x0e,
-    0x00, 0x00, 0x0a, 0xc7, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x32, 0xff, 0xff, 0xff, 0x9c,
-    0x00, 0x00, 0x0b, 0x2b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x64,
-    0xff, 0xe5, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    /* bank # 3 */
-    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x24, 0x26, 0xd3,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x10, 0x00, 0x96, 0x00, 0x3c,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x0c, 0x0a, 0x4e, 0x68, 0xcd, 0xcf, 0x77, 0x09, 0x50, 0x16, 0x67, 0x59, 0xc6, 0x19, 0xce, 0x82,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0xd7, 0x84, 0x00, 0x03, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xc7, 0x93, 0x8f, 0x9d, 0x1e, 0x1b, 0x1c, 0x19,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0x18, 0x85, 0x00, 0x00, 0x40, 0x00,
-    0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x67, 0x7d, 0xdf, 0x7e, 0x72, 0x90, 0x2e, 0x55, 0x4c, 0xf6, 0xe6, 0x88,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-
-    /* bank # 4 */
-    0xd8, 0xdc, 0xb4, 0xb8, 0xb0, 0xd8, 0xb9, 0xab, 0xf3, 0xf8, 0xfa, 0xb3, 0xb7, 0xbb, 0x8e, 0x9e,
-    0xae, 0xf1, 0x32, 0xf5, 0x1b, 0xf1, 0xb4, 0xb8, 0xb0, 0x80, 0x97, 0xf1, 0xa9, 0xdf, 0xdf, 0xdf,
-    0xaa, 0xdf, 0xdf, 0xdf, 0xf2, 0xaa, 0xc5, 0xcd, 0xc7, 0xa9, 0x0c, 0xc9, 0x2c, 0x97, 0xf1, 0xa9,
-    0x89, 0x26, 0x46, 0x66, 0xb2, 0x89, 0x99, 0xa9, 0x2d, 0x55, 0x7d, 0xb0, 0xb0, 0x8a, 0xa8, 0x96,
-    0x36, 0x56, 0x76, 0xf1, 0xba, 0xa3, 0xb4, 0xb2, 0x80, 0xc0, 0xb8, 0xa8, 0x97, 0x11, 0xb2, 0x83,
-    0x98, 0xba, 0xa3, 0xf0, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xb2, 0xb9, 0xb4, 0x98, 0x83, 0xf1,
-    0xa3, 0x29, 0x55, 0x7d, 0xba, 0xb5, 0xb1, 0xa3, 0x83, 0x93, 0xf0, 0x00, 0x28, 0x50, 0xf5, 0xb2,
-    0xb6, 0xaa, 0x83, 0x93, 0x28, 0x54, 0x7c, 0xf1, 0xb9, 0xa3, 0x82, 0x93, 0x61, 0xba, 0xa2, 0xda,
-    0xde, 0xdf, 0xdb, 0x81, 0x9a, 0xb9, 0xae, 0xf5, 0x60, 0x68, 0x70, 0xf1, 0xda, 0xba, 0xa2, 0xdf,
-    0xd9, 0xba, 0xa2, 0xfa, 0xb9, 0xa3, 0x82, 0x92, 0xdb, 0x31, 0xba, 0xa2, 0xd9, 0xba, 0xa2, 0xf8,
-    0xdf, 0x85, 0xa4, 0xd0, 0xc1, 0xbb, 0xad, 0x83, 0xc2, 0xc5, 0xc7, 0xb8, 0xa2, 0xdf, 0xdf, 0xdf,
-    0xba, 0xa0, 0xdf, 0xdf, 0xdf, 0xd8, 0xd8, 0xf1, 0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35,
-    0x5d, 0xb2, 0xb6, 0xba, 0xaf, 0x8c, 0x96, 0x19, 0x8f, 0x9f, 0xa7, 0x0e, 0x16, 0x1e, 0xb4, 0x9a,
-    0xb8, 0xaa, 0x87, 0x2c, 0x54, 0x7c, 0xba, 0xa4, 0xb0, 0x8a, 0xb6, 0x91, 0x32, 0x56, 0x76, 0xb2,
-    0x84, 0x94, 0xa4, 0xc8, 0x08, 0xcd, 0xd8, 0xb8, 0xb4, 0xb0, 0xf1, 0x99, 0x82, 0xa8, 0x2d, 0x55,
-    0x7d, 0x98, 0xa8, 0x0e, 0x16, 0x1e, 0xa2, 0x2c, 0x54, 0x7c, 0x92, 0xa4, 0xf0, 0x2c, 0x50, 0x78,
-    /* bank # 5 */
-    0xf1, 0x84, 0xa8, 0x98, 0xc4, 0xcd, 0xfc, 0xd8, 0x0d, 0xdb, 0xa8, 0xfc, 0x2d, 0xf3, 0xd9, 0xba,
-    0xa6, 0xf8, 0xda, 0xba, 0xa6, 0xde, 0xd8, 0xba, 0xb2, 0xb6, 0x86, 0x96, 0xa6, 0xd0, 0xf3, 0xc8,
-    0x41, 0xda, 0xa6, 0xc8, 0xf8, 0xd8, 0xb0, 0xb4, 0xb8, 0x82, 0xa8, 0x92, 0xf5, 0x2c, 0x54, 0x88,
-    0x98, 0xf1, 0x35, 0xd9, 0xf4, 0x18, 0xd8, 0xf1, 0xa2, 0xd0, 0xf8, 0xf9, 0xa8, 0x84, 0xd9, 0xc7,
-    0xdf, 0xf8, 0xf8, 0x83, 0xc5, 0xda, 0xdf, 0x69, 0xdf, 0x83, 0xc1, 0xd8, 0xf4, 0x01, 0x14, 0xf1,
-    0xa8, 0x82, 0x4e, 0xa8, 0x84, 0xf3, 0x11, 0xd1, 0x82, 0xf5, 0xd9, 0x92, 0x28, 0x97, 0x88, 0xf1,
-    0x09, 0xf4, 0x1c, 0x1c, 0xd8, 0x84, 0xa8, 0xf3, 0xc0, 0xf9, 0xd1, 0xd9, 0x97, 0x82, 0xf1, 0x29,
-    0xf4, 0x0d, 0xd8, 0xf3, 0xf9, 0xf9, 0xd1, 0xd9, 0x82, 0xf4, 0xc2, 0x03, 0xd8, 0xde, 0xdf, 0x1a,
-    0xd8, 0xf1, 0xa2, 0xfa, 0xf9, 0xa8, 0x84, 0x98, 0xd9, 0xc7, 0xdf, 0xf8, 0xf8, 0xf8, 0x83, 0xc7,
-    0xda, 0xdf, 0x69, 0xdf, 0xf8, 0x83, 0xc3, 0xd8, 0xf4, 0x01, 0x14, 0xf1, 0x98, 0xa8, 0x82, 0x2e,
-    0xa8, 0x84, 0xf3, 0x11, 0xd1, 0x82, 0xf5, 0xd9, 0x92, 0x50, 0x97, 0x88, 0xf1, 0x09, 0xf4, 0x1c,
-    0xd8, 0x84, 0xa8, 0xf3, 0xc0, 0xf8, 0xf9, 0xd1, 0xd9, 0x97, 0x82, 0xf1, 0x49, 0xf4, 0x0d, 0xd8,
-    0xf3, 0xf9, 0xf9, 0xd1, 0xd9, 0x82, 0xf4, 0xc4, 0x03, 0xd8, 0xde, 0xdf, 0xd8, 0xf1, 0xad, 0x88,
-    0x98, 0xcc, 0xa8, 0x09, 0xf9, 0xd9, 0x82, 0x92, 0xa8, 0xf5, 0x7c, 0xf1, 0x88, 0x3a, 0xcf, 0x94,
-    0x4a, 0x6e, 0x98, 0xdb, 0x69, 0x31, 0xda, 0xad, 0xf2, 0xde, 0xf9, 0xd8, 0x87, 0x95, 0xa8, 0xf2,
-    0x21, 0xd1, 0xda, 0xa5, 0xf9, 0xf4, 0x17, 0xd9, 0xf1, 0xae, 0x8e, 0xd0, 0xc0, 0xc3, 0xae, 0x82,
-    /* bank # 6 */
-    0xc6, 0x84, 0xc3, 0xa8, 0x85, 0x95, 0xc8, 0xa5, 0x88, 0xf2, 0xc0, 0xf1, 0xf4, 0x01, 0x0e, 0xf1,
-    0x8e, 0x9e, 0xa8, 0xc6, 0x3e, 0x56, 0xf5, 0x54, 0xf1, 0x88, 0x72, 0xf4, 0x01, 0x15, 0xf1, 0x98,
-    0x45, 0x85, 0x6e, 0xf5, 0x8e, 0x9e, 0x04, 0x88, 0xf1, 0x42, 0x98, 0x5a, 0x8e, 0x9e, 0x06, 0x88,
-    0x69, 0xf4, 0x01, 0x1c, 0xf1, 0x98, 0x1e, 0x11, 0x08, 0xd0, 0xf5, 0x04, 0xf1, 0x1e, 0x97, 0x02,
-    0x02, 0x98, 0x36, 0x25, 0xdb, 0xf9, 0xd9, 0x85, 0xa5, 0xf3, 0xc1, 0xda, 0x85, 0xa5, 0xf3, 0xdf,
-    0xd8, 0x85, 0x95, 0xa8, 0xf3, 0x09, 0xda, 0xa5, 0xfa, 0xd8, 0x82, 0x92, 0xa8, 0xf5, 0x78, 0xf1,
-    0x88, 0x1a, 0x84, 0x9f, 0x26, 0x88, 0x98, 0x21, 0xda, 0xf4, 0x1d, 0xf3, 0xd8, 0x87, 0x9f, 0x39,
-    0xd1, 0xaf, 0xd9, 0xdf, 0xdf, 0xfb, 0xf9, 0xf4, 0x0c, 0xf3, 0xd8, 0xfa, 0xd0, 0xf8, 0xda, 0xf9,
-    0xf9, 0xd0, 0xdf, 0xd9, 0xf9, 0xd8, 0xf4, 0x0b, 0xd8, 0xf3, 0x87, 0x9f, 0x39, 0xd1, 0xaf, 0xd9,
-    0xdf, 0xdf, 0xf4, 0x1d, 0xf3, 0xd8, 0xfa, 0xfc, 0xa8, 0x69, 0xf9, 0xf9, 0xaf, 0xd0, 0xda, 0xde,
-    0xfa, 0xd9, 0xf8, 0x8f, 0x9f, 0xa8, 0xf1, 0xcc, 0xf3, 0x98, 0xdb, 0x45, 0xd9, 0xaf, 0xdf, 0xd0,
-    0xf8, 0xd8, 0xf1, 0x8f, 0x9f, 0xa8, 0xca, 0xf3, 0x88, 0x09, 0xda, 0xaf, 0x8f, 0xcb, 0xf8, 0xd8,
-    0xf2, 0xad, 0x97, 0x8d, 0x0c, 0xd9, 0xa5, 0xdf, 0xf9, 0xba, 0xa6, 0xf3, 0xfa, 0xf4, 0x12, 0xf2,
-    0xd8, 0x95, 0x0d, 0xd1, 0xd9, 0xba, 0xa6, 0xf3, 0xfa, 0xda, 0xa5, 0xf2, 0xc1, 0xba, 0xa6, 0xf3,
-    0xdf, 0xd8, 0xf1, 0xba, 0xb2, 0xb6, 0x86, 0x96, 0xa6, 0xd0, 0xca, 0xf3, 0x49, 0xda, 0xa6, 0xcb,
-    0xf8, 0xd8, 0xb0, 0xb4, 0xb8, 0xd8, 0xad, 0x84, 0xf2, 0xc0, 0xdf, 0xf1, 0x8f, 0xcb, 0xc3, 0xa8,
-    /* bank # 7 */
-    0xb2, 0xb6, 0x86, 0x96, 0xc8, 0xc1, 0xcb, 0xc3, 0xf3, 0xb0, 0xb4, 0x88, 0x98, 0xa8, 0x21, 0xdb,
-    0x71, 0x8d, 0x9d, 0x71, 0x85, 0x95, 0x21, 0xd9, 0xad, 0xf2, 0xfa, 0xd8, 0x85, 0x97, 0xa8, 0x28,
-    0xd9, 0xf4, 0x08, 0xd8, 0xf2, 0x8d, 0x29, 0xda, 0xf4, 0x05, 0xd9, 0xf2, 0x85, 0xa4, 0xc2, 0xf2,
-    0xd8, 0xa8, 0x8d, 0x94, 0x01, 0xd1, 0xd9, 0xf4, 0x11, 0xf2, 0xd8, 0x87, 0x21, 0xd8, 0xf4, 0x0a,
-    0xd8, 0xf2, 0x84, 0x98, 0xa8, 0xc8, 0x01, 0xd1, 0xd9, 0xf4, 0x11, 0xd8, 0xf3, 0xa4, 0xc8, 0xbb,
-    0xaf, 0xd0, 0xf2, 0xde, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xd8, 0xf1, 0xb8, 0xf6,
-    0xb5, 0xb9, 0xb0, 0x8a, 0x95, 0xa3, 0xde, 0x3c, 0xa3, 0xd9, 0xf8, 0xd8, 0x5c, 0xa3, 0xd9, 0xf8,
-    0xd8, 0x7c, 0xa3, 0xd9, 0xf8, 0xd8, 0xf8, 0xf9, 0xd1, 0xa5, 0xd9, 0xdf, 0xda, 0xfa, 0xd8, 0xb1,
-    0x85, 0x30, 0xf7, 0xd9, 0xde, 0xd8, 0xf8, 0x30, 0xad, 0xda, 0xde, 0xd8, 0xf2, 0xb4, 0x8c, 0x99,
-    0xa3, 0x2d, 0x55, 0x7d, 0xa0, 0x83, 0xdf, 0xdf, 0xdf, 0xb5, 0x91, 0xa0, 0xf6, 0x29, 0xd9, 0xfb,
-    0xd8, 0xa0, 0xfc, 0x29, 0xd9, 0xfa, 0xd8, 0xa0, 0xd0, 0x51, 0xd9, 0xf8, 0xd8, 0xfc, 0x51, 0xd9,
-    0xf9, 0xd8, 0x79, 0xd9, 0xfb, 0xd8, 0xa0, 0xd0, 0xfc, 0x79, 0xd9, 0xfa, 0xd8, 0xa1, 0xf9, 0xf9,
-    0xf9, 0xf9, 0xf9, 0xa0, 0xda, 0xdf, 0xdf, 0xdf, 0xd8, 0xa1, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xac,
-    0xde, 0xf8, 0xad, 0xde, 0x83, 0x93, 0xac, 0x2c, 0x54, 0x7c, 0xf1, 0xa8, 0xdf, 0xdf, 0xdf, 0xf6,
-    0x9d, 0x2c, 0xda, 0xa0, 0xdf, 0xd9, 0xfa, 0xdb, 0x2d, 0xf8, 0xd8, 0xa8, 0x50, 0xda, 0xa0, 0xd0,
-    0xde, 0xd9, 0xd0, 0xf8, 0xf8, 0xf8, 0xdb, 0x55, 0xf8, 0xd8, 0xa8, 0x78, 0xda, 0xa0, 0xd0, 0xdf,
-    /* bank # 8 */
-    0xd9, 0xd0, 0xfa, 0xf8, 0xf8, 0xf8, 0xf8, 0xdb, 0x7d, 0xf8, 0xd8, 0x9c, 0xa8, 0x8c, 0xf5, 0x30,
-    0xdb, 0x38, 0xd9, 0xd0, 0xde, 0xdf, 0xa0, 0xd0, 0xde, 0xdf, 0xd8, 0xa8, 0x48, 0xdb, 0x58, 0xd9,
-    0xdf, 0xd0, 0xde, 0xa0, 0xdf, 0xd0, 0xde, 0xd8, 0xa8, 0x68, 0xdb, 0x70, 0xd9, 0xdf, 0xdf, 0xa0,
-    0xdf, 0xdf, 0xd8, 0xf1, 0xa8, 0x88, 0x90, 0x2c, 0x54, 0x7c, 0x98, 0xa8, 0xd0, 0x5c, 0x38, 0xd1,
-    0xda, 0xf2, 0xae, 0x8c, 0xdf, 0xf9, 0xd8, 0xb0, 0x87, 0xa8, 0xc1, 0xc1, 0xb1, 0x88, 0xa8, 0xc6,
-    0xf9, 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xa8,
-    0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xf7, 0x8d, 0x9d, 0xad, 0xf8, 0x18, 0xda,
-    0xf2, 0xae, 0xdf, 0xd8, 0xf7, 0xad, 0xfa, 0x30, 0xd9, 0xa4, 0xde, 0xf9, 0xd8, 0xf2, 0xae, 0xde,
-    0xfa, 0xf9, 0x83, 0xa7, 0xd9, 0xc3, 0xc5, 0xc7, 0xf1, 0x88, 0x9b, 0xa7, 0x7a, 0xad, 0xf7, 0xde,
-    0xdf, 0xa4, 0xf8, 0x84, 0x94, 0x08, 0xa7, 0x97, 0xf3, 0x00, 0xae, 0xf2, 0x98, 0x19, 0xa4, 0x88,
-    0xc6, 0xa3, 0x94, 0x88, 0xf6, 0x32, 0xdf, 0xf2, 0x83, 0x93, 0xdb, 0x09, 0xd9, 0xf2, 0xaa, 0xdf,
-    0xd8, 0xd8, 0xae, 0xf8, 0xf9, 0xd1, 0xda, 0xf3, 0xa4, 0xde, 0xa7, 0xf1, 0x88, 0x9b, 0x7a, 0xd8,
-    0xf3, 0x84, 0x94, 0xae, 0x19, 0xf9, 0xda, 0xaa, 0xf1, 0xdf, 0xd8, 0xa8, 0x81, 0xc0, 0xc3, 0xc5,
-    0xc7, 0xa3, 0x92, 0x83, 0xf6, 0x28, 0xad, 0xde, 0xd9, 0xf8, 0xd8, 0xa3, 0x50, 0xad, 0xd9, 0xf8,
-    0xd8, 0xa3, 0x78, 0xad, 0xd9, 0xf8, 0xd8, 0xf8, 0xf9, 0xd1, 0xa1, 0xda, 0xde, 0xc3, 0xc5, 0xc7,
-    0xd8, 0xa1, 0x81, 0x94, 0xf8, 0x18, 0xf2, 0xb0, 0x89, 0xac, 0xc3, 0xc5, 0xc7, 0xf1, 0xd8, 0xb8,
-    /* bank # 9 */
-    0xb4, 0xb0, 0x97, 0x86, 0xa8, 0x31, 0x9b, 0x06, 0x99, 0x07, 0xab, 0x97, 0x28, 0x88, 0x9b, 0xf0,
-    0x0c, 0x20, 0x14, 0x40, 0xb0, 0xb4, 0xb8, 0xf0, 0xa8, 0x8a, 0x9a, 0x28, 0x50, 0x78, 0xb7, 0x9b,
-    0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xf1, 0xbb, 0xab,
-    0x88, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0xb3, 0x8b, 0xb8, 0xa8, 0x04, 0x28, 0x50, 0x78, 0xf1, 0xb0,
-    0x88, 0xb4, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xbb, 0xab, 0xb3, 0x8b, 0x02, 0x26, 0x46, 0x66, 0xb0,
-    0xb8, 0xf0, 0x8a, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x8b, 0x29, 0x51, 0x79, 0x8a, 0x24, 0x70, 0x59,
-    0x8b, 0x20, 0x58, 0x71, 0x8a, 0x44, 0x69, 0x38, 0x8b, 0x39, 0x40, 0x68, 0x8a, 0x64, 0x48, 0x31,
-    0x8b, 0x30, 0x49, 0x60, 0x88, 0xf1, 0xac, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0x8c, 0xa8, 0x04, 0x28,
-    0x50, 0x78, 0xf1, 0x88, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xac, 0x8c, 0x02, 0x26, 0x46, 0x66, 0xf0,
-    0x89, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xa9,
-    0x88, 0x09, 0x20, 0x59, 0x70, 0xab, 0x11, 0x38, 0x40, 0x69, 0xa8, 0x19, 0x31, 0x48, 0x60, 0x8c,
-    0xa8, 0x3c, 0x41, 0x5c, 0x20, 0x7c, 0x00, 0xf1, 0x87, 0x98, 0x19, 0x86, 0xa8, 0x6e, 0x76, 0x7e,
-    0xa9, 0x99, 0x88, 0x2d, 0x55, 0x7d, 0xd8, 0xb1, 0xb5, 0xb9, 0xa3, 0xdf, 0xdf, 0xdf, 0xae, 0xd0,
-    0xdf, 0xaa, 0xd0, 0xde, 0xf2, 0xab, 0xf8, 0xf9, 0xd9, 0xb0, 0x87, 0xc4, 0xaa, 0xf1, 0xdf, 0xdf,
-    0xbb, 0xaf, 0xdf, 0xdf, 0xb9, 0xd8, 0xb1, 0xf1, 0xa3, 0x97, 0x8e, 0x60, 0xdf, 0xb0, 0x84, 0xf2,
-    0xc8, 0xf8, 0xf9, 0xd9, 0xde, 0xd8, 0x93, 0x85, 0xf1, 0x4a, 0xb1, 0x83, 0xa3, 0x08, 0xb5, 0x83,
-    /* bank # 10 */
-    0x9a, 0x08, 0x10, 0xb7, 0x9f, 0x10, 0xd8, 0xf1, 0xb0, 0xba, 0xae, 0xb0, 0x8a, 0xc2, 0xb2, 0xb6,
-    0x8e, 0x9e, 0xf1, 0xfb, 0xd9, 0xf4, 0x1d, 0xd8, 0xf9, 0xd9, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad,
-    0x61, 0xd9, 0xae, 0xfb, 0xd8, 0xf4, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad, 0x19, 0xd9, 0xae, 0xfb,
-    0xdf, 0xd8, 0xf4, 0x16, 0xf1, 0xd8, 0xf8, 0xad, 0x8d, 0x61, 0xd9, 0xf4, 0xf4, 0xac, 0xf5, 0x9c,
-    0x9c, 0x8d, 0xdf, 0x2b, 0xba, 0xb6, 0xae, 0xfa, 0xf8, 0xf4, 0x0b, 0xd8, 0xf1, 0xae, 0xd0, 0xf8,
-    0xad, 0x51, 0xda, 0xae, 0xfa, 0xf8, 0xf1, 0xd8, 0xb9, 0xb1, 0xb6, 0xa3, 0x83, 0x9c, 0x08, 0xb9,
-    0xb1, 0x83, 0x9a, 0xb5, 0xaa, 0xc0, 0xfd, 0x30, 0x83, 0xb7, 0x9f, 0x10, 0xb5, 0x8b, 0x93, 0xf2,
-    0x02, 0x02, 0xd1, 0xab, 0xda, 0xde, 0xd8, 0xf1, 0xb0, 0x80, 0xba, 0xab, 0xc0, 0xc3, 0xb2, 0x84,
-    0xc1, 0xc3, 0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9, 0xab, 0xde, 0xb0,
-    0x87, 0x9c, 0xb9, 0xa3, 0xdd, 0xf1, 0xb3, 0x8b, 0x8b, 0x8b, 0x8b, 0x8b, 0xb0, 0x87, 0xa3, 0xa3,
-    0xa3, 0xa3, 0xb2, 0x8b, 0xb6, 0x9b, 0xf2, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3,
-    0xa3, 0xf1, 0xb0, 0x87, 0xb5, 0x9a, 0xa3, 0xf3, 0x9b, 0xa3, 0xa3, 0xdc, 0xba, 0xac, 0xdf, 0xb9,
-    0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3,
-    0xd8, 0xd8, 0xd8, 0xbb, 0xb3, 0xb7, 0xf1, 0xaa, 0xf9, 0xda, 0xff, 0xd9, 0x80, 0x9a, 0xaa, 0x28,
-    0xb4, 0x80, 0x98, 0xa7, 0x20, 0xb7, 0x97, 0x87, 0xa8, 0x66, 0x88, 0xf0, 0x79, 0x51, 0xf1, 0x90,
-    0x2c, 0x87, 0x0c, 0xa7, 0x81, 0x97, 0x62, 0x93, 0xf0, 0x71, 0x71, 0x60, 0x85, 0x94, 0x01, 0x29,
-    /* bank # 11 */
-    0x51, 0x79, 0x90, 0xa5, 0xf1, 0x28, 0x4c, 0x6c, 0x87, 0x0c, 0x95, 0x18, 0x85, 0x78, 0xa3, 0x83,
-    0x90, 0x28, 0x4c, 0x6c, 0x88, 0x6c, 0xd8, 0xf3, 0xa2, 0x82, 0x00, 0xf2, 0x10, 0xa8, 0x92, 0x19,
-    0x80, 0xa2, 0xf2, 0xd9, 0x26, 0xd8, 0xf1, 0x88, 0xa8, 0x4d, 0xd9, 0x48, 0xd8, 0x96, 0xa8, 0x39,
-    0x80, 0xd9, 0x3c, 0xd8, 0x95, 0x80, 0xa8, 0x39, 0xa6, 0x86, 0x98, 0xd9, 0x2c, 0xda, 0x87, 0xa7,
-    0x2c, 0xd8, 0xa8, 0x89, 0x95, 0x19, 0xa9, 0x80, 0xd9, 0x38, 0xd8, 0xa8, 0x89, 0x39, 0xa9, 0x80,
-    0xda, 0x3c, 0xd8, 0xa8, 0x2e, 0xa8, 0x39, 0x90, 0xd9, 0x0c, 0xd8, 0xa8, 0x95, 0x31, 0x98, 0xd9,
-    0x0c, 0xd8, 0xa8, 0x09, 0xd9, 0xff, 0xd8, 0x01, 0xda, 0xff, 0xd8, 0x95, 0x39, 0xa9, 0xda, 0x26,
-    0xff, 0xd8, 0x90, 0xa8, 0x0d, 0x89, 0x99, 0xa8, 0x10, 0x80, 0x98, 0x21, 0xda, 0x2e, 0xd8, 0x89,
-    0x99, 0xa8, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x86, 0x96, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8,
-    0x87, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x82, 0x92, 0xf3, 0x41, 0x80, 0xf1, 0xd9, 0x2e, 0xd8,
-    0xa8, 0x82, 0xf3, 0x19, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, 0x82, 0xac, 0xf3, 0xc0, 0xa2, 0x80, 0x22,
-    0xf1, 0xa6, 0x2e, 0xa7, 0x2e, 0xa9, 0x22, 0x98, 0xa8, 0x29, 0xda, 0xac, 0xde, 0xff, 0xd8, 0xa2,
-    0xf2, 0x2a, 0xf1, 0xa9, 0x2e, 0x82, 0x92, 0xa8, 0xf2, 0x31, 0x80, 0xa6, 0x96, 0xf1, 0xd9, 0x00,
-    0xac, 0x8c, 0x9c, 0x0c, 0x30, 0xac, 0xde, 0xd0, 0xde, 0xff, 0xd8, 0x8c, 0x9c, 0xac, 0xd0, 0x10,
-    0xac, 0xde, 0x80, 0x92, 0xa2, 0xf2, 0x4c, 0x82, 0xa8, 0xf1, 0xca, 0xf2, 0x35, 0xf1, 0x96, 0x88,
-    0xa6, 0xd9, 0x00, 0xd8, 0xf1, 0xff
-};
-
-static const unsigned short sStartAddress = 0x0400;
-
-/* END OF SECTION COPIED FROM dmpDefaultMPU6050.c */
-
-#define INT_SRC_TAP             (0x01)
-#define INT_SRC_ANDROID_ORIENT  (0x08)
-
-#define DMP_FEATURE_SEND_ANY_GYRO   (DMP_FEATURE_SEND_RAW_GYRO | \
-                                     DMP_FEATURE_SEND_CAL_GYRO)
-
-#define MAX_PACKET_LENGTH   (32)
-
-#define DMP_SAMPLE_RATE     (200)
-#define GYRO_SF             (46850825LL * 200 / DMP_SAMPLE_RATE)
-
-#define FIFO_CORRUPTION_CHECK
-#ifdef FIFO_CORRUPTION_CHECK
-#define QUAT_ERROR_THRESH       (1L<<24)
-#define QUAT_MAG_SQ_NORMALIZED  (1L<<28)
-#define QUAT_MAG_SQ_MIN         (QUAT_MAG_SQ_NORMALIZED - QUAT_ERROR_THRESH)
-#define QUAT_MAG_SQ_MAX         (QUAT_MAG_SQ_NORMALIZED + QUAT_ERROR_THRESH)
-#endif
-
-struct dmp_s {
-    void (*tap_cb)(unsigned char count, unsigned char direction);
-    void (*android_orient_cb)(unsigned char orientation);
-    unsigned short orient;
-    unsigned short feature_mask;
-    unsigned short fifo_rate;
-    unsigned char packet_length;
-};
-
-static struct dmp_s dmp = {
-    .tap_cb = NULL,
-    .android_orient_cb = NULL,
-    .orient = 0,
-    .feature_mask = 0,
-    .fifo_rate = 0,
-    .packet_length = 0
-};
-
-/**
- *  @brief  Load the DMP with this image.
- *  @return 0 if successful.
- */
-int dmp_load_motion_driver_firmware(void)
-{
-    return mpu_load_firmware(DMP_CODE_SIZE, dmp_memory, sStartAddress,
-        DMP_SAMPLE_RATE);
-}
-
-/**
- *  @brief      Push gyro and accel orientation to the DMP.
- *  The orientation is represented here as the output of
- *  @e inv_orientation_matrix_to_scalar.
- *  @param[in]  orient  Gyro and accel orientation in body frame.
- *  @return     0 if successful.
- */
-int dmp_set_orientation(unsigned short orient)
-{
-    unsigned char gyro_regs[3], accel_regs[3];
-    const unsigned char gyro_axes[3] = {DINA4C, DINACD, DINA6C};
-    const unsigned char accel_axes[3] = {DINA0C, DINAC9, DINA2C};
-    const unsigned char gyro_sign[3] = {DINA36, DINA56, DINA76};
-    const unsigned char accel_sign[3] = {DINA26, DINA46, DINA66};
-
-    gyro_regs[0] = gyro_axes[orient & 3];
-    gyro_regs[1] = gyro_axes[(orient >> 3) & 3];
-    gyro_regs[2] = gyro_axes[(orient >> 6) & 3];
-    accel_regs[0] = accel_axes[orient & 3];
-    accel_regs[1] = accel_axes[(orient >> 3) & 3];
-    accel_regs[2] = accel_axes[(orient >> 6) & 3];
-
-    /* Chip-to-body, axes only. */
-    if (mpu_write_mem(FCFG_1, 3, gyro_regs))
-        return -1;
-    if (mpu_write_mem(FCFG_2, 3, accel_regs))
-        return -1;
-
-    memcpy(gyro_regs, gyro_sign, 3);
-    memcpy(accel_regs, accel_sign, 3);
-    if (orient & 4) {
-        gyro_regs[0] |= 1;
-        accel_regs[0] |= 1;
-    }
-    if (orient & 0x20) {
-        gyro_regs[1] |= 1;
-        accel_regs[1] |= 1;
-    }
-    if (orient & 0x100) {
-        gyro_regs[2] |= 1;
-        accel_regs[2] |= 1;
-    }
-
-    /* Chip-to-body, sign only. */
-    if (mpu_write_mem(FCFG_3, 3, gyro_regs))
-        return -1;
-    if (mpu_write_mem(FCFG_7, 3, accel_regs))
-        return -1;
-    dmp.orient = orient;
-    return 0;
-}
-
-/**
- *  @brief      Push gyro biases to the DMP.
- *  Because the gyro integration is handled in the DMP, any gyro biases
- *  calculated by the MPL should be pushed down to DMP memory to remove
- *  3-axis quaternion drift.
- *  \n NOTE: If the DMP-based gyro calibration is enabled, the DMP will
- *  overwrite the biases written to this location once a new one is computed.
- *  @param[in]  bias    Gyro biases in q16.
- *  @return     0 if successful.
- */
-int dmp_set_gyro_bias(long *bias)
-{
-    long gyro_bias_body[3];
-    unsigned char regs[4];
-
-    gyro_bias_body[0] = bias[dmp.orient & 3];
-    if (dmp.orient & 4)
-        gyro_bias_body[0] *= -1;
-    gyro_bias_body[1] = bias[(dmp.orient >> 3) & 3];
-    if (dmp.orient & 0x20)
-        gyro_bias_body[1] *= -1;
-    gyro_bias_body[2] = bias[(dmp.orient >> 6) & 3];
-    if (dmp.orient & 0x100)
-        gyro_bias_body[2] *= -1;
-
-#ifdef EMPL_NO_64BIT
-    gyro_bias_body[0] = (long)(((float)gyro_bias_body[0] * GYRO_SF) / 1073741824.f);
-    gyro_bias_body[1] = (long)(((float)gyro_bias_body[1] * GYRO_SF) / 1073741824.f);
-    gyro_bias_body[2] = (long)(((float)gyro_bias_body[2] * GYRO_SF) / 1073741824.f);
-#else
-    gyro_bias_body[0] = (long)(((long long)gyro_bias_body[0] * GYRO_SF) >> 30);
-    gyro_bias_body[1] = (long)(((long long)gyro_bias_body[1] * GYRO_SF) >> 30);
-    gyro_bias_body[2] = (long)(((long long)gyro_bias_body[2] * GYRO_SF) >> 30);
-#endif
-
-    regs[0] = (unsigned char)((gyro_bias_body[0] >> 24) & 0xFF);
-    regs[1] = (unsigned char)((gyro_bias_body[0] >> 16) & 0xFF);
-    regs[2] = (unsigned char)((gyro_bias_body[0] >> 8) & 0xFF);
-    regs[3] = (unsigned char)(gyro_bias_body[0] & 0xFF);
-    if (mpu_write_mem(D_EXT_GYRO_BIAS_X, 4, regs))
-        return -1;
-
-    regs[0] = (unsigned char)((gyro_bias_body[1] >> 24) & 0xFF);
-    regs[1] = (unsigned char)((gyro_bias_body[1] >> 16) & 0xFF);
-    regs[2] = (unsigned char)((gyro_bias_body[1] >> 8) & 0xFF);
-    regs[3] = (unsigned char)(gyro_bias_body[1] & 0xFF);
-    if (mpu_write_mem(D_EXT_GYRO_BIAS_Y, 4, regs))
-        return -1;
-
-    regs[0] = (unsigned char)((gyro_bias_body[2] >> 24) & 0xFF);
-    regs[1] = (unsigned char)((gyro_bias_body[2] >> 16) & 0xFF);
-    regs[2] = (unsigned char)((gyro_bias_body[2] >> 8) & 0xFF);
-    regs[3] = (unsigned char)(gyro_bias_body[2] & 0xFF);
-    return mpu_write_mem(D_EXT_GYRO_BIAS_Z, 4, regs);
-}
-
-/**
- *  @brief      Push accel biases to the DMP.
- *  These biases will be removed from the DMP 6-axis quaternion.
- *  @param[in]  bias    Accel biases in q16.
- *  @return     0 if successful.
- */
-int dmp_set_accel_bias(long *bias)
-{
-    long accel_bias_body[3];
-    unsigned char regs[12];
-    long long accel_sf;
-    unsigned short accel_sens;
-
-    mpu_get_accel_sens(&accel_sens);
-    accel_sf = (long long)accel_sens << 15;
-//    __no_operation();
-    __NOP();
-
-    accel_bias_body[0] = bias[dmp.orient & 3];
-    if (dmp.orient & 4)
-        accel_bias_body[0] *= -1;
-    accel_bias_body[1] = bias[(dmp.orient >> 3) & 3];
-    if (dmp.orient & 0x20)
-        accel_bias_body[1] *= -1;
-    accel_bias_body[2] = bias[(dmp.orient >> 6) & 3];
-    if (dmp.orient & 0x100)
-        accel_bias_body[2] *= -1;
-
-#ifdef EMPL_NO_64BIT
-    accel_bias_body[0] = (long)(((float)accel_bias_body[0] * accel_sf) / 1073741824.f);
-    accel_bias_body[1] = (long)(((float)accel_bias_body[1] * accel_sf) / 1073741824.f);
-    accel_bias_body[2] = (long)(((float)accel_bias_body[2] * accel_sf) / 1073741824.f);
-#else
-    accel_bias_body[0] = (long)(((long long)accel_bias_body[0] * accel_sf) >> 30);
-    accel_bias_body[1] = (long)(((long long)accel_bias_body[1] * accel_sf) >> 30);
-    accel_bias_body[2] = (long)(((long long)accel_bias_body[2] * accel_sf) >> 30);
-#endif
-
-    regs[0] = (unsigned char)((accel_bias_body[0] >> 24) & 0xFF);
-    regs[1] = (unsigned char)((accel_bias_body[0] >> 16) & 0xFF);
-    regs[2] = (unsigned char)((accel_bias_body[0] >> 8) & 0xFF);
-    regs[3] = (unsigned char)(accel_bias_body[0] & 0xFF);
-    regs[4] = (unsigned char)((accel_bias_body[1] >> 24) & 0xFF);
-    regs[5] = (unsigned char)((accel_bias_body[1] >> 16) & 0xFF);
-    regs[6] = (unsigned char)((accel_bias_body[1] >> 8) & 0xFF);
-    regs[7] = (unsigned char)(accel_bias_body[1] & 0xFF);
-    regs[8] = (unsigned char)((accel_bias_body[2] >> 24) & 0xFF);
-    regs[9] = (unsigned char)((accel_bias_body[2] >> 16) & 0xFF);
-    regs[10] = (unsigned char)((accel_bias_body[2] >> 8) & 0xFF);
-    regs[11] = (unsigned char)(accel_bias_body[2] & 0xFF);
-    return mpu_write_mem(D_ACCEL_BIAS, 12, regs);
-}
-
-/**
- *  @brief      Set DMP output rate.
- *  Only used when DMP is on.
- *  @param[in]  rate    Desired fifo rate (Hz).
- *  @return     0 if successful.
- */
-int dmp_set_fifo_rate(unsigned short rate)
-{
-    const unsigned char regs_end[12] = {DINAFE, DINAF2, DINAAB,
-        0xc4, DINAAA, DINAF1, DINADF, DINADF, 0xBB, 0xAF, DINADF, DINADF};
-    unsigned short div;
-    unsigned char tmp[8];
-
-    if (rate > DMP_SAMPLE_RATE)
-        return -1;
-    div = DMP_SAMPLE_RATE / rate - 1;
-    tmp[0] = (unsigned char)((div >> 8) & 0xFF);
-    tmp[1] = (unsigned char)(div & 0xFF);
-    if (mpu_write_mem(D_0_22, 2, tmp))
-        return -1;
-    if (mpu_write_mem(CFG_6, 12, (unsigned char*)regs_end))
-        return -1;
-
-    dmp.fifo_rate = rate;
-    return 0;
-}
-
-/**
- *  @brief      Get DMP output rate.
- *  @param[out] rate    Current fifo rate (Hz).
- *  @return     0 if successful.
- */
-int dmp_get_fifo_rate(unsigned short *rate)
-{
-    rate[0] = dmp.fifo_rate;
-    return 0;
-}
-
-/**
- *  @brief      Set tap threshold for a specific axis.
- *  @param[in]  axis    1, 2, and 4 for XYZ accel, respectively.
- *  @param[in]  thresh  Tap threshold, in mg/ms.
- *  @return     0 if successful.
- */
-int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh)
-{
-    unsigned char tmp[4], accel_fsr;
-    float scaled_thresh;
-    unsigned short dmp_thresh, dmp_thresh_2;
-    if (!(axis & TAP_XYZ) || thresh > 1600)
-        return -1;
-
-    scaled_thresh = (float)thresh / DMP_SAMPLE_RATE;
-
-    mpu_get_accel_fsr(&accel_fsr);
-    switch (accel_fsr) {
-    case 2:
-        dmp_thresh = (unsigned short)(scaled_thresh * 16384);
-        /* dmp_thresh * 0.75 */
-        dmp_thresh_2 = (unsigned short)(scaled_thresh * 12288);
-        break;
-    case 4:
-        dmp_thresh = (unsigned short)(scaled_thresh * 8192);
-        /* dmp_thresh * 0.75 */
-        dmp_thresh_2 = (unsigned short)(scaled_thresh * 6144);
-        break;
-    case 8:
-        dmp_thresh = (unsigned short)(scaled_thresh * 4096);
-        /* dmp_thresh * 0.75 */
-        dmp_thresh_2 = (unsigned short)(scaled_thresh * 3072);
-        break;
-    case 16:
-        dmp_thresh = (unsigned short)(scaled_thresh * 2048);
-        /* dmp_thresh * 0.75 */
-        dmp_thresh_2 = (unsigned short)(scaled_thresh * 1536);
-        break;
-    default:
-        return -1;
-    }
-    tmp[0] = (unsigned char)(dmp_thresh >> 8);
-    tmp[1] = (unsigned char)(dmp_thresh & 0xFF);
-    tmp[2] = (unsigned char)(dmp_thresh_2 >> 8);
-    tmp[3] = (unsigned char)(dmp_thresh_2 & 0xFF);
-
-    if (axis & TAP_X) {
-        if (mpu_write_mem(DMP_TAP_THX, 2, tmp))
-            return -1;
-        if (mpu_write_mem(D_1_36, 2, tmp+2))
-            return -1;
-    }
-    if (axis & TAP_Y) {
-        if (mpu_write_mem(DMP_TAP_THY, 2, tmp))
-            return -1;
-        if (mpu_write_mem(D_1_40, 2, tmp+2))
-            return -1;
-    }
-    if (axis & TAP_Z) {
-        if (mpu_write_mem(DMP_TAP_THZ, 2, tmp))
-            return -1;
-        if (mpu_write_mem(D_1_44, 2, tmp+2))
-            return -1;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Set which axes will register a tap.
- *  @param[in]  axis    1, 2, and 4 for XYZ, respectively.
- *  @return     0 if successful.
- */
-int dmp_set_tap_axes(unsigned char axis)
-{
-    unsigned char tmp = 0;
-
-    if (axis & TAP_X)
-        tmp |= 0x30;
-    if (axis & TAP_Y)
-        tmp |= 0x0C;
-    if (axis & TAP_Z)
-        tmp |= 0x03;
-    return mpu_write_mem(D_1_72, 1, &tmp);
-}
-
-/**
- *  @brief      Set minimum number of taps needed for an interrupt.
- *  @param[in]  min_taps    Minimum consecutive taps (1-4).
- *  @return     0 if successful.
- */
-int dmp_set_tap_count(unsigned char min_taps)
-{
-    unsigned char tmp;
-
-    if (min_taps < 1)
-        min_taps = 1;
-    else if (min_taps > 4)
-        min_taps = 4;
-
-    tmp = min_taps - 1;
-    return mpu_write_mem(D_1_79, 1, &tmp);
-}
-
-/**
- *  @brief      Set length between valid taps.
- *  @param[in]  time    Milliseconds between taps.
- *  @return     0 if successful.
- */
-int dmp_set_tap_time(unsigned short time)
-{
-    unsigned short dmp_time;
-    unsigned char tmp[2];
-
-    dmp_time = time / (1000 / DMP_SAMPLE_RATE);
-    tmp[0] = (unsigned char)(dmp_time >> 8);
-    tmp[1] = (unsigned char)(dmp_time & 0xFF);
-    return mpu_write_mem(DMP_TAPW_MIN, 2, tmp);
-}
-
-/**
- *  @brief      Set max time between taps to register as a multi-tap.
- *  @param[in]  time    Max milliseconds between taps.
- *  @return     0 if successful.
- */
-int dmp_set_tap_time_multi(unsigned short time)
-{
-    unsigned short dmp_time;
-    unsigned char tmp[2];
-
-    dmp_time = time / (1000 / DMP_SAMPLE_RATE);
-    tmp[0] = (unsigned char)(dmp_time >> 8);
-    tmp[1] = (unsigned char)(dmp_time & 0xFF);
-    return mpu_write_mem(D_1_218, 2, tmp);
-}
-
-/**
- *  @brief      Set shake rejection threshold.
- *  If the DMP detects a gyro sample larger than @e thresh, taps are rejected.
- *  @param[in]  sf      Gyro scale factor.
- *  @param[in]  thresh  Gyro threshold in dps.
- *  @return     0 if successful.
- */
-int dmp_set_shake_reject_thresh(long sf, unsigned short thresh)
-{
-    unsigned char tmp[4];
-    long thresh_scaled = sf / 1000 * thresh;
-    tmp[0] = (unsigned char)(((long)thresh_scaled >> 24) & 0xFF);
-    tmp[1] = (unsigned char)(((long)thresh_scaled >> 16) & 0xFF);
-    tmp[2] = (unsigned char)(((long)thresh_scaled >> 8) & 0xFF);
-    tmp[3] = (unsigned char)((long)thresh_scaled & 0xFF);
-    return mpu_write_mem(D_1_92, 4, tmp);
-}
-
-/**
- *  @brief      Set shake rejection time.
- *  Sets the length of time that the gyro must be outside of the threshold set
- *  by @e gyro_set_shake_reject_thresh before taps are rejected. A mandatory
- *  60 ms is added to this parameter.
- *  @param[in]  time    Time in milliseconds.
- *  @return     0 if successful.
- */
-int dmp_set_shake_reject_time(unsigned short time)
-{
-    unsigned char tmp[2];
-
-    time /= (1000 / DMP_SAMPLE_RATE);
-    tmp[0] = time >> 8;
-    tmp[1] = time & 0xFF;
-    return mpu_write_mem(D_1_90,2,tmp);
-}
-
-/**
- *  @brief      Set shake rejection timeout.
- *  Sets the length of time after a shake rejection that the gyro must stay
- *  inside of the threshold before taps can be detected again. A mandatory
- *  60 ms is added to this parameter.
- *  @param[in]  time    Time in milliseconds.
- *  @return     0 if successful.
- */
-int dmp_set_shake_reject_timeout(unsigned short time)
-{
-    unsigned char tmp[2];
-
-    time /= (1000 / DMP_SAMPLE_RATE);
-    tmp[0] = time >> 8;
-    tmp[1] = time & 0xFF;
-    return mpu_write_mem(D_1_88,2,tmp);
-}
-
-/**
- *  @brief      Get current step count.
- *  @param[out] count   Number of steps detected.
- *  @return     0 if successful.
- */
-int dmp_get_pedometer_step_count(unsigned long *count)
-{
-    unsigned char tmp[4];
-    if (!count)
-        return -1;
-
-    if (mpu_read_mem(D_PEDSTD_STEPCTR, 4, tmp))
-        return -1;
-
-    count[0] = ((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) |
-        ((unsigned long)tmp[2] << 8) | tmp[3];
-    return 0;
-}
-
-/**
- *  @brief      Overwrite current step count.
- *  WARNING: This function writes to DMP memory and could potentially encounter
- *  a race condition if called while the pedometer is enabled.
- *  @param[in]  count   New step count.
- *  @return     0 if successful.
- */
-int dmp_set_pedometer_step_count(unsigned long count)
-{
-    unsigned char tmp[4];
-
-    tmp[0] = (unsigned char)((count >> 24) & 0xFF);
-    tmp[1] = (unsigned char)((count >> 16) & 0xFF);
-    tmp[2] = (unsigned char)((count >> 8) & 0xFF);
-    tmp[3] = (unsigned char)(count & 0xFF);
-    return mpu_write_mem(D_PEDSTD_STEPCTR, 4, tmp);
-}
-
-/**
- *  @brief      Get duration of walking time.
- *  @param[in]  time    Walk time in milliseconds.
- *  @return     0 if successful.
- */
-int dmp_get_pedometer_walk_time(unsigned long *time)
-{
-    unsigned char tmp[4];
-    if (!time)
-        return -1;
-
-    if (mpu_read_mem(D_PEDSTD_TIMECTR, 4, tmp))
-        return -1;
-
-    time[0] = (((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) |
-        ((unsigned long)tmp[2] << 8) | tmp[3]) * 20;
-    return 0;
-}
-
-/**
- *  @brief      Overwrite current walk time.
- *  WARNING: This function writes to DMP memory and could potentially encounter
- *  a race condition if called while the pedometer is enabled.
- *  @param[in]  time    New walk time in milliseconds.
- */
-int dmp_set_pedometer_walk_time(unsigned long time)
-{
-    unsigned char tmp[4];
-
-    time /= 20;
-
-    tmp[0] = (unsigned char)((time >> 24) & 0xFF);
-    tmp[1] = (unsigned char)((time >> 16) & 0xFF);
-    tmp[2] = (unsigned char)((time >> 8) & 0xFF);
-    tmp[3] = (unsigned char)(time & 0xFF);
-    return mpu_write_mem(D_PEDSTD_TIMECTR, 4, tmp);
-}
-
-/**
- *  @brief      Enable DMP features.
- *  The following \#define's are used in the input mask:
- *  \n DMP_FEATURE_TAP
- *  \n DMP_FEATURE_ANDROID_ORIENT
- *  \n DMP_FEATURE_LP_QUAT
- *  \n DMP_FEATURE_6X_LP_QUAT
- *  \n DMP_FEATURE_GYRO_CAL
- *  \n DMP_FEATURE_SEND_RAW_ACCEL
- *  \n DMP_FEATURE_SEND_RAW_GYRO
- *  \n NOTE: DMP_FEATURE_LP_QUAT and DMP_FEATURE_6X_LP_QUAT are mutually
- *  exclusive.
- *  \n NOTE: DMP_FEATURE_SEND_RAW_GYRO and DMP_FEATURE_SEND_CAL_GYRO are also
- *  mutually exclusive.
- *  @param[in]  mask    Mask of features to enable.
- *  @return     0 if successful.
- */
-int dmp_enable_feature(unsigned short mask)
-{
-    unsigned char tmp[10];
-
-    /* TODO: All of these settings can probably be integrated into the default
-     * DMP image.
-     */
-    /* Set integration scale factor. */
-    tmp[0] = (unsigned char)((GYRO_SF >> 24) & 0xFF);
-    tmp[1] = (unsigned char)((GYRO_SF >> 16) & 0xFF);
-    tmp[2] = (unsigned char)((GYRO_SF >> 8) & 0xFF);
-    tmp[3] = (unsigned char)(GYRO_SF & 0xFF);
-    mpu_write_mem(D_0_104, 4, tmp);
-
-    /* Send sensor data to the FIFO. */
-    tmp[0] = 0xA3;
-    if (mask & DMP_FEATURE_SEND_RAW_ACCEL) {
-        tmp[1] = 0xC0;
-        tmp[2] = 0xC8;
-        tmp[3] = 0xC2;
-    } else {
-        tmp[1] = 0xA3;
-        tmp[2] = 0xA3;
-        tmp[3] = 0xA3;
-    }
-    if (mask & DMP_FEATURE_SEND_ANY_GYRO) {
-        tmp[4] = 0xC4;
-        tmp[5] = 0xCC;
-        tmp[6] = 0xC6;
-    } else {
-        tmp[4] = 0xA3;
-        tmp[5] = 0xA3;
-        tmp[6] = 0xA3;
-    }
-    tmp[7] = 0xA3;
-    tmp[8] = 0xA3;
-    tmp[9] = 0xA3;
-    mpu_write_mem(CFG_15,10,tmp);
-
-    /* Send gesture data to the FIFO. */
-    if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT))
-        tmp[0] = DINA20;
-    else
-        tmp[0] = 0xD8;
-    mpu_write_mem(CFG_27,1,tmp);
-
-    if (mask & DMP_FEATURE_GYRO_CAL)
-        dmp_enable_gyro_cal(1);
-    else
-        dmp_enable_gyro_cal(0);
-
-    if (mask & DMP_FEATURE_SEND_ANY_GYRO) {
-        if (mask & DMP_FEATURE_SEND_CAL_GYRO) {
-            tmp[0] = 0xB2;
-            tmp[1] = 0x8B;
-            tmp[2] = 0xB6;
-            tmp[3] = 0x9B;
-        } else {
-            tmp[0] = DINAC0;
-            tmp[1] = DINA80;
-            tmp[2] = DINAC2;
-            tmp[3] = DINA90;
-        }
-        mpu_write_mem(CFG_GYRO_RAW_DATA, 4, tmp);
-    }
-
-    if (mask & DMP_FEATURE_TAP) {
-        /* Enable tap. */
-        tmp[0] = 0xF8;
-        mpu_write_mem(CFG_20, 1, tmp);
-        dmp_set_tap_thresh(TAP_XYZ, 250);
-        dmp_set_tap_axes(TAP_XYZ);
-        dmp_set_tap_count(1);
-        dmp_set_tap_time(100);
-        dmp_set_tap_time_multi(500);
-
-        dmp_set_shake_reject_thresh(GYRO_SF, 200);
-        dmp_set_shake_reject_time(40);
-        dmp_set_shake_reject_timeout(10);
-    } else {
-        tmp[0] = 0xD8;
-        mpu_write_mem(CFG_20, 1, tmp);
-    }
-
-    if (mask & DMP_FEATURE_ANDROID_ORIENT) {
-        tmp[0] = 0xD9;
-    } else
-        tmp[0] = 0xD8;
-    mpu_write_mem(CFG_ANDROID_ORIENT_INT, 1, tmp);
-
-    if (mask & DMP_FEATURE_LP_QUAT)
-        dmp_enable_lp_quat(1);
-    else
-        dmp_enable_lp_quat(0);
-
-    if (mask & DMP_FEATURE_6X_LP_QUAT)
-        dmp_enable_6x_lp_quat(1);
-    else
-        dmp_enable_6x_lp_quat(0);
-
-    /* Pedometer is always enabled. */
-    dmp.feature_mask = mask | DMP_FEATURE_PEDOMETER;
-    mpu_reset_fifo();
-
-    dmp.packet_length = 0;
-    if (mask & DMP_FEATURE_SEND_RAW_ACCEL)
-        dmp.packet_length += 6;
-    if (mask & DMP_FEATURE_SEND_ANY_GYRO)
-        dmp.packet_length += 6;
-    if (mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT))
-        dmp.packet_length += 16;
-    if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT))
-        dmp.packet_length += 4;
-
-    return 0;
-}
-
-/**
- *  @brief      Get list of currently enabled DMP features.
- *  @param[out] Mask of enabled features.
- *  @return     0 if successful.
- */
-int dmp_get_enabled_features(unsigned short *mask)
-{
-    mask[0] = dmp.feature_mask;
-    return 0;
-}
-
-/**
- *  @brief      Calibrate the gyro data in the DMP.
- *  After eight seconds of no motion, the DMP will compute gyro biases and
- *  subtract them from the quaternion output. If @e dmp_enable_feature is
- *  called with @e DMP_FEATURE_SEND_CAL_GYRO, the biases will also be
- *  subtracted from the gyro output.
- *  @param[in]  enable  1 to enable gyro calibration.
- *  @return     0 if successful.
- */
-int dmp_enable_gyro_cal(unsigned char enable)
-{
-    if (enable) {
-        unsigned char regs[9] = {0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35, 0x5d};
-        return mpu_write_mem(CFG_MOTION_BIAS, 9, regs);
-    } else {
-        unsigned char regs[9] = {0xb8, 0xaa, 0xaa, 0xaa, 0xb0, 0x88, 0xc3, 0xc5, 0xc7};
-        return mpu_write_mem(CFG_MOTION_BIAS, 9, regs);
-    }
-}
-
-/**
- *  @brief      Generate 3-axis quaternions from the DMP.
- *  In this driver, the 3-axis and 6-axis DMP quaternion features are mutually
- *  exclusive.
- *  @param[in]  enable  1 to enable 3-axis quaternion.
- *  @return     0 if successful.
- */
-int dmp_enable_lp_quat(unsigned char enable)
-{
-    unsigned char regs[4];
-    if (enable) {
-        regs[0] = DINBC0;
-        regs[1] = DINBC2;
-        regs[2] = DINBC4;
-        regs[3] = DINBC6;
-    }
-    else
-        memset(regs, 0x8B, 4);
-
-    mpu_write_mem(CFG_LP_QUAT, 4, regs);
-
-    return mpu_reset_fifo();
-}
-
-/**
- *  @brief       Generate 6-axis quaternions from the DMP.
- *  In this driver, the 3-axis and 6-axis DMP quaternion features are mutually
- *  exclusive.
- *  @param[in]   enable  1 to enable 6-axis quaternion.
- *  @return      0 if successful.
- */
-int dmp_enable_6x_lp_quat(unsigned char enable)
-{
-    unsigned char regs[4];
-    if (enable) {
-        regs[0] = DINA20;
-        regs[1] = DINA28;
-        regs[2] = DINA30;
-        regs[3] = DINA38;
-    } else
-        memset(regs, 0xA3, 4);
-
-    mpu_write_mem(CFG_8, 4, regs);
-
-    return mpu_reset_fifo();
-}
-
-/**
- *  @brief      Decode the four-byte gesture data and execute any callbacks.
- *  @param[in]  gesture Gesture data from DMP packet.
- *  @return     0 if successful.
- */
-static int decode_gesture(unsigned char *gesture)
-{
-    unsigned char tap, android_orient;
-
-    android_orient = gesture[3] & 0xC0;
-    tap = 0x3F & gesture[3];
-
-    if (gesture[1] & INT_SRC_TAP) {
-        unsigned char direction, count;
-        direction = tap >> 3;
-        count = (tap % 8) + 1;
-        if (dmp.tap_cb)
-            dmp.tap_cb(direction, count);
-    }
-
-    if (gesture[1] & INT_SRC_ANDROID_ORIENT) {
-        if (dmp.android_orient_cb)
-            dmp.android_orient_cb(android_orient >> 6);
-    }
-
-    return 0;
-}
-
-/**
- *  @brief      Specify when a DMP interrupt should occur.
- *  A DMP interrupt can be configured to trigger on either of the two
- *  conditions below:
- *  \n a. One FIFO period has elapsed (set by @e mpu_set_sample_rate).
- *  \n b. A tap event has been detected.
- *  @param[in]  mode    DMP_INT_GESTURE or DMP_INT_CONTINUOUS.
- *  @return     0 if successful.
- */
-int dmp_set_interrupt_mode(unsigned char mode)
-{
-    const unsigned char regs_continuous[11] =
-        {0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9};
-    const unsigned char regs_gesture[11] =
-        {0xda, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0xda, 0xb4, 0xda};
-
-    switch (mode) {
-    case DMP_INT_CONTINUOUS:
-        return mpu_write_mem(CFG_FIFO_ON_EVENT, 11,
-            (unsigned char*)regs_continuous);
-    case DMP_INT_GESTURE:
-        return mpu_write_mem(CFG_FIFO_ON_EVENT, 11,
-            (unsigned char*)regs_gesture);
-    default:
-        return -1;
-    }
-}
-
-/**
- *  @brief      Get one packet from the FIFO.
- *  If @e sensors does not contain a particular sensor, disregard the data
- *  returned to that pointer.
- *  \n @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  \n INV_WXYZ_QUAT
- *  \n If the FIFO has no new data, @e sensors will be zero.
- *  \n If the FIFO is disabled, @e sensors will be zero and this function will
- *  return a non-zero error code.
- *  @param[out] gyro        Gyro data in hardware units.
- *  @param[out] accel       Accel data in hardware units.
- *  @param[out] quat        3-axis quaternion data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds.
- *  @param[out] sensors     Mask of sensors read from FIFO.
- *  @param[out] more        Number of remaining packets.
- *  @return     0 if successful.
- */
-int dmp_read_fifo(short *gyro, short *accel, long *quat,
-    unsigned long *timestamp, short *sensors, unsigned char *more)
-{
-    unsigned char fifo_data[MAX_PACKET_LENGTH];
-    unsigned char ii = 0;
-
-    /* TODO: sensors[0] only changes when dmp_enable_feature is called. We can
-     * cache this value and save some cycles.
-     */
-    sensors[0] = 0;
-
-    /* Get a packet. */
-    if (mpu_read_fifo_stream(dmp.packet_length, fifo_data, more))
-        return -1;
-
-    /* Parse DMP packet. */
-    if (dmp.feature_mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT)) {
-#ifdef FIFO_CORRUPTION_CHECK
-        long quat_q14[4], quat_mag_sq;
-#endif
-        quat[0] = ((long)fifo_data[0] << 24) | ((long)fifo_data[1] << 16) |
-            ((long)fifo_data[2] << 8) | fifo_data[3];
-        quat[1] = ((long)fifo_data[4] << 24) | ((long)fifo_data[5] << 16) |
-            ((long)fifo_data[6] << 8) | fifo_data[7];
-        quat[2] = ((long)fifo_data[8] << 24) | ((long)fifo_data[9] << 16) |
-            ((long)fifo_data[10] << 8) | fifo_data[11];
-        quat[3] = ((long)fifo_data[12] << 24) | ((long)fifo_data[13] << 16) |
-            ((long)fifo_data[14] << 8) | fifo_data[15];
-        ii += 16;
-#ifdef FIFO_CORRUPTION_CHECK
-        /* We can detect a corrupted FIFO by monitoring the quaternion data and
-         * ensuring that the magnitude is always normalized to one. This
-         * shouldn't happen in normal operation, but if an I2C error occurs,
-         * the FIFO reads might become misaligned.
-         *
-         * Let's start by scaling down the quaternion data to avoid long long
-         * math.
-         */
-        quat_q14[0] = quat[0] >> 16;
-        quat_q14[1] = quat[1] >> 16;
-        quat_q14[2] = quat[2] >> 16;
-        quat_q14[3] = quat[3] >> 16;
-        quat_mag_sq = quat_q14[0] * quat_q14[0] + quat_q14[1] * quat_q14[1] +
-            quat_q14[2] * quat_q14[2] + quat_q14[3] * quat_q14[3];
-        if ((quat_mag_sq < QUAT_MAG_SQ_MIN) ||
-            (quat_mag_sq > QUAT_MAG_SQ_MAX)) {
-            /* Quaternion is outside of the acceptable threshold. */
-            mpu_reset_fifo();
-            sensors[0] = 0;
-            return -1;
-        }
-        sensors[0] |= INV_WXYZ_QUAT;
-#endif
-    }
-
-    if (dmp.feature_mask & DMP_FEATURE_SEND_RAW_ACCEL) {
-        accel[0] = ((short)fifo_data[ii+0] << 8) | fifo_data[ii+1];
-        accel[1] = ((short)fifo_data[ii+2] << 8) | fifo_data[ii+3];
-        accel[2] = ((short)fifo_data[ii+4] << 8) | fifo_data[ii+5];
-        ii += 6;
-        sensors[0] |= INV_XYZ_ACCEL;
-    }
-
-    if (dmp.feature_mask & DMP_FEATURE_SEND_ANY_GYRO) {
-        gyro[0] = ((short)fifo_data[ii+0] << 8) | fifo_data[ii+1];
-        gyro[1] = ((short)fifo_data[ii+2] << 8) | fifo_data[ii+3];
-        gyro[2] = ((short)fifo_data[ii+4] << 8) | fifo_data[ii+5];
-        ii += 6;
-        sensors[0] |= INV_XYZ_GYRO;
-    }
-
-    /* Gesture data is at the end of the DMP packet. Parse it and call
-     * the gesture callbacks (if registered).
-     */
-    if (dmp.feature_mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT))
-        decode_gesture(fifo_data + ii);
-
-    get_ms(timestamp);
-    return 0;
-}
-
-/**
- *  @brief      Register a function to be executed on a tap event.
- *  The tap direction is represented by one of the following:
- *  \n TAP_X_UP
- *  \n TAP_X_DOWN
- *  \n TAP_Y_UP
- *  \n TAP_Y_DOWN
- *  \n TAP_Z_UP
- *  \n TAP_Z_DOWN
- *  @param[in]  func    Callback function.
- *  @return     0 if successful.
- */
-int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char))
-{
-    dmp.tap_cb = func;
-    return 0;
-}
-
-/**
- *  @brief      Register a function to be executed on a android orientation event.
- *  @param[in]  func    Callback function.
- *  @return     0 if successful.
- */
-int dmp_register_android_orient_cb(void (*func)(unsigned char))
-{
-    dmp.android_orient_cb = func;
-    return 0;
-}
-
-/**
- *  @}
- */
-

Core备份3/imu3/inv_mpu_dmp_motion_driver3.h

@@ -1,97 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
-    See included License.txt for License information.
- $
- */
-/**
- *  @addtogroup  DRIVERS Sensor Driver Layer
- *  @brief       Hardware drivers to communicate with sensors via I2C.
- *
- *  @{
- *      @file       inv_mpu_dmp_motion_driver.h
- *      @brief      DMP image and interface functions.
- *      @details    All functions are preceded by the dmp_ prefix to
- *                  differentiate among MPL and general driver function calls.
- */
-#ifndef _INV_MPU_DMP_MOTION_DRIVER_H_
-#define _INV_MPU_DMP_MOTION_DRIVER_H_
-
-#define TAP_X               (0x01)
-#define TAP_Y               (0x02)
-#define TAP_Z               (0x04)
-#define TAP_XYZ             (0x07)
-
-#define TAP_X_UP            (0x01)
-#define TAP_X_DOWN          (0x02)
-#define TAP_Y_UP            (0x03)
-#define TAP_Y_DOWN          (0x04)
-#define TAP_Z_UP            (0x05)
-#define TAP_Z_DOWN          (0x06)
-
-#define ANDROID_ORIENT_PORTRAIT             (0x00)
-#define ANDROID_ORIENT_LANDSCAPE            (0x01)
-#define ANDROID_ORIENT_REVERSE_PORTRAIT     (0x02)
-#define ANDROID_ORIENT_REVERSE_LANDSCAPE    (0x03)
-
-#define DMP_INT_GESTURE     (0x01)
-#define DMP_INT_CONTINUOUS  (0x02)
-
-#define DMP_FEATURE_TAP             (0x001)
-#define DMP_FEATURE_ANDROID_ORIENT  (0x002)
-#define DMP_FEATURE_LP_QUAT         (0x004)
-#define DMP_FEATURE_PEDOMETER       (0x008)
-#define DMP_FEATURE_6X_LP_QUAT      (0x010)
-#define DMP_FEATURE_GYRO_CAL        (0x020)
-#define DMP_FEATURE_SEND_RAW_ACCEL  (0x040)
-#define DMP_FEATURE_SEND_RAW_GYRO   (0x080)
-#define DMP_FEATURE_SEND_CAL_GYRO   (0x100)
-
-#define INV_WXYZ_QUAT       (0x100)
-
-/* Set up functions. */
-int dmp_load_motion_driver_firmware(void);
-int dmp_set_fifo_rate(unsigned short rate);
-int dmp_get_fifo_rate(unsigned short *rate);
-int dmp_enable_feature(unsigned short mask);
-int dmp_get_enabled_features(unsigned short *mask);
-int dmp_set_interrupt_mode(unsigned char mode);
-int dmp_set_orientation(unsigned short orient);
-int dmp_set_gyro_bias(long *bias);
-int dmp_set_accel_bias(long *bias);
-
-/* Tap functions. */
-int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char));
-int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh);
-int dmp_set_tap_axes(unsigned char axis);
-int dmp_set_tap_count(unsigned char min_taps);
-int dmp_set_tap_time(unsigned short time);
-int dmp_set_tap_time_multi(unsigned short time);
-int dmp_set_shake_reject_thresh(long sf, unsigned short thresh);
-int dmp_set_shake_reject_time(unsigned short time);
-int dmp_set_shake_reject_timeout(unsigned short time);
-
-/* Android orientation functions. */
-int dmp_register_android_orient_cb(void (*func)(unsigned char));
-
-/* LP quaternion functions. */
-int dmp_enable_lp_quat(unsigned char enable);
-int dmp_enable_6x_lp_quat(unsigned char enable);
-
-/* Pedometer functions. */
-int dmp_get_pedometer_step_count(unsigned long *count);
-int dmp_set_pedometer_step_count(unsigned long count);
-int dmp_get_pedometer_walk_time(unsigned long *time);
-int dmp_set_pedometer_walk_time(unsigned long time);
-
-/* DMP gyro calibration functions. */
-int dmp_enable_gyro_cal(unsigned char enable);
-
-/* Read function. This function should be called whenever the MPU interrupt is
- * detected.
- */
-int dmp_read_fifo(short *gyro, short *accel, long *quat,
-    unsigned long *timestamp, short *sensors, unsigned char *more);
-
-#endif  /* #ifndef _INV_MPU_DMP_MOTION_DRIVER_H_ */
-

Core备份3/imu4/MPU60504.c

@@ -1,542 +0,0 @@
-/*
- * MPU6050.c
- *
- *  Created on: Oct 26, 2021
- *      Author: Administrator
- */
-
-#include "MPU60504.h"
-
-#include <stdio.h>
-
- u8 IIC_Write_Byte(u8 reg, u8 value)
- {
-	 return IIC_Write_Len(MPU_ADDR, reg, 1, &value);
- }
-
- u8 IIC_Read_Byte(u8 reg)
- {
-	 u8 value = 0;
-
-	 IIC_Read_Len(MPU_ADDR, reg, 1, &value);
-
-	 return value;
- }
-
- //IIC连续写
- u8 IIC_Write_Len(u8 addr,u8 reg, u8 len, u8 *buf)
- {
-	 addr = (addr << 1) | 0;
-
-	 u8 data[10] = {0};
-	 data[0] = reg;
-	 for(int i = 0; i < len; i++)
-	 {
-		 data[1 + i] = buf[i];
-	 }
-
-	 if(HAL_I2C_Master_Transmit(&hi2c1, (uint16_t)addr, (uint8_t*)data, len + 1, 10000)!= HAL_OK)
-	 {
-		 printf("++write len byte fail\r\n");
-		 return 1;
-	 }
-
-	 return 0;
- }
-
- //IIC连续读
- u8 IIC_Read_Len(u8 addr,u8 reg,u8 len,u8 *buf)
- {
-	 u8 tmp  = (addr << 1) | 0;
-	 if(HAL_I2C_Master_Transmit(&hi2c1, (uint16_t)tmp, (uint8_t*)&reg, 1, 10000)!= HAL_OK)
-	 {
-		 printf("++write byte fail\r\n");
-		 return 1;
-	 }
-
-	 tmp  = (addr << 1) | 1;
-	 if(HAL_I2C_Master_Receive(&hi2c1, (uint16_t)tmp, (uint8_t *)buf, len, 10000) != HAL_OK)
-	 {
-		 printf("--read byte fail\r\n");
-	 }
-
- }
-
-
-//初始化MPU6050
-//返回值: 0,成功
-//        其他,错误代码
-u8 MPU_Init(void)
-{
-    u8 res = 0;
-
-    IIC_Write_Byte(MPU_PWR_MGMT1_REG,0X80);//复位MPU6050
-
-    HAL_Delay(100);
-
-    IIC_Write_Byte(MPU_PWR_MGMT1_REG,0X00);//唤醒MPU6050
-
-    MPU_Set_Gyro_Fsr(3); //陀螺仪传感器,±2000dps
-    MPU_Set_Accel_Fsr(0); //加速度传感器 ±2g
-    MPU_Set_Rate(50); //设置采样率50HZ
-    IIC_Write_Byte(MPU_INT_EN_REG,0X00); //关闭所有中断
-    IIC_Write_Byte(MPU_USER_CTRL_REG,0X00);//I2C主模式关闭
-    IIC_Write_Byte(MPU_FIFO_EN_REG,0X00);//关闭FIFO
-    IIC_Write_Byte(MPU_INTBP_CFG_REG,0X80);//INT引脚低电平有效
-
-    res=IIC_Read_Byte(MPU_DEVICE_ID_REG);
-
-    printf("the addr is:%d\r\n", res);
-
-    if(res==MPU_ADDR)//器件ID正确
-    {
-        IIC_Write_Byte(MPU_PWR_MGMT1_REG,0X01);//设置CLKSEL,PLL X 轴为参考
-        IIC_Write_Byte(MPU_PWR_MGMT2_REG,0X00);//加速度陀螺仪都工作
-        MPU_Set_Rate(50); //设置采样率为50HZ
-    }
-    else
-    {
-    	return 1;
-    }
-
-    return 0;
-}
-
-//设置MPU6050陀螺仪传感器满量程范围
-//fsr:0,±250dps;1,±500dps;2,±1000dps;3,±2000dps
-//返回值:0,设置成功
-//    其他,设置失败
-u8 MPU_Set_Gyro_Fsr(u8 fsr)
-{
-    return IIC_Write_Byte(MPU_GYRO_CFG_REG, fsr<<3);//设置陀螺仪满量程范围
-}
-
-//设置MPU6050加速度传感器满量程范围
-//fsr:0,±2g;1,±4g;2,±8g;3,±16g
-//返回值:0,设置成功
-//    其他,设置失败
-u8 MPU_Set_Accel_Fsr(u8 fsr)
-{
-    return IIC_Write_Byte(MPU_ACCEL_CFG_REG, fsr<<3);//设置加速度传感器满量程范围
-}
-
-//设置MPU6050的数字低通滤波器
-//lpf:数字低通滤波频率(Hz)
-//返回值:0,设置成功
-//    其他,设置失败
-u8 MPU_Set_LPF(u16 lpf)
-{
-    u8 data=0;
-    if(lpf>=188) data=1;
-    else if(lpf>=98) data=2;
-    else if(lpf>=42) data=2;
-    else if(lpf>=42) data=3;
-    else if(lpf>=20) data=4;
-    else if(lpf>=10) data=5;
-    else data=6;
-    return IIC_Write_Byte(MPU_CFG_REG,data);//设置数字低通滤波器
-}
-
-//设置MPU6050的采样率(假定Fs=1KHz)
-//rate:4~1000(Hz)
-//返回值:0,设置成功
-//    其他,设置失败
-u8 MPU_Set_Rate(u16 rate)
-{
-    u8 data;
-    if(rate>1000)rate=1000;
-    if(rate<4)rate=4;
-    data=1000/rate-1;
-    data=IIC_Write_Byte(MPU_SAMPLE_RATE_REG, data);  //设置数字低通滤波器
-    return MPU_Set_LPF(rate/2); //自动设置LPF为采样率的一半
-}
-
-//得到温度值
-//返回值:温度值(扩大了100倍)
-short MPU_Get_Temperature(void)
-{
-    u8 buf[2];
-    short raw;
-    float temp;
-    IIC_Read_Len(MPU_ADDR, MPU_TEMP_OUTH_REG, 2, buf);
-    raw=((u16)buf[0]<<8)|buf[1];
-    temp=36.53+((double)raw)/340;
-
-    return temp*100;;
-}
-
-//得到陀螺仪值(原始值)
-//gx,gy,gz:陀螺仪x,y,z轴的原始读数(带符号)
-//返回值:0,成功
-// 其他,错误代码
-u8 MPU_Get_Gyroscope(short *gx,short *gy,short *gz)
-{
-    u8 buf[6],res;
-    res=IIC_Read_Len(MPU_ADDR,MPU_GYRO_XOUTH_REG,6,buf);
-    if(res==0)
-    {
-        *gx=((u16)buf[0]<<8)|buf[1];
-        *gy=((u16)buf[2]<<8)|buf[3];
-        *gz=((u16)buf[4]<<8)|buf[5];
-    }
-    return res;
-}
-
-//得到加速度值(原始值)
-//ax,ay,az:陀螺仪x,y,z轴的原始读数(带符号)
-//返回值:0,成功
-//    其他,错误代码
-u8 MPU_Get_Accelerometer(short *ax,short *ay,short *az)
-{
-    u8 buf[6],res;
-    res=IIC_Read_Len(MPU_ADDR,MPU_ACCEL_XOUTH_REG,6,buf);
-    if(res==0)
-    {
-        *ax=((u16)buf[0]<<8)|buf[1];
-        *ay=((u16)buf[2]<<8)|buf[3];
-        *az=((u16)buf[4]<<8)|buf[5];
-    }
-    return res;;
-}
-
-/*--------------------以下为使用板载固件DMP的相关代码，这个融合得到的姿态角效果很好*/
-
-
-/**
-  * @brief  获取当前毫秒值
-  * @param  存储最新毫秒值的变量
-  * @retval 无
-  */
-int get_tick_count(unsigned long *count)
-{
-   count[0] = HAL_GetTick();
-	return 0;
-}
-
-
-#include "inv_mpu4.h"
-#include "inv_mpu_dmp_motion_driver4.h"
-
-/* Data requested by client. */
-#define PRINT_ACCEL     (0x01)
-#define PRINT_GYRO      (0x02)
-#define PRINT_QUAT      (0x04)
-
-#define ACCEL_ON        (0x01)
-#define GYRO_ON         (0x02)
-
-#define MOTION          (0)
-#define NO_MOTION       (1)
-
-/* Starting sampling rate. */ //100
-#define DEFAULT_MPU_HZ  (50)
-
-struct rx_s {
-    unsigned char header[3];
-    unsigned char cmd;
-};
-struct hal_s {
-    unsigned char sensors;
-    unsigned char dmp_on;
-    unsigned char wait_for_tap;
-    volatile unsigned char new_gyro;
-    unsigned short report;
-    unsigned short dmp_features;
-    unsigned char motion_int_mode;
-    struct rx_s rx;
-};
-static struct hal_s hal = {0};
-
-/* USB RX binary semaphore. Actually, it's just a flag. Not included in struct
- * because it's declared extern elsewhere.
- */
-volatile unsigned char rx_new;
-
-/* The sensors can be mounted onto the board in any orientation. The mounting
- * matrix seen below tells the MPL how to rotate the raw data from thei
- * driver(s).
- * TODO: The following matrices refer to the configuration on an internal test
- * board at Invensense. If needed, please modify the matrices to match the
- * chip-to-body matrix for your particular set up.
- */
-static signed char gyro_orientation[9] = {-1, 0, 0,
-                                           0,-1, 0,
-                                           0, 0, 1};
-
-/* Every time new gyro data is available, this function is called in an
- * ISR context. In this example, it sets a flag protecting the FIFO read
- * function.
- */
-static void gyro_data_ready_cb(void)
-{
-    hal.new_gyro = 1;
-}
-
-enum packet_type_e {
-    PACKET_TYPE_ACCEL,
-    PACKET_TYPE_GYRO,
-    PACKET_TYPE_QUAT,
-    PACKET_TYPE_TAP,
-    PACKET_TYPE_ANDROID_ORIENT,
-    PACKET_TYPE_PEDO,
-    PACKET_TYPE_MISC
-};
-
-#define BYTE u_char
-/* Send data to the Python client application.
- * Data is formatted as follows:
- * packet[0]    = $
- * packet[1]    = packet type (see packet_type_e)
- * packet[2+]   = data
- */
-void send_packet(char packet_type, void *data)
-{
-
-	#define MAX_BUF_LENGTH  (18)
-    char buf[MAX_BUF_LENGTH], length;
-
-    memset(buf, 0, MAX_BUF_LENGTH);
-    buf[0] = '$';
-    buf[1] = packet_type;
-
-    if (packet_type == PACKET_TYPE_ACCEL || packet_type == PACKET_TYPE_GYRO) {
-        short *sdata = (short*)data;
-        buf[2] = (char)(sdata[0] >> 8);
-        buf[3] = (char)sdata[0];
-        buf[4] = (char)(sdata[1] >> 8);
-        buf[5] = (char)sdata[1];
-        buf[6] = (char)(sdata[2] >> 8);
-        buf[7] = (char)sdata[2];
-        length = 8;
-    } else if (packet_type == PACKET_TYPE_QUAT) {
-        long *ldata = (long*)data;
-        buf[2] = (char)(ldata[0] >> 24);
-        buf[3] = (char)(ldata[0] >> 16);
-        buf[4] = (char)(ldata[0] >> 8);
-        buf[5] = (char)ldata[0];
-        buf[6] = (char)(ldata[1] >> 24);
-        buf[7] = (char)(ldata[1] >> 16);
-        buf[8] = (char)(ldata[1] >> 8);
-        buf[9] = (char)ldata[1];
-        buf[10] = (char)(ldata[2] >> 24);
-        buf[11] = (char)(ldata[2] >> 16);
-        buf[12] = (char)(ldata[2] >> 8);
-        buf[13] = (char)ldata[2];
-        buf[14] = (char)(ldata[3] >> 24);
-        buf[15] = (char)(ldata[3] >> 16);
-        buf[16] = (char)(ldata[3] >> 8);
-        buf[17] = (char)ldata[3];
-        length = 18;
-    } else if (packet_type == PACKET_TYPE_TAP) {
-        buf[2] = ((char*)data)[0];
-        buf[3] = ((char*)data)[1];
-        length = 4;
-    } else if (packet_type == PACKET_TYPE_ANDROID_ORIENT) {
-        buf[2] = ((char*)data)[0];
-        length = 3;
-    } else if (packet_type == PACKET_TYPE_PEDO) {
-        long *ldata = (long*)data;
-        buf[2] = (char)(ldata[0] >> 24);
-        buf[3] = (char)(ldata[0] >> 16);
-        buf[4] = (char)(ldata[0] >> 8);
-        buf[5] = (char)ldata[0];
-        buf[6] = (char)(ldata[1] >> 24);
-        buf[7] = (char)(ldata[1] >> 16);
-        buf[8] = (char)(ldata[1] >> 8);
-        buf[9] = (char)ldata[1];
-        length = 10;
-    } else if (packet_type == PACKET_TYPE_MISC) {
-        buf[2] = ((char*)data)[0];
-        buf[3] = ((char*)data)[1];
-        buf[4] = ((char*)data)[2];
-        buf[5] = ((char*)data)[3];
-        length = 6;
-    }
-
-//    cdcSendDataWaitTilDone((BYTE*)buf, length, CDC0_INTFNUM, 100);
-}
-
-/* These next two functions converts the orientation matrix (see
- * gyro_orientation) to a scalar representation for use by the DMP.
- * NOTE: These functions are borrowed from Invensense's MPL.
- */
-static inline unsigned short inv_row_2_scale(const signed char *row)
-{
-    unsigned short b;
-
-    if (row[0] > 0)
-        b = 0;
-    else if (row[0] < 0)
-        b = 4;
-    else if (row[1] > 0)
-        b = 1;
-    else if (row[1] < 0)
-        b = 5;
-    else if (row[2] > 0)
-        b = 2;
-    else if (row[2] < 0)
-        b = 6;
-    else
-        b = 7;      // error
-    return b;
-}
-static inline unsigned short inv_orientation_matrix_to_scalar(
-    const signed char *mtx)
-{
-    unsigned short scalar;
-
-    /*
-       XYZ  010_001_000 Identity Matrix
-       XZY  001_010_000
-       YXZ  010_000_001
-       YZX  000_010_001
-       ZXY  001_000_010
-       ZYX  000_001_010
-     */
-
-    scalar = inv_row_2_scale(mtx);
-    scalar |= inv_row_2_scale(mtx + 3) << 3;
-    scalar |= inv_row_2_scale(mtx + 6) << 6;
-
-
-    return scalar;
-}
-
-static inline void run_self_test(void)
-{
-    int result;
-    char test_packet[4] = {0};
-    long gyro[3], accel[3];
-
-    result = mpu_run_self_test(gyro, accel);
-    if (result == 0x7) {
-        /* Test passed. We can trust the gyro data here, so let's push it down
-         * to the DMP.
-         */
-        float sens;
-        unsigned short accel_sens;
-        mpu_get_gyro_sens(&sens);
-        gyro[0] = (long)(gyro[0] * sens);
-        gyro[1] = (long)(gyro[1] * sens);
-        gyro[2] = (long)(gyro[2] * sens);
-        dmp_set_gyro_bias(gyro);
-        mpu_get_accel_sens(&accel_sens);
-        accel[0] *= accel_sens;
-        accel[1] *= accel_sens;
-        accel[2] *= accel_sens;
-        dmp_set_accel_bias(accel);
-    }
-
-    /* Report results. */
-    test_packet[0] = 't';
-    test_packet[1] = result;
-    send_packet(PACKET_TYPE_MISC, test_packet);
-}
-
-
-#define INT_EXIT_LPM0 12
-
-void DMP_Init(void)
-{
-    struct int_param_s int_param;
-
-	/* Set up gyro.
-	 * Every function preceded by mpu_ is a driver function and can be found
-	 * in inv_mpu.h.
-	 */
-	int_param.cb = gyro_data_ready_cb;
-	int_param.pin = 16;
-	int_param.lp_exit = INT_EXIT_LPM0;
-	int_param.active_low = 1;
-
-	int result = mpu_init(&int_param);
-
-	printf("mpu_init, %d\r\n", result);
-
-	if(result == 0)     //mpu初始化
-	{
-		if(!mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL))    //设置需要的传感器
-			printf("mpu_set_sensor complete ......\r\n");
-
-		if(!mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL)) //设置fifo
-			printf("mpu_configure_fifo complete ......\r\n");
-
-		if(!mpu_set_sample_rate(DEFAULT_MPU_HZ))              //设置采集样率
-			printf("mpu_set_sample_rate complete ......\r\n");
-
-
-		unsigned short gyro_rate = 0, gyro_fsr = 0;
-		unsigned char accel_fsr = 0;
-
-	    mpu_get_sample_rate(&gyro_rate);
-	    mpu_get_gyro_fsr(&gyro_fsr);
-	    mpu_get_accel_fsr(&accel_fsr);
-
-	    printf("gyro_rate %d, gyro_fsr %d, accel_fsr %d\r\n", gyro_rate, gyro_fsr, accel_fsr);
-
-
-
-		if(!dmp_load_motion_driver_firmware())                //加载dmp固件
-			printf("dmp_load_motion_driver_firmware complete ......\r\n");
-
-		if(!dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation)))
-			printf("dmp_set_orientation complete ......\r\n"); //设置陀螺仪方向
-
-		if(!dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP |
-				DMP_FEATURE_ANDROID_ORIENT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO |
-				DMP_FEATURE_GYRO_CAL))
-			printf("dmp_enable_feature complete ......\r\n");
-
-		if(!dmp_set_fifo_rate(DEFAULT_MPU_HZ))    //设置速率
-			printf("dmp_set_fifo_rate complete ......\r\n");
-
-		run_self_test();                          //自检(非必要)
-
-		if(!mpu_set_dmp_state(1))                 //使能
-			printf("mpu_set_dmp_state complete ......\r\n");
-	}
-
-}
-
-#define q30 1073741824.0
-
-uint8_t Read_DMP(float* Pitch,float* Roll,float* Yaw)
-{
-	short gyro[3], accel[3], sensors;
-	float q0=1.0f,q1=0.0f,q2=0.0f,q3=0.0f;
-	unsigned long sensor_timestamp;
-	unsigned char more;
-	long quat[4];
-
-	int ret = dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors, &more);
-
-//	printf("dmp_read_fifo, %d\r\n", ret);
-
-	if(ret)
-	{
-		return 1;
-	}
-
-	if (sensors & INV_WXYZ_QUAT)
-	{
-		q0=quat[0] / q30;
-		q1=quat[1] / q30;
-		q2=quat[2] / q30;
-		q3=quat[3] / q30;
-		*Pitch = (float)asin(-2 * q1 * q3 + 2 * q0* q2)* 57.3;
-		*Roll =  (float)atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2* q2 + 1)* 57.3; // roll
-		*Yaw =   (float)atan2(2*(q1*q2 + q0*q3),q0*q0+q1*q1-q2*q2-q3*q3) * 57.3;
-		return 0;
-	}
-	else
-	{
-		return 2;
-	}
-
-}
-
-
-
-
-
-

Core备份3/imu4/MPU60504.h

@@ -1,117 +0,0 @@
-/*
- * MPU6050.h
- *
- *  Created on: Oct 26, 2021
- *      Author: Administrator
- */
-
-#ifndef INC_MPU6050_H_
-#define INC_MPU6050_H_
-
-#include "i2c.h"
-#include "inv_mpu4.h"
-
-//#define MPU_ACCEL_OFFS_REG		0X06	//accel_offs寄存器,可读取版本号,寄存器手册未提到
-//#define MPU_PROD_ID_REG			0X0C	//prod id寄存器,在寄存器手册未提到
-#define MPU_SELF_TESTX_REG		0X0D	//自检寄存器X
-#define MPU_SELF_TESTY_REG		0X0E	//自检寄存器Y
-#define MPU_SELF_TESTZ_REG		0X0F	//自检寄存器Z
-#define MPU_SELF_TESTA_REG		0X10	//自检寄存器A
-#define MPU_SAMPLE_RATE_REG		0X19	//采样频率分频器
-#define MPU_CFG_REG				0X1A	//配置寄存器
-#define MPU_GYRO_CFG_REG		0X1B	//陀螺仪配置寄存器
-#define MPU_ACCEL_CFG_REG		0X1C	//加速度计配置寄存器
-#define MPU_MOTION_DET_REG		0X1F	//运动检测阀值设置寄存器
-#define MPU_FIFO_EN_REG			0X23	//FIFO使能寄存器
-#define MPU_I2CMST_CTRL_REG		0X24	//IIC主机控制寄存器
-#define MPU_I2CSLV0_ADDR_REG	0X25	//IIC从机0器件地址寄存器
-#define MPU_I2CSLV0_REG			0X26	//IIC从机0数据地址寄存器
-#define MPU_I2CSLV0_CTRL_REG	0X27	//IIC从机0控制寄存器
-#define MPU_I2CSLV1_ADDR_REG	0X28	//IIC从机1器件地址寄存器
-#define MPU_I2CSLV1_REG			0X29	//IIC从机1数据地址寄存器
-#define MPU_I2CSLV1_CTRL_REG	0X2A	//IIC从机1控制寄存器
-#define MPU_I2CSLV2_ADDR_REG	0X2B	//IIC从机2器件地址寄存器
-#define MPU_I2CSLV2_REG			0X2C	//IIC从机2数据地址寄存器
-#define MPU_I2CSLV2_CTRL_REG	0X2D	//IIC从机2控制寄存器
-#define MPU_I2CSLV3_ADDR_REG	0X2E	//IIC从机3器件地址寄存器
-#define MPU_I2CSLV3_REG			0X2F	//IIC从机3数据地址寄存器
-#define MPU_I2CSLV3_CTRL_REG	0X30	//IIC从机3控制寄存器
-#define MPU_I2CSLV4_ADDR_REG	0X31	//IIC从机4器件地址寄存器
-#define MPU_I2CSLV4_REG			0X32	//IIC从机4数据地址寄存器
-#define MPU_I2CSLV4_DO_REG		0X33	//IIC从机4写数据寄存器
-#define MPU_I2CSLV4_CTRL_REG	0X34	//IIC从机4控制寄存器
-#define MPU_I2CSLV4_DI_REG		0X35	//IIC从机4读数据寄存器
-
-#define MPU_I2CMST_STA_REG		0X36	//IIC主机状态寄存器
-#define MPU_INTBP_CFG_REG		0X37	//中断/旁路设置寄存器
-#define MPU_INT_EN_REG			0X38	//中断使能寄存器
-#define MPU_INT_STA_REG			0X3A	//中断状态寄存器
-
-#define MPU_ACCEL_XOUTH_REG		0X3B	//加速度值,X轴高8位寄存器
-#define MPU_ACCEL_XOUTL_REG		0X3C	//加速度值,X轴低8位寄存器
-#define MPU_ACCEL_YOUTH_REG		0X3D	//加速度值,Y轴高8位寄存器
-#define MPU_ACCEL_YOUTL_REG		0X3E	//加速度值,Y轴低8位寄存器
-#define MPU_ACCEL_ZOUTH_REG		0X3F	//加速度值,Z轴高8位寄存器
-#define MPU_ACCEL_ZOUTL_REG		0X40	//加速度值,Z轴低8位寄存器
-
-#define MPU_TEMP_OUTH_REG		0X41	//温度值高八位寄存器
-#define MPU_TEMP_OUTL_REG		0X42	//温度值低8位寄存器
-
-#define MPU_GYRO_XOUTH_REG		0X43	//陀螺仪值,X轴高8位寄存器
-#define MPU_GYRO_XOUTL_REG		0X44	//陀螺仪值,X轴低8位寄存器
-#define MPU_GYRO_YOUTH_REG		0X45	//陀螺仪值,Y轴高8位寄存器
-#define MPU_GYRO_YOUTL_REG		0X46	//陀螺仪值,Y轴低8位寄存器
-#define MPU_GYRO_ZOUTH_REG		0X47	//陀螺仪值,Z轴高8位寄存器
-#define MPU_GYRO_ZOUTL_REG		0X48	//陀螺仪值,Z轴低8位寄存器
-
-#define MPU_I2CSLV0_DO_REG		0X63	//IIC从机0数据寄存器
-#define MPU_I2CSLV1_DO_REG		0X64	//IIC从机1数据寄存器
-#define MPU_I2CSLV2_DO_REG		0X65	//IIC从机2数据寄存器
-#define MPU_I2CSLV3_DO_REG		0X66	//IIC从机3数据寄存器
-
-#define MPU_I2CMST_DELAY_REG	0X67	//IIC主机延时管理寄存器
-#define MPU_SIGPATH_RST_REG		0X68	//信号通道复位寄存器
-#define MPU_MDETECT_CTRL_REG	0X69	//运动检测控制寄存器
-#define MPU_USER_CTRL_REG		0X6A	//用户控制寄存器
-#define MPU_PWR_MGMT1_REG		0X6B	//电源管理寄存器1
-#define MPU_PWR_MGMT2_REG		0X6C	//电源管理寄存器2
-#define MPU_FIFO_CNTH_REG		0X72	//FIFO计数寄存器高八位
-#define MPU_FIFO_CNTL_REG		0X73	//FIFO计数寄存器低八位
-#define MPU_FIFO_RW_REG			0X74	//FIFO读写寄存器
-#define MPU_DEVICE_ID_REG		0X75	//器件ID寄存器
-
-//如果AD0脚接地,IIC地址为0X68(不包含最低位).
-//如果接V3.3,则IIC地址为0X69(不包含最低位).
-#define MPU_ADDR				0X68
-
-
-//因为模块AD0默认接GND,所以转为读写地址后,为0XD1和0XD0(如果接VCC,则为0XD3和0XD2)
-#define MPU_READ    0XD1
-#define MPU_WRITE   0XD0
-
-#define u8 uint8_t
-#define u16 uint16_t
-
-u8 MPU_Init(void); 								//初始化MPU6050
-u8 IIC_Write_Len(u8 addr,u8 reg,u8 len,u8 *buf);//IIC连续写
-u8 IIC_Read_Len(u8 addr,u8 reg,u8 len,u8 *buf); //IIC连续读
-u8 IIC_Write_Byte(u8 reg,u8 data);				//IIC写一个字节
-u8 IIC_Read_Byte(u8 reg);						//IIC读一个字节
-
-u8 MPU_Set_Gyro_Fsr(u8 fsr);
-u8 MPU_Set_Accel_Fsr(u8 fsr);
-u8 MPU_Set_LPF(u16 lpf);
-u8 MPU_Set_Rate(u16 rate);
-u8 MPU_Set_Fifo(u8 sens);
-
-
-short MPU_Get_Temperature(void);
-u8 MPU_Get_Gyroscope(short *gx,short *gy,short *gz);
-u8 MPU_Get_Accelerometer(short *ax,short *ay,short *az);
-
-//----------------------DMP-------------------------------
-void DMP_Init(void);
-uint8_t Read_DMP(float* Pitch,float* Roll,float* Yaw);
-int get_tick_count(unsigned long *count);
-
-#endif /* INC_MPU6050_H_ */

Core备份3/imu4/dmpKey4.h

@@ -1,494 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-#ifndef DMPKEY_H__
-#define DMPKEY_H__
-
-#define KEY_CFG_25                  (0)
-#define KEY_CFG_24                  (KEY_CFG_25 + 1)
-#define KEY_CFG_26                  (KEY_CFG_24 + 1)
-#define KEY_CFG_27                  (KEY_CFG_26 + 1)
-#define KEY_CFG_21                  (KEY_CFG_27 + 1)
-#define KEY_CFG_20                  (KEY_CFG_21 + 1)
-#define KEY_CFG_TAP4                (KEY_CFG_20 + 1)
-#define KEY_CFG_TAP5                (KEY_CFG_TAP4 + 1)
-#define KEY_CFG_TAP6                (KEY_CFG_TAP5 + 1)
-#define KEY_CFG_TAP7                (KEY_CFG_TAP6 + 1)
-#define KEY_CFG_TAP0                (KEY_CFG_TAP7 + 1)
-#define KEY_CFG_TAP1                (KEY_CFG_TAP0 + 1)
-#define KEY_CFG_TAP2                (KEY_CFG_TAP1 + 1)
-#define KEY_CFG_TAP3                (KEY_CFG_TAP2 + 1)
-#define KEY_CFG_TAP_QUANTIZE        (KEY_CFG_TAP3 + 1)
-#define KEY_CFG_TAP_JERK            (KEY_CFG_TAP_QUANTIZE + 1)
-#define KEY_CFG_DR_INT              (KEY_CFG_TAP_JERK + 1)
-#define KEY_CFG_AUTH                (KEY_CFG_DR_INT + 1)
-#define KEY_CFG_TAP_SAVE_ACCB       (KEY_CFG_AUTH + 1)
-#define KEY_CFG_TAP_CLEAR_STICKY    (KEY_CFG_TAP_SAVE_ACCB + 1)
-#define KEY_CFG_FIFO_ON_EVENT       (KEY_CFG_TAP_CLEAR_STICKY + 1)
-#define KEY_FCFG_ACCEL_INPUT        (KEY_CFG_FIFO_ON_EVENT + 1)
-#define KEY_FCFG_ACCEL_INIT         (KEY_FCFG_ACCEL_INPUT + 1)
-#define KEY_CFG_23                  (KEY_FCFG_ACCEL_INIT + 1)
-#define KEY_FCFG_1                  (KEY_CFG_23 + 1)
-#define KEY_FCFG_3                  (KEY_FCFG_1 + 1)
-#define KEY_FCFG_2                  (KEY_FCFG_3 + 1)
-#define KEY_CFG_3D                  (KEY_FCFG_2 + 1)
-#define KEY_CFG_3B                  (KEY_CFG_3D + 1)
-#define KEY_CFG_3C                  (KEY_CFG_3B + 1)
-#define KEY_FCFG_5                  (KEY_CFG_3C + 1)
-#define KEY_FCFG_4                  (KEY_FCFG_5 + 1)
-#define KEY_FCFG_7                  (KEY_FCFG_4 + 1)
-#define KEY_FCFG_FSCALE             (KEY_FCFG_7 + 1)
-#define KEY_FCFG_AZ                 (KEY_FCFG_FSCALE + 1)
-#define KEY_FCFG_6                  (KEY_FCFG_AZ + 1)
-#define KEY_FCFG_LSB4               (KEY_FCFG_6 + 1)
-#define KEY_CFG_12                  (KEY_FCFG_LSB4 + 1)
-#define KEY_CFG_14                  (KEY_CFG_12 + 1)
-#define KEY_CFG_15                  (KEY_CFG_14 + 1)
-#define KEY_CFG_16                  (KEY_CFG_15 + 1)
-#define KEY_CFG_18                  (KEY_CFG_16 + 1)
-#define KEY_CFG_6                   (KEY_CFG_18 + 1)
-#define KEY_CFG_7                   (KEY_CFG_6 + 1)
-#define KEY_CFG_4                   (KEY_CFG_7 + 1)
-#define KEY_CFG_5                   (KEY_CFG_4 + 1)
-#define KEY_CFG_2                   (KEY_CFG_5 + 1)
-#define KEY_CFG_3                   (KEY_CFG_2 + 1)
-#define KEY_CFG_1                   (KEY_CFG_3 + 1)
-#define KEY_CFG_EXTERNAL            (KEY_CFG_1 + 1)
-#define KEY_CFG_8                   (KEY_CFG_EXTERNAL + 1)
-#define KEY_CFG_9                   (KEY_CFG_8 + 1)
-#define KEY_CFG_ORIENT_3            (KEY_CFG_9 + 1)
-#define KEY_CFG_ORIENT_2            (KEY_CFG_ORIENT_3 + 1)
-#define KEY_CFG_ORIENT_1            (KEY_CFG_ORIENT_2 + 1)
-#define KEY_CFG_GYRO_SOURCE         (KEY_CFG_ORIENT_1 + 1)
-#define KEY_CFG_ORIENT_IRQ_1        (KEY_CFG_GYRO_SOURCE + 1)
-#define KEY_CFG_ORIENT_IRQ_2        (KEY_CFG_ORIENT_IRQ_1 + 1)
-#define KEY_CFG_ORIENT_IRQ_3        (KEY_CFG_ORIENT_IRQ_2 + 1)
-#define KEY_FCFG_MAG_VAL            (KEY_CFG_ORIENT_IRQ_3 + 1)
-#define KEY_FCFG_MAG_MOV            (KEY_FCFG_MAG_VAL + 1)
-#define KEY_CFG_LP_QUAT             (KEY_FCFG_MAG_MOV + 1)
-
-/* MPU6050 keys */
-#define KEY_CFG_ACCEL_FILTER        (KEY_CFG_LP_QUAT + 1)
-#define KEY_CFG_MOTION_BIAS         (KEY_CFG_ACCEL_FILTER + 1)
-#define KEY_TEMPLABEL               (KEY_CFG_MOTION_BIAS + 1)
-
-#define KEY_D_0_22                  (KEY_TEMPLABEL + 1)
-#define KEY_D_0_24                  (KEY_D_0_22 + 1)
-#define KEY_D_0_36                  (KEY_D_0_24 + 1)
-#define KEY_D_0_52                  (KEY_D_0_36 + 1)
-#define KEY_D_0_96                  (KEY_D_0_52 + 1)
-#define KEY_D_0_104                 (KEY_D_0_96 + 1)
-#define KEY_D_0_108                 (KEY_D_0_104 + 1)
-#define KEY_D_0_163                 (KEY_D_0_108 + 1)
-#define KEY_D_0_188                 (KEY_D_0_163 + 1)
-#define KEY_D_0_192                 (KEY_D_0_188 + 1)
-#define KEY_D_0_224                 (KEY_D_0_192 + 1)
-#define KEY_D_0_228                 (KEY_D_0_224 + 1)
-#define KEY_D_0_232                 (KEY_D_0_228 + 1)
-#define KEY_D_0_236                 (KEY_D_0_232 + 1)
-
-#define KEY_DMP_PREVPTAT            (KEY_D_0_236 + 1)
-#define KEY_D_1_2                   (KEY_DMP_PREVPTAT + 1)
-#define KEY_D_1_4                   (KEY_D_1_2 + 1)
-#define KEY_D_1_8                   (KEY_D_1_4 + 1)
-#define KEY_D_1_10                  (KEY_D_1_8 + 1)
-#define KEY_D_1_24                  (KEY_D_1_10 + 1)
-#define KEY_D_1_28                  (KEY_D_1_24 + 1)
-#define KEY_D_1_36                  (KEY_D_1_28 + 1)
-#define KEY_D_1_40                  (KEY_D_1_36 + 1)
-#define KEY_D_1_44                  (KEY_D_1_40 + 1)
-#define KEY_D_1_72                  (KEY_D_1_44 + 1)
-#define KEY_D_1_74                  (KEY_D_1_72 + 1)
-#define KEY_D_1_79                  (KEY_D_1_74 + 1)
-#define KEY_D_1_88                  (KEY_D_1_79 + 1)
-#define KEY_D_1_90                  (KEY_D_1_88 + 1)
-#define KEY_D_1_92                  (KEY_D_1_90 + 1)
-#define KEY_D_1_96                  (KEY_D_1_92 + 1)
-#define KEY_D_1_98                  (KEY_D_1_96 + 1)
-#define KEY_D_1_100                 (KEY_D_1_98 + 1)
-#define KEY_D_1_106                 (KEY_D_1_100 + 1)
-#define KEY_D_1_108                 (KEY_D_1_106 + 1)
-#define KEY_D_1_112                 (KEY_D_1_108 + 1)
-#define KEY_D_1_128                 (KEY_D_1_112 + 1)
-#define KEY_D_1_152                 (KEY_D_1_128 + 1)
-#define KEY_D_1_160                 (KEY_D_1_152 + 1)
-#define KEY_D_1_168                 (KEY_D_1_160 + 1)
-#define KEY_D_1_175                 (KEY_D_1_168 + 1)
-#define KEY_D_1_176                 (KEY_D_1_175 + 1)
-#define KEY_D_1_178                 (KEY_D_1_176 + 1)
-#define KEY_D_1_179                 (KEY_D_1_178 + 1)
-#define KEY_D_1_218                 (KEY_D_1_179 + 1)
-#define KEY_D_1_232                 (KEY_D_1_218 + 1)
-#define KEY_D_1_236                 (KEY_D_1_232 + 1)
-#define KEY_D_1_240                 (KEY_D_1_236 + 1)
-#define KEY_D_1_244                 (KEY_D_1_240 + 1)
-#define KEY_D_1_250                 (KEY_D_1_244 + 1)
-#define KEY_D_1_252                 (KEY_D_1_250 + 1)
-#define KEY_D_2_12                  (KEY_D_1_252 + 1)
-#define KEY_D_2_96                  (KEY_D_2_12 + 1)
-#define KEY_D_2_108                 (KEY_D_2_96 + 1)
-#define KEY_D_2_208                 (KEY_D_2_108 + 1)
-#define KEY_FLICK_MSG               (KEY_D_2_208 + 1)
-#define KEY_FLICK_COUNTER           (KEY_FLICK_MSG + 1)
-#define KEY_FLICK_LOWER             (KEY_FLICK_COUNTER + 1)
-#define KEY_CFG_FLICK_IN            (KEY_FLICK_LOWER + 1)
-#define KEY_FLICK_UPPER             (KEY_CFG_FLICK_IN + 1)
-#define KEY_CGNOTICE_INTR           (KEY_FLICK_UPPER + 1)
-#define KEY_D_2_224                 (KEY_CGNOTICE_INTR + 1)
-#define KEY_D_2_244                 (KEY_D_2_224 + 1)
-#define KEY_D_2_248                 (KEY_D_2_244 + 1)
-#define KEY_D_2_252                 (KEY_D_2_248 + 1)
-
-#define KEY_D_GYRO_BIAS_X               (KEY_D_2_252 + 1)
-#define KEY_D_GYRO_BIAS_Y               (KEY_D_GYRO_BIAS_X + 1)
-#define KEY_D_GYRO_BIAS_Z               (KEY_D_GYRO_BIAS_Y + 1)
-#define KEY_D_ACC_BIAS_X                (KEY_D_GYRO_BIAS_Z + 1)
-#define KEY_D_ACC_BIAS_Y                (KEY_D_ACC_BIAS_X + 1)
-#define KEY_D_ACC_BIAS_Z                (KEY_D_ACC_BIAS_Y + 1)
-#define KEY_D_GYRO_ENABLE               (KEY_D_ACC_BIAS_Z + 1)
-#define KEY_D_ACCEL_ENABLE              (KEY_D_GYRO_ENABLE + 1)
-#define KEY_D_QUAT_ENABLE               (KEY_D_ACCEL_ENABLE +1)
-#define KEY_D_OUTPUT_ENABLE             (KEY_D_QUAT_ENABLE + 1)
-#define KEY_D_CR_TIME_G                 (KEY_D_OUTPUT_ENABLE + 1)
-#define KEY_D_CR_TIME_A                 (KEY_D_CR_TIME_G + 1)
-#define KEY_D_CR_TIME_Q                 (KEY_D_CR_TIME_A + 1)
-#define KEY_D_CS_TAX                    (KEY_D_CR_TIME_Q + 1)
-#define KEY_D_CS_TAY                    (KEY_D_CS_TAX + 1)
-#define KEY_D_CS_TAZ                    (KEY_D_CS_TAY + 1)
-#define KEY_D_CS_TGX                    (KEY_D_CS_TAZ + 1)
-#define KEY_D_CS_TGY                    (KEY_D_CS_TGX + 1)
-#define KEY_D_CS_TGZ                    (KEY_D_CS_TGY + 1)
-#define KEY_D_CS_TQ0                    (KEY_D_CS_TGZ + 1)
-#define KEY_D_CS_TQ1                    (KEY_D_CS_TQ0 + 1)
-#define KEY_D_CS_TQ2                    (KEY_D_CS_TQ1 + 1)
-#define KEY_D_CS_TQ3                    (KEY_D_CS_TQ2 + 1)
-
-/* Compass keys */
-#define KEY_CPASS_BIAS_X            (KEY_D_CS_TQ3 + 1)
-#define KEY_CPASS_BIAS_Y            (KEY_CPASS_BIAS_X + 1)
-#define KEY_CPASS_BIAS_Z            (KEY_CPASS_BIAS_Y + 1)
-#define KEY_CPASS_MTX_00            (KEY_CPASS_BIAS_Z + 1)
-#define KEY_CPASS_MTX_01            (KEY_CPASS_MTX_00 + 1)
-#define KEY_CPASS_MTX_02            (KEY_CPASS_MTX_01 + 1)
-#define KEY_CPASS_MTX_10            (KEY_CPASS_MTX_02 + 1)
-#define KEY_CPASS_MTX_11            (KEY_CPASS_MTX_10 + 1)
-#define KEY_CPASS_MTX_12            (KEY_CPASS_MTX_11 + 1)
-#define KEY_CPASS_MTX_20            (KEY_CPASS_MTX_12 + 1)
-#define KEY_CPASS_MTX_21            (KEY_CPASS_MTX_20 + 1)
-#define KEY_CPASS_MTX_22            (KEY_CPASS_MTX_21 + 1)
-
-/* Gesture Keys */
-#define KEY_DMP_TAPW_MIN            (KEY_CPASS_MTX_22 + 1)
-#define KEY_DMP_TAP_THR_X           (KEY_DMP_TAPW_MIN + 1)
-#define KEY_DMP_TAP_THR_Y           (KEY_DMP_TAP_THR_X + 1)
-#define KEY_DMP_TAP_THR_Z           (KEY_DMP_TAP_THR_Y + 1)
-#define KEY_DMP_SH_TH_Y             (KEY_DMP_TAP_THR_Z + 1)
-#define KEY_DMP_SH_TH_X             (KEY_DMP_SH_TH_Y + 1)
-#define KEY_DMP_SH_TH_Z             (KEY_DMP_SH_TH_X + 1)
-#define KEY_DMP_ORIENT              (KEY_DMP_SH_TH_Z + 1)
-#define KEY_D_ACT0                  (KEY_DMP_ORIENT + 1)
-#define KEY_D_ACSX                  (KEY_D_ACT0 + 1)
-#define KEY_D_ACSY                  (KEY_D_ACSX + 1)
-#define KEY_D_ACSZ                  (KEY_D_ACSY + 1)
-
-#define KEY_X_GRT_Y_TMP             (KEY_D_ACSZ + 1)
-#define KEY_SKIP_X_GRT_Y_TMP        (KEY_X_GRT_Y_TMP + 1)
-#define KEY_SKIP_END_COMPARE        (KEY_SKIP_X_GRT_Y_TMP + 1)
-#define KEY_END_COMPARE_Y_X_TMP2    (KEY_SKIP_END_COMPARE + 1)       
-#define KEY_CFG_ANDROID_ORIENT_INT  (KEY_END_COMPARE_Y_X_TMP2 + 1)
-#define KEY_NO_ORIENT_INTERRUPT     (KEY_CFG_ANDROID_ORIENT_INT + 1)
-#define KEY_END_COMPARE_Y_X_TMP     (KEY_NO_ORIENT_INTERRUPT + 1)
-#define KEY_END_ORIENT_1            (KEY_END_COMPARE_Y_X_TMP + 1)
-#define KEY_END_COMPARE_Y_X         (KEY_END_ORIENT_1 + 1) 
-#define KEY_END_ORIENT              (KEY_END_COMPARE_Y_X + 1)
-#define KEY_X_GRT_Y                 (KEY_END_ORIENT + 1)
-#define KEY_NOT_TIME_MINUS_1        (KEY_X_GRT_Y + 1)       
-#define KEY_END_COMPARE_Y_X_TMP3    (KEY_NOT_TIME_MINUS_1 + 1) 
-#define KEY_X_GRT_Y_TMP2            (KEY_END_COMPARE_Y_X_TMP3 + 1)
-
-/* Authenticate Keys */
-#define KEY_D_AUTH_OUT              (KEY_X_GRT_Y_TMP2 + 1)
-#define KEY_D_AUTH_IN               (KEY_D_AUTH_OUT + 1)
-#define KEY_D_AUTH_A                (KEY_D_AUTH_IN + 1)
-#define KEY_D_AUTH_B                (KEY_D_AUTH_A + 1)
-
-/* Pedometer standalone only keys */
-#define KEY_D_PEDSTD_BP_B           (KEY_D_AUTH_B + 1)
-#define KEY_D_PEDSTD_HP_A           (KEY_D_PEDSTD_BP_B + 1)
-#define KEY_D_PEDSTD_HP_B           (KEY_D_PEDSTD_HP_A + 1)
-#define KEY_D_PEDSTD_BP_A4          (KEY_D_PEDSTD_HP_B + 1)
-#define KEY_D_PEDSTD_BP_A3          (KEY_D_PEDSTD_BP_A4 + 1)
-#define KEY_D_PEDSTD_BP_A2          (KEY_D_PEDSTD_BP_A3 + 1)
-#define KEY_D_PEDSTD_BP_A1          (KEY_D_PEDSTD_BP_A2 + 1)
-#define KEY_D_PEDSTD_INT_THRSH      (KEY_D_PEDSTD_BP_A1 + 1)
-#define KEY_D_PEDSTD_CLIP           (KEY_D_PEDSTD_INT_THRSH + 1)
-#define KEY_D_PEDSTD_SB             (KEY_D_PEDSTD_CLIP + 1)
-#define KEY_D_PEDSTD_SB_TIME        (KEY_D_PEDSTD_SB + 1)
-#define KEY_D_PEDSTD_PEAKTHRSH      (KEY_D_PEDSTD_SB_TIME + 1)
-#define KEY_D_PEDSTD_TIML           (KEY_D_PEDSTD_PEAKTHRSH + 1)
-#define KEY_D_PEDSTD_TIMH           (KEY_D_PEDSTD_TIML + 1)
-#define KEY_D_PEDSTD_PEAK           (KEY_D_PEDSTD_TIMH + 1)
-#define KEY_D_PEDSTD_TIMECTR        (KEY_D_PEDSTD_PEAK + 1)
-#define KEY_D_PEDSTD_STEPCTR        (KEY_D_PEDSTD_TIMECTR + 1)
-#define KEY_D_PEDSTD_WALKTIME       (KEY_D_PEDSTD_STEPCTR + 1)
-#define KEY_D_PEDSTD_DECI           (KEY_D_PEDSTD_WALKTIME + 1)
-
-/*Host Based No Motion*/
-#define KEY_D_HOST_NO_MOT           (KEY_D_PEDSTD_DECI + 1)
-
-/* EIS keys */
-#define KEY_P_EIS_FIFO_FOOTER       (KEY_D_HOST_NO_MOT + 1)
-#define KEY_P_EIS_FIFO_YSHIFT       (KEY_P_EIS_FIFO_FOOTER + 1)
-#define KEY_P_EIS_DATA_RATE         (KEY_P_EIS_FIFO_YSHIFT + 1)
-#define KEY_P_EIS_FIFO_XSHIFT       (KEY_P_EIS_DATA_RATE + 1)
-#define KEY_P_EIS_FIFO_SYNC         (KEY_P_EIS_FIFO_XSHIFT + 1)
-#define KEY_P_EIS_FIFO_ZSHIFT       (KEY_P_EIS_FIFO_SYNC + 1)
-#define KEY_P_EIS_FIFO_READY        (KEY_P_EIS_FIFO_ZSHIFT + 1)
-#define KEY_DMP_FOOTER              (KEY_P_EIS_FIFO_READY + 1)
-#define KEY_DMP_INTX_HC             (KEY_DMP_FOOTER + 1)
-#define KEY_DMP_INTX_PH             (KEY_DMP_INTX_HC + 1)
-#define KEY_DMP_INTX_SH             (KEY_DMP_INTX_PH + 1)
-#define KEY_DMP_AINV_SH             (KEY_DMP_INTX_SH + 1)
-#define KEY_DMP_A_INV_XH            (KEY_DMP_AINV_SH + 1)
-#define KEY_DMP_AINV_PH             (KEY_DMP_A_INV_XH + 1)
-#define KEY_DMP_CTHX_H              (KEY_DMP_AINV_PH + 1)
-#define KEY_DMP_CTHY_H              (KEY_DMP_CTHX_H + 1)
-#define KEY_DMP_CTHZ_H              (KEY_DMP_CTHY_H + 1)
-#define KEY_DMP_NCTHX_H             (KEY_DMP_CTHZ_H + 1)
-#define KEY_DMP_NCTHY_H             (KEY_DMP_NCTHX_H + 1)
-#define KEY_DMP_NCTHZ_H             (KEY_DMP_NCTHY_H + 1)
-#define KEY_DMP_CTSQ_XH             (KEY_DMP_NCTHZ_H + 1)
-#define KEY_DMP_CTSQ_YH             (KEY_DMP_CTSQ_XH + 1)
-#define KEY_DMP_CTSQ_ZH             (KEY_DMP_CTSQ_YH + 1)
-#define KEY_DMP_INTX_H              (KEY_DMP_CTSQ_ZH + 1)
-#define KEY_DMP_INTY_H              (KEY_DMP_INTX_H + 1)
-#define KEY_DMP_INTZ_H              (KEY_DMP_INTY_H + 1)
-//#define KEY_DMP_HPX_H               (KEY_DMP_INTZ_H + 1)
-//#define KEY_DMP_HPY_H               (KEY_DMP_HPX_H + 1)
-//#define KEY_DMP_HPZ_H               (KEY_DMP_HPY_H + 1)
-
-/* Stream keys */
-#define KEY_STREAM_P_GYRO_Z         (KEY_DMP_INTZ_H + 1)
-#define KEY_STREAM_P_GYRO_Y         (KEY_STREAM_P_GYRO_Z + 1)
-#define KEY_STREAM_P_GYRO_X         (KEY_STREAM_P_GYRO_Y + 1)
-#define KEY_STREAM_P_TEMP           (KEY_STREAM_P_GYRO_X + 1)
-#define KEY_STREAM_P_AUX_Y          (KEY_STREAM_P_TEMP + 1)
-#define KEY_STREAM_P_AUX_X          (KEY_STREAM_P_AUX_Y + 1)
-#define KEY_STREAM_P_AUX_Z          (KEY_STREAM_P_AUX_X + 1)
-#define KEY_STREAM_P_ACCEL_Y        (KEY_STREAM_P_AUX_Z + 1)
-#define KEY_STREAM_P_ACCEL_X        (KEY_STREAM_P_ACCEL_Y + 1)
-#define KEY_STREAM_P_FOOTER         (KEY_STREAM_P_ACCEL_X + 1)
-#define KEY_STREAM_P_ACCEL_Z        (KEY_STREAM_P_FOOTER + 1)
-
-#define NUM_KEYS                    (KEY_STREAM_P_ACCEL_Z + 1)
-
-typedef struct {
-    unsigned short key;
-    unsigned short addr;
-} tKeyLabel;
-
-#define DINA0A 0x0a
-#define DINA22 0x22
-#define DINA42 0x42
-#define DINA5A 0x5a
-
-#define DINA06 0x06
-#define DINA0E 0x0e
-#define DINA16 0x16
-#define DINA1E 0x1e
-#define DINA26 0x26
-#define DINA2E 0x2e
-#define DINA36 0x36
-#define DINA3E 0x3e
-#define DINA46 0x46
-#define DINA4E 0x4e
-#define DINA56 0x56
-#define DINA5E 0x5e
-#define DINA66 0x66
-#define DINA6E 0x6e
-#define DINA76 0x76
-#define DINA7E 0x7e
-
-#define DINA00 0x00
-#define DINA08 0x08
-#define DINA10 0x10
-#define DINA18 0x18
-#define DINA20 0x20
-#define DINA28 0x28
-#define DINA30 0x30
-#define DINA38 0x38
-#define DINA40 0x40
-#define DINA48 0x48
-#define DINA50 0x50
-#define DINA58 0x58
-#define DINA60 0x60
-#define DINA68 0x68
-#define DINA70 0x70
-#define DINA78 0x78
-
-#define DINA04 0x04
-#define DINA0C 0x0c
-#define DINA14 0x14
-#define DINA1C 0x1C
-#define DINA24 0x24
-#define DINA2C 0x2c
-#define DINA34 0x34
-#define DINA3C 0x3c
-#define DINA44 0x44
-#define DINA4C 0x4c
-#define DINA54 0x54
-#define DINA5C 0x5c
-#define DINA64 0x64
-#define DINA6C 0x6c
-#define DINA74 0x74
-#define DINA7C 0x7c
-
-#define DINA01 0x01
-#define DINA09 0x09
-#define DINA11 0x11
-#define DINA19 0x19
-#define DINA21 0x21
-#define DINA29 0x29
-#define DINA31 0x31
-#define DINA39 0x39
-#define DINA41 0x41
-#define DINA49 0x49
-#define DINA51 0x51
-#define DINA59 0x59
-#define DINA61 0x61
-#define DINA69 0x69
-#define DINA71 0x71
-#define DINA79 0x79
-
-#define DINA25 0x25
-#define DINA2D 0x2d
-#define DINA35 0x35
-#define DINA3D 0x3d
-#define DINA4D 0x4d
-#define DINA55 0x55
-#define DINA5D 0x5D
-#define DINA6D 0x6d
-#define DINA75 0x75
-#define DINA7D 0x7d
-
-#define DINADC 0xdc
-#define DINAF2 0xf2
-#define DINAAB 0xab
-#define DINAAA 0xaa
-#define DINAF1 0xf1
-#define DINADF 0xdf
-#define DINADA 0xda
-#define DINAB1 0xb1
-#define DINAB9 0xb9
-#define DINAF3 0xf3
-#define DINA8B 0x8b
-#define DINAA3 0xa3
-#define DINA91 0x91
-#define DINAB6 0xb6
-#define DINAB4 0xb4
-
-
-#define DINC00 0x00
-#define DINC01 0x01
-#define DINC02 0x02
-#define DINC03 0x03
-#define DINC08 0x08
-#define DINC09 0x09
-#define DINC0A 0x0a
-#define DINC0B 0x0b
-#define DINC10 0x10
-#define DINC11 0x11
-#define DINC12 0x12
-#define DINC13 0x13
-#define DINC18 0x18
-#define DINC19 0x19
-#define DINC1A 0x1a
-#define DINC1B 0x1b
-
-#define DINC20 0x20
-#define DINC21 0x21
-#define DINC22 0x22
-#define DINC23 0x23
-#define DINC28 0x28
-#define DINC29 0x29
-#define DINC2A 0x2a
-#define DINC2B 0x2b
-#define DINC30 0x30
-#define DINC31 0x31
-#define DINC32 0x32
-#define DINC33 0x33
-#define DINC38 0x38
-#define DINC39 0x39
-#define DINC3A 0x3a
-#define DINC3B 0x3b
-
-#define DINC40 0x40
-#define DINC41 0x41
-#define DINC42 0x42
-#define DINC43 0x43
-#define DINC48 0x48
-#define DINC49 0x49
-#define DINC4A 0x4a
-#define DINC4B 0x4b
-#define DINC50 0x50
-#define DINC51 0x51
-#define DINC52 0x52
-#define DINC53 0x53
-#define DINC58 0x58
-#define DINC59 0x59
-#define DINC5A 0x5a
-#define DINC5B 0x5b
-
-#define DINC60 0x60
-#define DINC61 0x61
-#define DINC62 0x62
-#define DINC63 0x63
-#define DINC68 0x68
-#define DINC69 0x69
-#define DINC6A 0x6a
-#define DINC6B 0x6b
-#define DINC70 0x70
-#define DINC71 0x71
-#define DINC72 0x72
-#define DINC73 0x73
-#define DINC78 0x78
-#define DINC79 0x79
-#define DINC7A 0x7a
-#define DINC7B 0x7b
-
-#define DIND40 0x40
-
-
-#define DINA80 0x80
-#define DINA90 0x90
-#define DINAA0 0xa0
-#define DINAC9 0xc9
-#define DINACB 0xcb
-#define DINACD 0xcd
-#define DINACF 0xcf
-#define DINAC8 0xc8
-#define DINACA 0xca
-#define DINACC 0xcc
-#define DINACE 0xce
-#define DINAD8 0xd8
-#define DINADD 0xdd
-#define DINAF8 0xf0
-#define DINAFE 0xfe
-
-#define DINBF8 0xf8
-#define DINAC0 0xb0
-#define DINAC1 0xb1
-#define DINAC2 0xb4
-#define DINAC3 0xb5
-#define DINAC4 0xb8
-#define DINAC5 0xb9
-#define DINBC0 0xc0
-#define DINBC2 0xc2
-#define DINBC4 0xc4
-#define DINBC6 0xc6
-
-
-
-#endif // DMPKEY_H__

Core备份3/imu4/dmpmap4.h

@@ -1,264 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-#ifndef DMPMAP_H
-#define DMPMAP_H
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#define DMP_PTAT    0
-#define DMP_XGYR    2
-#define DMP_YGYR    4
-#define DMP_ZGYR    6
-#define DMP_XACC    8
-#define DMP_YACC    10
-#define DMP_ZACC    12
-#define DMP_ADC1    14
-#define DMP_ADC2    16
-#define DMP_ADC3    18
-#define DMP_BIASUNC    20
-#define DMP_FIFORT    22
-#define DMP_INVGSFH    24
-#define DMP_INVGSFL    26
-#define DMP_1H    28
-#define DMP_1L    30
-#define DMP_BLPFSTCH    32
-#define DMP_BLPFSTCL    34
-#define DMP_BLPFSXH    36
-#define DMP_BLPFSXL    38
-#define DMP_BLPFSYH    40
-#define DMP_BLPFSYL    42
-#define DMP_BLPFSZH    44
-#define DMP_BLPFSZL    46
-#define DMP_BLPFMTC    48
-#define DMP_SMC    50
-#define DMP_BLPFMXH    52
-#define DMP_BLPFMXL    54
-#define DMP_BLPFMYH    56
-#define DMP_BLPFMYL    58
-#define DMP_BLPFMZH    60
-#define DMP_BLPFMZL    62
-#define DMP_BLPFC    64
-#define DMP_SMCTH    66
-#define DMP_0H2    68
-#define DMP_0L2    70
-#define DMP_BERR2H    72
-#define DMP_BERR2L    74
-#define DMP_BERR2NH    76
-#define DMP_SMCINC    78
-#define DMP_ANGVBXH    80
-#define DMP_ANGVBXL    82
-#define DMP_ANGVBYH    84
-#define DMP_ANGVBYL    86
-#define DMP_ANGVBZH    88
-#define DMP_ANGVBZL    90
-#define DMP_BERR1H    92
-#define DMP_BERR1L    94
-#define DMP_ATCH    96
-#define DMP_BIASUNCSF    98
-#define DMP_ACT2H    100
-#define DMP_ACT2L    102
-#define DMP_GSFH    104
-#define DMP_GSFL    106
-#define DMP_GH    108
-#define DMP_GL    110
-#define DMP_0_5H    112
-#define DMP_0_5L    114
-#define DMP_0_0H    116
-#define DMP_0_0L    118
-#define DMP_1_0H    120
-#define DMP_1_0L    122
-#define DMP_1_5H    124
-#define DMP_1_5L    126
-#define DMP_TMP1AH    128
-#define DMP_TMP1AL    130
-#define DMP_TMP2AH    132
-#define DMP_TMP2AL    134
-#define DMP_TMP3AH    136
-#define DMP_TMP3AL    138
-#define DMP_TMP4AH    140
-#define DMP_TMP4AL    142
-#define DMP_XACCW    144
-#define DMP_TMP5    146
-#define DMP_XACCB    148
-#define DMP_TMP8    150
-#define DMP_YACCB    152
-#define DMP_TMP9    154
-#define DMP_ZACCB    156
-#define DMP_TMP10    158
-#define DMP_DZH    160
-#define DMP_DZL    162
-#define DMP_XGCH    164
-#define DMP_XGCL    166
-#define DMP_YGCH    168
-#define DMP_YGCL    170
-#define DMP_ZGCH    172
-#define DMP_ZGCL    174
-#define DMP_YACCW    176
-#define DMP_TMP7    178
-#define DMP_AFB1H    180
-#define DMP_AFB1L    182
-#define DMP_AFB2H    184
-#define DMP_AFB2L    186
-#define DMP_MAGFBH    188
-#define DMP_MAGFBL    190
-#define DMP_QT1H    192
-#define DMP_QT1L    194
-#define DMP_QT2H    196
-#define DMP_QT2L    198
-#define DMP_QT3H    200
-#define DMP_QT3L    202
-#define DMP_QT4H    204
-#define DMP_QT4L    206
-#define DMP_CTRL1H    208
-#define DMP_CTRL1L    210
-#define DMP_CTRL2H    212
-#define DMP_CTRL2L    214
-#define DMP_CTRL3H    216
-#define DMP_CTRL3L    218
-#define DMP_CTRL4H    220
-#define DMP_CTRL4L    222
-#define DMP_CTRLS1    224
-#define DMP_CTRLSF1    226
-#define DMP_CTRLS2    228
-#define DMP_CTRLSF2    230
-#define DMP_CTRLS3    232
-#define DMP_CTRLSFNLL    234
-#define DMP_CTRLS4    236
-#define DMP_CTRLSFNL2    238
-#define DMP_CTRLSFNL    240
-#define DMP_TMP30    242
-#define DMP_CTRLSFJT    244
-#define DMP_TMP31    246
-#define DMP_TMP11    248
-#define DMP_CTRLSF2_2    250
-#define DMP_TMP12    252
-#define DMP_CTRLSF1_2    254
-#define DMP_PREVPTAT    256
-#define DMP_ACCZB    258
-#define DMP_ACCXB    264
-#define DMP_ACCYB    266
-#define DMP_1HB    272
-#define DMP_1LB    274
-#define DMP_0H    276
-#define DMP_0L    278
-#define DMP_ASR22H    280
-#define DMP_ASR22L    282
-#define DMP_ASR6H    284
-#define DMP_ASR6L    286
-#define DMP_TMP13    288
-#define DMP_TMP14    290
-#define DMP_FINTXH    292
-#define DMP_FINTXL    294
-#define DMP_FINTYH    296
-#define DMP_FINTYL    298
-#define DMP_FINTZH    300
-#define DMP_FINTZL    302
-#define DMP_TMP1BH    304
-#define DMP_TMP1BL    306
-#define DMP_TMP2BH    308
-#define DMP_TMP2BL    310
-#define DMP_TMP3BH    312
-#define DMP_TMP3BL    314
-#define DMP_TMP4BH    316
-#define DMP_TMP4BL    318
-#define DMP_STXG    320
-#define DMP_ZCTXG    322
-#define DMP_STYG    324
-#define DMP_ZCTYG    326
-#define DMP_STZG    328
-#define DMP_ZCTZG    330
-#define DMP_CTRLSFJT2    332
-#define DMP_CTRLSFJTCNT    334
-#define DMP_PVXG    336
-#define DMP_TMP15    338
-#define DMP_PVYG    340
-#define DMP_TMP16    342
-#define DMP_PVZG    344
-#define DMP_TMP17    346
-#define DMP_MNMFLAGH    352
-#define DMP_MNMFLAGL    354
-#define DMP_MNMTMH    356
-#define DMP_MNMTML    358
-#define DMP_MNMTMTHRH    360
-#define DMP_MNMTMTHRL    362
-#define DMP_MNMTHRH    364
-#define DMP_MNMTHRL    366
-#define DMP_ACCQD4H    368
-#define DMP_ACCQD4L    370
-#define DMP_ACCQD5H    372
-#define DMP_ACCQD5L    374
-#define DMP_ACCQD6H    376
-#define DMP_ACCQD6L    378
-#define DMP_ACCQD7H    380
-#define DMP_ACCQD7L    382
-#define DMP_ACCQD0H    384
-#define DMP_ACCQD0L    386
-#define DMP_ACCQD1H    388
-#define DMP_ACCQD1L    390
-#define DMP_ACCQD2H    392
-#define DMP_ACCQD2L    394
-#define DMP_ACCQD3H    396
-#define DMP_ACCQD3L    398
-#define DMP_XN2H    400
-#define DMP_XN2L    402
-#define DMP_XN1H    404
-#define DMP_XN1L    406
-#define DMP_YN2H    408
-#define DMP_YN2L    410
-#define DMP_YN1H    412
-#define DMP_YN1L    414
-#define DMP_YH    416
-#define DMP_YL    418
-#define DMP_B0H    420
-#define DMP_B0L    422
-#define DMP_A1H    424
-#define DMP_A1L    426
-#define DMP_A2H    428
-#define DMP_A2L    430
-#define DMP_SEM1    432
-#define DMP_FIFOCNT    434
-#define DMP_SH_TH_X    436
-#define DMP_PACKET    438
-#define DMP_SH_TH_Y    440
-#define DMP_FOOTER    442
-#define DMP_SH_TH_Z    444
-#define DMP_TEMP29    448
-#define DMP_TEMP30    450
-#define DMP_XACCB_PRE    452
-#define DMP_XACCB_PREL    454
-#define DMP_YACCB_PRE    456
-#define DMP_YACCB_PREL    458
-#define DMP_ZACCB_PRE    460
-#define DMP_ZACCB_PREL    462
-#define DMP_TMP22    464
-#define DMP_TAP_TIMER    466
-#define DMP_TAP_THX    468
-#define DMP_TAP_THY    472
-#define DMP_TAP_THZ    476
-#define DMP_TAPW_MIN    478
-#define DMP_TMP25    480
-#define DMP_TMP26    482
-#define DMP_TMP27    484
-#define DMP_TMP28    486
-#define DMP_ORIENT    488
-#define DMP_THRSH    490
-#define DMP_ENDIANH    492
-#define DMP_ENDIANL    494
-#define DMP_BLPFNMTCH    496
-#define DMP_BLPFNMTCL    498
-#define DMP_BLPFNMXH    500
-#define DMP_BLPFNMXL    502
-#define DMP_BLPFNMYH    504
-#define DMP_BLPFNMYL    506
-#define DMP_BLPFNMZH    508
-#define DMP_BLPFNMZL    510
-#ifdef __cplusplus
-}
-#endif
-#endif // DMPMAP_H

Core备份3/imu4/inv_mpu4.c

@@ -1,2774 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
-    See included License.txt for License information.
- $
- */
-/**
- *  @addtogroup  DRIVERS Sensor Driver Layer
- *  @brief       Hardware drivers to communicate with sensors via I2C.
- *
- *  @{
- *      @file       inv_mpu.c
- *      @brief      An I2C-based driver for Invensense gyroscopes.
- *      @details    This driver currently works for the following devices:
- *                  MPU6050
- *                  MPU6500
- *                  MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus)
- *                  MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus)
- */
-#include <stdio.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-#include "inv_mpu4.h"
-
-#include "MPU60504.h"
-
-
-/* The following functions must be defined for this platform:
- * i2c_write(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char const *data)
- * i2c_read(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char *data)
- * delay_ms(unsigned long num_ms)
- * get_ms(unsigned long *count)
- * reg_int_cb(void (*cb)(void), unsigned char port, unsigned char pin)
- * labs(long x)
- * fabsf(float x)
- * min(int a, int b)
- */
-#if defined MOTION_DRIVER_TARGET_MSP430
-#include "msp430.h"
-#include "msp430_i2c.h"
-#include "msp430_clock.h"
-#include "msp430_interrupt.h"
-#define i2c_write   msp430_i2c_write
-#define i2c_read    msp430_i2c_read
-#define delay_ms    msp430_delay_ms
-#define get_ms      msp430_get_clock_ms
-static inline int reg_int_cb(struct int_param_s *int_param)
-{
-    return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit,
-        int_param->active_low);
-}
-#define log_i(...)     do {} while (0)
-#define log_e(...)     do {} while (0)
-/* labs is already defined by TI's toolchain. */
-/* fabs is for doubles. fabsf is for floats. */
-#define fabs        fabsf
-#define min(a,b) ((a<b)?a:b)
-#elif defined EMPL_TARGET_MSP430
-#include "msp430.h"
-#include "msp430_i2c.h"
-#include "msp430_clock.h"
-#include "msp430_interrupt.h"
-#include "log.h"
-#define i2c_write   msp430_i2c_write
-#define i2c_read    msp430_i2c_read
-#define delay_ms    msp430_delay_ms
-#define get_ms      msp430_get_clock_ms
-static inline int reg_int_cb(struct int_param_s *int_param)
-{
-    return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit,
-        int_param->active_low);
-}
-#define log_i       MPL_LOGI
-#define log_e       MPL_LOGE
-/* labs is already defined by TI's toolchain. */
-/* fabs is for doubles. fabsf is for floats. */
-#define fabs        fabsf
-#define min(a,b) ((a<b)?a:b)
-#elif defined EMPL_TARGET_UC3L0
-/* Instead of using the standard TWI driver from the ASF library, we're using
- * a TWI driver that follows the slave address + register address convention.
- */
-#include "twi.h"
-#include "delay.h"
-#include "sysclk.h"
-#include "log.h"
-#include "sensors_xplained.h"
-#include "uc3l0_clock.h"
-#define i2c_write(a, b, c, d)   twi_write(a, b, d, c)
-#define i2c_read(a, b, c, d)    twi_read(a, b, d, c)
-/* delay_ms is a function already defined in ASF. */
-#define get_ms  uc3l0_get_clock_ms
-static inline int reg_int_cb(struct int_param_s *int_param)
-{
-    sensor_board_irq_connect(int_param->pin, int_param->cb, int_param->arg);
-    return 0;
-}
-#define log_i       MPL_LOGI
-#define log_e       MPL_LOGE
-/* UC3 is a 32-bit processor, so abs and labs are equivalent. */
-#define labs        abs
-#define fabs(x)     (((x)>0)?(x):-(x))
-#elif defined MOTION_DRIVER_TARGET_STM32
-
-/* The following functions must be defined for this platform:
- * i2c_write(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char const *data)
- * i2c_read(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char *data)
- * delay_ms(unsigned long num_ms)
- * get_ms(unsigned long *count)
- * reg_int_cb(void (*cb)(void), unsigned char port, unsigned char pin)
- * labs(long x)
- * fabsf(float x)
- * min(int a, int b)
- */
-
-#define i2c_write   IIC_Write_Len
-#define i2c_read    IIC_Read_Len
-#define delay_ms    HAL_Delay
-#define get_ms      get_tick_count
-//static inline int reg_int_cb(struct int_param_s *int_param)
-//{
-////    return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit,
-////        int_param->active_low);
-//}
-//#define log_i(...)     do {} while (0)
-//#define log_e(...)     do {} while (0)
-
-#define log_i     printf
-#define log_e     printf
-
-/* labs is already defined by TI's toolchain. */
-/* fabs is for doubles. fabsf is for floats. */
-#define fabs        fabsf
-#define min(a,b) ((a<b)?a:b)
-
-#else
-#error  Gyro driver is missing the system layer implementations.
-#endif
-
-#if !defined MPU6050 && !defined MPU9150 && !defined MPU6500 && !defined MPU9250
-#error  Which gyro are you using? Define MPUxxxx in your compiler options.
-#endif
-
-/* Time for some messy macro work. =]
- * #define MPU9150
- * is equivalent to..
- * #define MPU6050
- * #define AK8975_SECONDARY
- *
- * #define MPU9250
- * is equivalent to..
- * #define MPU6500
- * #define AK8963_SECONDARY
- */
-#if defined MPU9150
-#ifndef MPU6050
-#define MPU6050
-#endif                          /* #ifndef MPU6050 */
-#if defined AK8963_SECONDARY
-#error "MPU9150 and AK8963_SECONDARY cannot both be defined."
-#elif !defined AK8975_SECONDARY /* #if defined AK8963_SECONDARY */
-#define AK8975_SECONDARY
-#endif                          /* #if defined AK8963_SECONDARY */
-#elif defined MPU9250           /* #if defined MPU9150 */
-#ifndef MPU6500
-#define MPU6500
-#endif                          /* #ifndef MPU6500 */
-#if defined AK8975_SECONDARY
-#error "MPU9250 and AK8975_SECONDARY cannot both be defined."
-#elif !defined AK8963_SECONDARY /* #if defined AK8975_SECONDARY */
-#define AK8963_SECONDARY
-#endif                          /* #if defined AK8975_SECONDARY */
-#endif                          /* #if defined MPU9150 */
-
-#if defined AK8975_SECONDARY || defined AK8963_SECONDARY
-#define AK89xx_SECONDARY
-#else
-/* #warning "No compass = less profit for Invensense. Lame." */
-#endif
-
-static int set_int_enable(unsigned char enable);
-
-/* Hardware registers needed by driver. */
-struct gyro_reg_s {
-    unsigned char who_am_i;
-    unsigned char rate_div;
-    unsigned char lpf;
-    unsigned char prod_id;
-    unsigned char user_ctrl;
-    unsigned char fifo_en;
-    unsigned char gyro_cfg;
-    unsigned char accel_cfg;
-    unsigned char accel_cfg2;
-    unsigned char lp_accel_odr;
-    unsigned char motion_thr;
-    unsigned char motion_dur;
-    unsigned char fifo_count_h;
-    unsigned char fifo_r_w;
-    unsigned char raw_gyro;
-    unsigned char raw_accel;
-    unsigned char temp;
-    unsigned char int_enable;
-    unsigned char dmp_int_status;
-    unsigned char int_status;
-    unsigned char accel_intel;
-    unsigned char pwr_mgmt_1;
-    unsigned char pwr_mgmt_2;
-    unsigned char int_pin_cfg;
-    unsigned char mem_r_w;
-    unsigned char accel_offs;
-    unsigned char i2c_mst;
-    unsigned char bank_sel;
-    unsigned char mem_start_addr;
-    unsigned char prgm_start_h;
-#if defined AK89xx_SECONDARY
-    unsigned char s0_addr;
-    unsigned char s0_reg;
-    unsigned char s0_ctrl;
-    unsigned char s1_addr;
-    unsigned char s1_reg;
-    unsigned char s1_ctrl;
-    unsigned char s4_ctrl;
-    unsigned char s0_do;
-    unsigned char s1_do;
-    unsigned char i2c_delay_ctrl;
-    unsigned char raw_compass;
-    /* The I2C_MST_VDDIO bit is in this register. */
-    unsigned char yg_offs_tc;
-#endif
-};
-
-/* Information specific to a particular device. */
-struct hw_s {
-    unsigned char addr;
-    unsigned short max_fifo;
-    unsigned char num_reg;
-    unsigned short temp_sens;
-    short temp_offset;
-    unsigned short bank_size;
-#if defined AK89xx_SECONDARY
-    unsigned short compass_fsr;
-#endif
-};
-
-/* When entering motion interrupt mode, the driver keeps track of the
- * previous state so that it can be restored at a later time.
- * TODO: This is tacky. Fix it.
- */
-struct motion_int_cache_s {
-    unsigned short gyro_fsr;
-    unsigned char accel_fsr;
-    unsigned short lpf;
-    unsigned short sample_rate;
-    unsigned char sensors_on;
-    unsigned char fifo_sensors;
-    unsigned char dmp_on;
-};
-
-/* Cached chip configuration data.
- * TODO: A lot of these can be handled with a bitmask.
- */
-struct chip_cfg_s {
-    /* Matches gyro_cfg >> 3 & 0x03 */
-    unsigned char gyro_fsr;
-    /* Matches accel_cfg >> 3 & 0x03 */
-    unsigned char accel_fsr;
-    /* Enabled sensors. Uses same masks as fifo_en, NOT pwr_mgmt_2. */
-    unsigned char sensors;
-    /* Matches config register. */
-    unsigned char lpf;
-    unsigned char clk_src;
-    /* Sample rate, NOT rate divider. */
-    unsigned short sample_rate;
-    /* Matches fifo_en register. */
-    unsigned char fifo_enable;
-    /* Matches int enable register. */
-    unsigned char int_enable;
-    /* 1 if devices on auxiliary I2C bus appear on the primary. */
-    unsigned char bypass_mode;
-    /* 1 if half-sensitivity.
-     * NOTE: This doesn't belong here, but everything else in hw_s is const,
-     * and this allows us to save some precious RAM.
-     */
-    unsigned char accel_half;
-    /* 1 if device in low-power accel-only mode. */
-    unsigned char lp_accel_mode;
-    /* 1 if interrupts are only triggered on motion events. */
-    unsigned char int_motion_only;
-    struct motion_int_cache_s cache;
-    /* 1 for active low interrupts. */
-    unsigned char active_low_int;
-    /* 1 for latched interrupts. */
-    unsigned char latched_int;
-    /* 1 if DMP is enabled. */
-    unsigned char dmp_on;
-    /* Ensures that DMP will only be loaded once. */
-    unsigned char dmp_loaded;
-    /* Sampling rate used when DMP is enabled. */
-    unsigned short dmp_sample_rate;
-#ifdef AK89xx_SECONDARY
-    /* Compass sample rate. */
-    unsigned short compass_sample_rate;
-    unsigned char compass_addr;
-    short mag_sens_adj[3];
-#endif
-};
-
-/* Information for self-test. */
-struct test_s {
-    unsigned long gyro_sens;
-    unsigned long accel_sens;
-    unsigned char reg_rate_div;
-    unsigned char reg_lpf;
-    unsigned char reg_gyro_fsr;
-    unsigned char reg_accel_fsr;
-    unsigned short wait_ms;
-    unsigned char packet_thresh;
-    float min_dps;
-    float max_dps;
-    float max_gyro_var;
-    float min_g;
-    float max_g;
-    float max_accel_var;
-};
-
-/* Gyro driver state variables. */
-struct gyro_state_s {
-    const struct gyro_reg_s *reg;
-    const struct hw_s *hw;
-    struct chip_cfg_s chip_cfg;
-    const struct test_s *test;
-};
-
-/* Filter configurations. */
-enum lpf_e {
-    INV_FILTER_256HZ_NOLPF2 = 0,
-    INV_FILTER_188HZ,
-    INV_FILTER_98HZ,
-    INV_FILTER_42HZ,
-    INV_FILTER_20HZ,
-    INV_FILTER_10HZ,
-    INV_FILTER_5HZ,
-    INV_FILTER_2100HZ_NOLPF,
-    NUM_FILTER
-};
-
-/* Full scale ranges. */
-enum gyro_fsr_e {
-    INV_FSR_250DPS = 0,
-    INV_FSR_500DPS,
-    INV_FSR_1000DPS,
-    INV_FSR_2000DPS,
-    NUM_GYRO_FSR
-};
-
-/* Full scale ranges. */
-enum accel_fsr_e {
-    INV_FSR_2G = 0,
-    INV_FSR_4G,
-    INV_FSR_8G,
-    INV_FSR_16G,
-    NUM_ACCEL_FSR
-};
-
-/* Clock sources. */
-enum clock_sel_e {
-    INV_CLK_INTERNAL = 0,
-    INV_CLK_PLL,
-    NUM_CLK
-};
-
-/* Low-power accel wakeup rates. */
-enum lp_accel_rate_e {
-#if defined MPU6050
-    INV_LPA_1_25HZ,
-    INV_LPA_5HZ,
-    INV_LPA_20HZ,
-    INV_LPA_40HZ
-#elif defined MPU6500
-    INV_LPA_0_3125HZ,
-    INV_LPA_0_625HZ,
-    INV_LPA_1_25HZ,
-    INV_LPA_2_5HZ,
-    INV_LPA_5HZ,
-    INV_LPA_10HZ,
-    INV_LPA_20HZ,
-    INV_LPA_40HZ,
-    INV_LPA_80HZ,
-    INV_LPA_160HZ,
-    INV_LPA_320HZ,
-    INV_LPA_640HZ
-#endif
-};
-
-#define BIT_I2C_MST_VDDIO   (0x80)
-#define BIT_FIFO_EN         (0x40)
-#define BIT_DMP_EN          (0x80)
-#define BIT_FIFO_RST        (0x04)
-#define BIT_DMP_RST         (0x08)
-#define BIT_FIFO_OVERFLOW   (0x10)
-#define BIT_DATA_RDY_EN     (0x01)
-#define BIT_DMP_INT_EN      (0x02)
-#define BIT_MOT_INT_EN      (0x40)
-#define BITS_FSR            (0x18)
-#define BITS_LPF            (0x07)
-#define BITS_HPF            (0x07)
-#define BITS_CLK            (0x07)
-#define BIT_FIFO_SIZE_1024  (0x40)
-#define BIT_FIFO_SIZE_2048  (0x80)
-#define BIT_FIFO_SIZE_4096  (0xC0)
-#define BIT_RESET           (0x80)
-#define BIT_SLEEP           (0x40)
-#define BIT_S0_DELAY_EN     (0x01)
-#define BIT_S2_DELAY_EN     (0x04)
-#define BITS_SLAVE_LENGTH   (0x0F)
-#define BIT_SLAVE_BYTE_SW   (0x40)
-#define BIT_SLAVE_GROUP     (0x10)
-#define BIT_SLAVE_EN        (0x80)
-#define BIT_I2C_READ        (0x80)
-#define BITS_I2C_MASTER_DLY (0x1F)
-#define BIT_AUX_IF_EN       (0x20)
-#define BIT_ACTL            (0x80)
-#define BIT_LATCH_EN        (0x20)
-#define BIT_ANY_RD_CLR      (0x10)
-#define BIT_BYPASS_EN       (0x02)
-#define BITS_WOM_EN         (0xC0)
-#define BIT_LPA_CYCLE       (0x20)
-#define BIT_STBY_XA         (0x20)
-#define BIT_STBY_YA         (0x10)
-#define BIT_STBY_ZA         (0x08)
-#define BIT_STBY_XG         (0x04)
-#define BIT_STBY_YG         (0x02)
-#define BIT_STBY_ZG         (0x01)
-#define BIT_STBY_XYZA       (BIT_STBY_XA | BIT_STBY_YA | BIT_STBY_ZA)
-#define BIT_STBY_XYZG       (BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG)
-
-#if defined AK8975_SECONDARY
-#define SUPPORTS_AK89xx_HIGH_SENS   (0x00)
-#define AK89xx_FSR                  (9830)
-#elif defined AK8963_SECONDARY
-#define SUPPORTS_AK89xx_HIGH_SENS   (0x10)
-#define AK89xx_FSR                  (4915)
-#endif
-
-#ifdef AK89xx_SECONDARY
-#define AKM_REG_WHOAMI      (0x00)
-
-#define AKM_REG_ST1         (0x02)
-#define AKM_REG_HXL         (0x03)
-#define AKM_REG_ST2         (0x09)
-
-#define AKM_REG_CNTL        (0x0A)
-#define AKM_REG_ASTC        (0x0C)
-#define AKM_REG_ASAX        (0x10)
-#define AKM_REG_ASAY        (0x11)
-#define AKM_REG_ASAZ        (0x12)
-
-#define AKM_DATA_READY      (0x01)
-#define AKM_DATA_OVERRUN    (0x02)
-#define AKM_OVERFLOW        (0x80)
-#define AKM_DATA_ERROR      (0x40)
-
-#define AKM_BIT_SELF_TEST   (0x40)
-
-#define AKM_POWER_DOWN          (0x00 | SUPPORTS_AK89xx_HIGH_SENS)
-#define AKM_SINGLE_MEASUREMENT  (0x01 | SUPPORTS_AK89xx_HIGH_SENS)
-#define AKM_FUSE_ROM_ACCESS     (0x0F | SUPPORTS_AK89xx_HIGH_SENS)
-#define AKM_MODE_SELF_TEST      (0x08 | SUPPORTS_AK89xx_HIGH_SENS)
-
-#define AKM_WHOAMI      (0x48)
-#endif
-
-#if defined MPU6050
-const struct gyro_reg_s reg = {
-    .who_am_i       = 0x75,
-    .rate_div       = 0x19,
-    .lpf            = 0x1A,
-    .prod_id        = 0x0C,
-    .user_ctrl      = 0x6A,
-    .fifo_en        = 0x23,
-    .gyro_cfg       = 0x1B,
-    .accel_cfg      = 0x1C,
-    .motion_thr     = 0x1F,
-    .motion_dur     = 0x20,
-    .fifo_count_h   = 0x72,
-    .fifo_r_w       = 0x74,
-    .raw_gyro       = 0x43,
-    .raw_accel      = 0x3B,
-    .temp           = 0x41,
-    .int_enable     = 0x38,
-    .dmp_int_status = 0x39,
-    .int_status     = 0x3A,
-    .pwr_mgmt_1     = 0x6B,
-    .pwr_mgmt_2     = 0x6C,
-    .int_pin_cfg    = 0x37,
-    .mem_r_w        = 0x6F,
-    .accel_offs     = 0x06,
-    .i2c_mst        = 0x24,
-    .bank_sel       = 0x6D,
-    .mem_start_addr = 0x6E,
-    .prgm_start_h   = 0x70
-#ifdef AK89xx_SECONDARY
-    ,.raw_compass   = 0x49,
-    .yg_offs_tc     = 0x01,
-    .s0_addr        = 0x25,
-    .s0_reg         = 0x26,
-    .s0_ctrl        = 0x27,
-    .s1_addr        = 0x28,
-    .s1_reg         = 0x29,
-    .s1_ctrl        = 0x2A,
-    .s4_ctrl        = 0x34,
-    .s0_do          = 0x63,
-    .s1_do          = 0x64,
-    .i2c_delay_ctrl = 0x67
-#endif
-};
-const struct hw_s hw = {
-    .addr           = 0x68,
-    .max_fifo       = 1024,
-    .num_reg        = 118,
-    .temp_sens      = 340,
-    .temp_offset    = -521,
-    .bank_size      = 256
-#if defined AK89xx_SECONDARY
-    ,.compass_fsr    = AK89xx_FSR
-#endif
-};
-
-const struct test_s test = {
-    .gyro_sens      = 32768/250,
-    .accel_sens     = 32768/16,
-    .reg_rate_div   = 0,    /* 1kHz. */
-    .reg_lpf        = 1,    /* 188Hz. */
-    .reg_gyro_fsr   = 0,    /* 250dps. */
-    .reg_accel_fsr  = 0x18, /* 16g. */
-    .wait_ms        = 50,
-    .packet_thresh  = 5,    /* 5% */
-    .min_dps        = 10.f,
-    .max_dps        = 105.f,
-    .max_gyro_var   = 0.14f,
-    .min_g          = 0.3f,
-    .max_g          = 0.95f,
-    .max_accel_var  = 0.14f
-};
-
-static struct gyro_state_s st = {
-    .reg = &reg,
-    .hw = &hw,
-    .test = &test
-};
-#elif defined MPU6500
-const struct gyro_reg_s reg = {
-    .who_am_i       = 0x75,
-    .rate_div       = 0x19,
-    .lpf            = 0x1A,
-    .prod_id        = 0x0C,
-    .user_ctrl      = 0x6A,
-    .fifo_en        = 0x23,
-    .gyro_cfg       = 0x1B,
-    .accel_cfg      = 0x1C,
-    .accel_cfg2     = 0x1D,
-    .lp_accel_odr   = 0x1E,
-    .motion_thr     = 0x1F,
-    .motion_dur     = 0x20,
-    .fifo_count_h   = 0x72,
-    .fifo_r_w       = 0x74,
-    .raw_gyro       = 0x43,
-    .raw_accel      = 0x3B,
-    .temp           = 0x41,
-    .int_enable     = 0x38,
-    .dmp_int_status = 0x39,
-    .int_status     = 0x3A,
-    .accel_intel    = 0x69,
-    .pwr_mgmt_1     = 0x6B,
-    .pwr_mgmt_2     = 0x6C,
-    .int_pin_cfg    = 0x37,
-    .mem_r_w        = 0x6F,
-    .accel_offs     = 0x77,
-    .i2c_mst        = 0x24,
-    .bank_sel       = 0x6D,
-    .mem_start_addr = 0x6E,
-    .prgm_start_h   = 0x70
-#ifdef AK89xx_SECONDARY
-    ,.raw_compass   = 0x49,
-    .s0_addr        = 0x25,
-    .s0_reg         = 0x26,
-    .s0_ctrl        = 0x27,
-    .s1_addr        = 0x28,
-    .s1_reg         = 0x29,
-    .s1_ctrl        = 0x2A,
-    .s4_ctrl        = 0x34,
-    .s0_do          = 0x63,
-    .s1_do          = 0x64,
-    .i2c_delay_ctrl = 0x67
-#endif
-};
-const struct hw_s hw = {
-    .addr           = 0x68,
-    .max_fifo       = 1024,
-    .num_reg        = 128,
-    .temp_sens      = 321,
-    .temp_offset    = 0,
-    .bank_size      = 256
-#if defined AK89xx_SECONDARY
-    ,.compass_fsr    = AK89xx_FSR
-#endif
-};
-
-const struct test_s test = {
-    .gyro_sens      = 32768/250,
-    .accel_sens     = 32768/16,
-    .reg_rate_div   = 0,    /* 1kHz. */
-    .reg_lpf        = 1,    /* 188Hz. */
-    .reg_gyro_fsr   = 0,    /* 250dps. */
-    .reg_accel_fsr  = 0x18, /* 16g. */
-    .wait_ms        = 50,
-    .packet_thresh  = 5,    /* 5% */
-    .min_dps        = 10.f,
-    .max_dps        = 105.f,
-    .max_gyro_var   = 0.14f,
-    .min_g          = 0.3f,
-    .max_g          = 0.95f,
-    .max_accel_var  = 0.14f
-};
-
-static struct gyro_state_s st = {
-    .reg = &reg,
-    .hw = &hw,
-    .test = &test
-};
-#endif
-
-#define MAX_PACKET_LENGTH (12)
-
-#ifdef AK89xx_SECONDARY
-static int setup_compass(void);
-#define MAX_COMPASS_SAMPLE_RATE (100)
-#endif
-
-/**
- *  @brief      Enable/disable data ready interrupt.
- *  If the DMP is on, the DMP interrupt is enabled. Otherwise, the data ready
- *  interrupt is used.
- *  @param[in]  enable      1 to enable interrupt.
- *  @return     0 if successful.
- */
-static int set_int_enable(unsigned char enable)
-{
-    unsigned char tmp;
-
-    if (st.chip_cfg.dmp_on) {
-        if (enable)
-            tmp = BIT_DMP_INT_EN;
-        else
-            tmp = 0x00;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp))
-            return -1;
-        st.chip_cfg.int_enable = tmp;
-    } else {
-        if (!st.chip_cfg.sensors)
-            return -1;
-        if (enable && st.chip_cfg.int_enable)
-            return 0;
-        if (enable)
-            tmp = BIT_DATA_RDY_EN;
-        else
-            tmp = 0x00;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp))
-            return -1;
-        st.chip_cfg.int_enable = tmp;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Register dump for testing.
- *  @return     0 if successful.
- */
-int mpu_reg_dump(void)
-{
-    unsigned char ii;
-    unsigned char data;
-
-    for (ii = 0; ii < st.hw->num_reg; ii++) {
-        if (ii == st.reg->fifo_r_w || ii == st.reg->mem_r_w)
-            continue;
-        if (i2c_read(st.hw->addr, ii, 1, &data))
-            return -1;
-        log_i("%#5x: %#5x\r\n", ii, data);
-    }
-    return 0;
-}
-
-/**
- *  @brief      Read from a single register.
- *  NOTE: The memory and FIFO read/write registers cannot be accessed.
- *  @param[in]  reg     Register address.
- *  @param[out] data    Register data.
- *  @return     0 if successful.
- */
-int mpu_read_reg(unsigned char reg, unsigned char *data)
-{
-    if (reg == st.reg->fifo_r_w || reg == st.reg->mem_r_w)
-        return -1;
-    if (reg >= st.hw->num_reg)
-        return -1;
-    return i2c_read(st.hw->addr, reg, 1, data);
-}
-
-/**
- *  @brief      Initialize hardware.
- *  Initial configuration:\n
- *  Gyro FSR: +/- 2000DPS\n
- *  Accel FSR +/- 2G\n
- *  DLPF: 42Hz\n
- *  FIFO rate: 50Hz\n
- *  Clock source: Gyro PLL\n
- *  FIFO: Disabled.\n
- *  Data ready interrupt: Disabled, active low, unlatched.
- *  @param[in]  int_param   Platform-specific parameters to interrupt API.
- *  @return     0 if successful.
- */
-int mpu_init(struct int_param_s *int_param)
-{
-    unsigned char data[6], rev;
-
-    /* Reset device. */
-    data[0] = BIT_RESET;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
-        return -1;
-    delay_ms(100);
-
-    /* Wake up chip. */
-    data[0] = 0x00;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
-        return -1;
-
-#if defined MPU6050
-    /* Check product revision. */
-    if (i2c_read(st.hw->addr, st.reg->accel_offs, 6, data))
-        return -1;
-    rev = ((data[5] & 0x01) << 2) | ((data[3] & 0x01) << 1) |
-        (data[1] & 0x01);
-
-    if (rev) {
-        /* Congrats, these parts are better. */
-        if (rev == 1)
-            st.chip_cfg.accel_half = 1;
-        else if (rev == 2)
-            st.chip_cfg.accel_half = 0;
-        else {
-            log_e("Unsupported software product rev %d.\n", rev);
-            return -1;
-        }
-    } else {
-        if (i2c_read(st.hw->addr, st.reg->prod_id, 1, data))
-            return -1;
-        rev = data[0] & 0x0F;
-        if (!rev) {
-            log_e("Product ID read as 0 indicates device is either "
-                "incompatible or an MPU3050.\n");
-            return -1;
-        } else if (rev == 4) {
-            log_i("Half sensitivity part found.\n");
-            st.chip_cfg.accel_half = 1;
-        } else
-            st.chip_cfg.accel_half = 0;
-    }
-#elif defined MPU6500
-#define MPU6500_MEM_REV_ADDR    (0x17)
-    if (mpu_read_mem(MPU6500_MEM_REV_ADDR, 1, &rev))
-        return -1;
-    if (rev == 0x1)
-        st.chip_cfg.accel_half = 0;
-    else {
-        log_e("Unsupported software product rev %d.\n", rev);
-        return -1;
-    }
-
-    /* MPU6500 shares 4kB of memory between the DMP and the FIFO. Since the
-     * first 3kB are needed by the DMP, we'll use the last 1kB for the FIFO.
-     */
-    data[0] = BIT_FIFO_SIZE_1024 | 0x8;
-    if (i2c_write(st.hw->addr, st.reg->accel_cfg2, 1, data))
-        return -1;
-#endif
-
-    /* Set to invalid values to ensure no I2C writes are skipped. */
-    st.chip_cfg.sensors = 0xFF;
-    st.chip_cfg.gyro_fsr = 0xFF;
-    st.chip_cfg.accel_fsr = 0xFF;
-    st.chip_cfg.lpf = 0xFF;
-    st.chip_cfg.sample_rate = 0xFFFF;
-    st.chip_cfg.fifo_enable = 0xFF;
-    st.chip_cfg.bypass_mode = 0xFF;
-#ifdef AK89xx_SECONDARY
-    st.chip_cfg.compass_sample_rate = 0xFFFF;
-#endif
-    /* mpu_set_sensors always preserves this setting. */
-    st.chip_cfg.clk_src = INV_CLK_PLL;
-    /* Handled in next call to mpu_set_bypass. */
-    st.chip_cfg.active_low_int = 1;
-    st.chip_cfg.latched_int = 0;
-    st.chip_cfg.int_motion_only = 0;
-    st.chip_cfg.lp_accel_mode = 0;
-    memset(&st.chip_cfg.cache, 0, sizeof(st.chip_cfg.cache));
-    st.chip_cfg.dmp_on = 0;
-    st.chip_cfg.dmp_loaded = 0;
-    st.chip_cfg.dmp_sample_rate = 0;
-
-    if (mpu_set_gyro_fsr(2000))
-        return -1;
-    if (mpu_set_accel_fsr(2))
-        return -1;
-    if (mpu_set_lpf(42))
-        return -1;
-    if (mpu_set_sample_rate(50))
-        return -1;
-    if (mpu_configure_fifo(0))
-        return -1;
-
-#ifndef MOTION_DRIVER_TARGET_STM32
-    if (int_param)
-        reg_int_cb(int_param);
-#endif
-
-#ifdef AK89xx_SECONDARY
-    setup_compass();
-    if (mpu_set_compass_sample_rate(10))
-        return -1;
-#else
-    /* Already disabled by setup_compass. */
-    if (mpu_set_bypass(0))
-        return -1;
-#endif
-
-    mpu_set_sensors(0);
-    return 0;
-}
-
-/**
- *  @brief      Enter low-power accel-only mode.
- *  In low-power accel mode, the chip goes to sleep and only wakes up to sample
- *  the accelerometer at one of the following frequencies:
- *  \n MPU6050: 1.25Hz, 5Hz, 20Hz, 40Hz
- *  \n MPU6500: 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz
- *  \n If the requested rate is not one listed above, the device will be set to
- *  the next highest rate. Requesting a rate above the maximum supported
- *  frequency will result in an error.
- *  \n To select a fractional wake-up frequency, round down the value passed to
- *  @e rate.
- *  @param[in]  rate        Minimum sampling rate, or zero to disable LP
- *                          accel mode.
- *  @return     0 if successful.
- */
-int mpu_lp_accel_mode(unsigned char rate)
-{
-    unsigned char tmp[2];
-
-    if (rate > 40)
-        return -1;
-
-    if (!rate) {
-        mpu_set_int_latched(0);
-        tmp[0] = 0;
-        tmp[1] = BIT_STBY_XYZG;
-        if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp))
-            return -1;
-        st.chip_cfg.lp_accel_mode = 0;
-        return 0;
-    }
-    /* For LP accel, we automatically configure the hardware to produce latched
-     * interrupts. In LP accel mode, the hardware cycles into sleep mode before
-     * it gets a chance to deassert the interrupt pin; therefore, we shift this
-     * responsibility over to the MCU.
-     *
-     * Any register read will clear the interrupt.
-     */
-    mpu_set_int_latched(1);
-#if defined MPU6050
-    tmp[0] = BIT_LPA_CYCLE;
-    if (rate == 1) {
-        tmp[1] = INV_LPA_1_25HZ;
-        mpu_set_lpf(5);
-    } else if (rate <= 5) {
-        tmp[1] = INV_LPA_5HZ;
-        mpu_set_lpf(5);
-    } else if (rate <= 20) {
-        tmp[1] = INV_LPA_20HZ;
-        mpu_set_lpf(10);
-    } else {
-        tmp[1] = INV_LPA_40HZ;
-        mpu_set_lpf(20);
-    }
-    tmp[1] = (tmp[1] << 6) | BIT_STBY_XYZG;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp))
-        return -1;
-#elif defined MPU6500
-    /* Set wake frequency. */
-    if (rate == 1)
-        tmp[0] = INV_LPA_1_25HZ;
-    else if (rate == 2)
-        tmp[0] = INV_LPA_2_5HZ;
-    else if (rate <= 5)
-        tmp[0] = INV_LPA_5HZ;
-    else if (rate <= 10)
-        tmp[0] = INV_LPA_10HZ;
-    else if (rate <= 20)
-        tmp[0] = INV_LPA_20HZ;
-    else if (rate <= 40)
-        tmp[0] = INV_LPA_40HZ;
-    else if (rate <= 80)
-        tmp[0] = INV_LPA_80HZ;
-    else if (rate <= 160)
-        tmp[0] = INV_LPA_160HZ;
-    else if (rate <= 320)
-        tmp[0] = INV_LPA_320HZ;
-    else
-        tmp[0] = INV_LPA_640HZ;
-    if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, tmp))
-        return -1;
-    tmp[0] = BIT_LPA_CYCLE;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, tmp))
-        return -1;
-#endif
-    st.chip_cfg.sensors = INV_XYZ_ACCEL;
-    st.chip_cfg.clk_src = 0;
-    st.chip_cfg.lp_accel_mode = 1;
-    mpu_configure_fifo(0);
-
-    return 0;
-}
-
-/**
- *  @brief      Read raw gyro data directly from the registers.
- *  @param[out] data        Raw data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds. Null if not needed.
- *  @return     0 if successful.
- */
-int mpu_get_gyro_reg(short *data, unsigned long *timestamp)
-{
-    unsigned char tmp[6];
-
-    if (!(st.chip_cfg.sensors & INV_XYZ_GYRO))
-        return -1;
-
-    if (i2c_read(st.hw->addr, st.reg->raw_gyro, 6, tmp))
-        return -1;
-    data[0] = (tmp[0] << 8) | tmp[1];
-    data[1] = (tmp[2] << 8) | tmp[3];
-    data[2] = (tmp[4] << 8) | tmp[5];
-    if (timestamp)
-        get_ms(timestamp);
-    return 0;
-}
-
-/**
- *  @brief      Read raw accel data directly from the registers.
- *  @param[out] data        Raw data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds. Null if not needed.
- *  @return     0 if successful.
- */
-int mpu_get_accel_reg(short *data, unsigned long *timestamp)
-{
-    unsigned char tmp[6];
-
-    if (!(st.chip_cfg.sensors & INV_XYZ_ACCEL))
-        return -1;
-
-    if (i2c_read(st.hw->addr, st.reg->raw_accel, 6, tmp))
-        return -1;
-    data[0] = (tmp[0] << 8) | tmp[1];
-    data[1] = (tmp[2] << 8) | tmp[3];
-    data[2] = (tmp[4] << 8) | tmp[5];
-    if (timestamp)
-        get_ms(timestamp);
-    return 0;
-}
-
-/**
- *  @brief      Read temperature data directly from the registers.
- *  @param[out] data        Data in q16 format.
- *  @param[out] timestamp   Timestamp in milliseconds. Null if not needed.
- *  @return     0 if successful.
- */
-int mpu_get_temperature(long *data, unsigned long *timestamp)
-{
-    unsigned char tmp[2];
-    short raw;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    if (i2c_read(st.hw->addr, st.reg->temp, 2, tmp))
-        return -1;
-    raw = (tmp[0] << 8) | tmp[1];
-    if (timestamp)
-        get_ms(timestamp);
-
-    data[0] = (long)((35 + ((raw - (float)st.hw->temp_offset) / st.hw->temp_sens)) * 65536L);
-    return 0;
-}
-
-/**
- *  @brief      Push biases to the accel bias registers.
- *  This function expects biases relative to the current sensor output, and
- *  these biases will be added to the factory-supplied values.
- *  @param[in]  accel_bias  New biases.
- *  @return     0 if successful.
- */
-int mpu_set_accel_bias(const long *accel_bias)
-{
-    unsigned char data[6];
-    short accel_hw[3];
-    short got_accel[3];
-    short fg[3];
-
-    if (!accel_bias)
-        return -1;
-    if (!accel_bias[0] && !accel_bias[1] && !accel_bias[2])
-        return 0;
-
-    if (i2c_read(st.hw->addr, 3, 3, data))
-        return -1;
-    fg[0] = ((data[0] >> 4) + 8) & 0xf;
-    fg[1] = ((data[1] >> 4) + 8) & 0xf;
-    fg[2] = ((data[2] >> 4) + 8) & 0xf;
-
-    accel_hw[0] = (short)(accel_bias[0] * 2 / (64 + fg[0]));
-    accel_hw[1] = (short)(accel_bias[1] * 2 / (64 + fg[1]));
-    accel_hw[2] = (short)(accel_bias[2] * 2 / (64 + fg[2]));
-
-    if (i2c_read(st.hw->addr, 0x06, 6, data))
-        return -1;
-
-    got_accel[0] = ((short)data[0] << 8) | data[1];
-    got_accel[1] = ((short)data[2] << 8) | data[3];
-    got_accel[2] = ((short)data[4] << 8) | data[5];
-
-    accel_hw[0] += got_accel[0];
-    accel_hw[1] += got_accel[1];
-    accel_hw[2] += got_accel[2];
-
-    data[0] = (accel_hw[0] >> 8) & 0xff;
-    data[1] = (accel_hw[0]) & 0xff;
-    data[2] = (accel_hw[1] >> 8) & 0xff;
-    data[3] = (accel_hw[1]) & 0xff;
-    data[4] = (accel_hw[2] >> 8) & 0xff;
-    data[5] = (accel_hw[2]) & 0xff;
-
-    if (i2c_write(st.hw->addr, 0x06, 6, data))
-        return -1;
-    return 0;
-}
-
-/**
- *  @brief  Reset FIFO read/write pointers.
- *  @return 0 if successful.
- */
-int mpu_reset_fifo(void)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    data = 0;
-    if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-        return -1;
-
-    if (st.chip_cfg.dmp_on) {
-        data = BIT_FIFO_RST | BIT_DMP_RST;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-            return -1;
-        delay_ms(50);
-        data = BIT_DMP_EN | BIT_FIFO_EN;
-        if (st.chip_cfg.sensors & INV_XYZ_COMPASS)
-            data |= BIT_AUX_IF_EN;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-            return -1;
-        if (st.chip_cfg.int_enable)
-            data = BIT_DMP_INT_EN;
-        else
-            data = 0;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data))
-            return -1;
-        data = 0;
-        if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &data))
-            return -1;
-    } else {
-        data = BIT_FIFO_RST;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-            return -1;
-        if (st.chip_cfg.bypass_mode || !(st.chip_cfg.sensors & INV_XYZ_COMPASS))
-            data = BIT_FIFO_EN;
-        else
-            data = BIT_FIFO_EN | BIT_AUX_IF_EN;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-            return -1;
-        delay_ms(50);
-        if (st.chip_cfg.int_enable)
-            data = BIT_DATA_RDY_EN;
-        else
-            data = 0;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data))
-            return -1;
-        if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &st.chip_cfg.fifo_enable))
-            return -1;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Get the gyro full-scale range.
- *  @param[out] fsr Current full-scale range.
- *  @return     0 if successful.
- */
-int mpu_get_gyro_fsr(unsigned short *fsr)
-{
-    switch (st.chip_cfg.gyro_fsr) {
-    case INV_FSR_250DPS:
-        fsr[0] = 250;
-        break;
-    case INV_FSR_500DPS:
-        fsr[0] = 500;
-        break;
-    case INV_FSR_1000DPS:
-        fsr[0] = 1000;
-        break;
-    case INV_FSR_2000DPS:
-        fsr[0] = 2000;
-        break;
-    default:
-        fsr[0] = 0;
-        break;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Set the gyro full-scale range.
- *  @param[in]  fsr Desired full-scale range.
- *  @return     0 if successful.
- */
-int mpu_set_gyro_fsr(unsigned short fsr)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    switch (fsr) {
-    case 250:
-        data = INV_FSR_250DPS << 3;
-        break;
-    case 500:
-        data = INV_FSR_500DPS << 3;
-        break;
-    case 1000:
-        data = INV_FSR_1000DPS << 3;
-        break;
-    case 2000:
-        data = INV_FSR_2000DPS << 3;
-        break;
-    default:
-        return -1;
-    }
-
-    if (st.chip_cfg.gyro_fsr == (data >> 3))
-        return 0;
-    if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, &data))
-        return -1;
-    st.chip_cfg.gyro_fsr = data >> 3;
-    return 0;
-}
-
-/**
- *  @brief      Get the accel full-scale range.
- *  @param[out] fsr Current full-scale range.
- *  @return     0 if successful.
- */
-int mpu_get_accel_fsr(unsigned char *fsr)
-{
-    switch (st.chip_cfg.accel_fsr) {
-    case INV_FSR_2G:
-        fsr[0] = 2;
-        break;
-    case INV_FSR_4G:
-        fsr[0] = 4;
-        break;
-    case INV_FSR_8G:
-        fsr[0] = 8;
-        break;
-    case INV_FSR_16G:
-        fsr[0] = 16;
-        break;
-    default:
-        return -1;
-    }
-    if (st.chip_cfg.accel_half)
-        fsr[0] <<= 1;
-    return 0;
-}
-
-/**
- *  @brief      Set the accel full-scale range.
- *  @param[in]  fsr Desired full-scale range.
- *  @return     0 if successful.
- */
-int mpu_set_accel_fsr(unsigned char fsr)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    switch (fsr) {
-    case 2:
-        data = INV_FSR_2G << 3;
-        break;
-    case 4:
-        data = INV_FSR_4G << 3;
-        break;
-    case 8:
-        data = INV_FSR_8G << 3;
-        break;
-    case 16:
-        data = INV_FSR_16G << 3;
-        break;
-    default:
-        return -1;
-    }
-
-    if (st.chip_cfg.accel_fsr == (data >> 3))
-        return 0;
-    if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, &data))
-        return -1;
-    st.chip_cfg.accel_fsr = data >> 3;
-    return 0;
-}
-
-/**
- *  @brief      Get the current DLPF setting.
- *  @param[out] lpf Current LPF setting.
- *  0 if successful.
- */
-int mpu_get_lpf(unsigned short *lpf)
-{
-    switch (st.chip_cfg.lpf) {
-    case INV_FILTER_188HZ:
-        lpf[0] = 188;
-        break;
-    case INV_FILTER_98HZ:
-        lpf[0] = 98;
-        break;
-    case INV_FILTER_42HZ:
-        lpf[0] = 42;
-        break;
-    case INV_FILTER_20HZ:
-        lpf[0] = 20;
-        break;
-    case INV_FILTER_10HZ:
-        lpf[0] = 10;
-        break;
-    case INV_FILTER_5HZ:
-        lpf[0] = 5;
-        break;
-    case INV_FILTER_256HZ_NOLPF2:
-    case INV_FILTER_2100HZ_NOLPF:
-    default:
-        lpf[0] = 0;
-        break;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Set digital low pass filter.
- *  The following LPF settings are supported: 188, 98, 42, 20, 10, 5.
- *  @param[in]  lpf Desired LPF setting.
- *  @return     0 if successful.
- */
-int mpu_set_lpf(unsigned short lpf)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    if (lpf >= 188)
-        data = INV_FILTER_188HZ;
-    else if (lpf >= 98)
-        data = INV_FILTER_98HZ;
-    else if (lpf >= 42)
-        data = INV_FILTER_42HZ;
-    else if (lpf >= 20)
-        data = INV_FILTER_20HZ;
-    else if (lpf >= 10)
-        data = INV_FILTER_10HZ;
-    else
-        data = INV_FILTER_5HZ;
-
-    if (st.chip_cfg.lpf == data)
-        return 0;
-    if (i2c_write(st.hw->addr, st.reg->lpf, 1, &data))
-        return -1;
-    st.chip_cfg.lpf = data;
-    return 0;
-}
-
-/**
- *  @brief      Get sampling rate.
- *  @param[out] rate    Current sampling rate (Hz).
- *  @return     0 if successful.
- */
-int mpu_get_sample_rate(unsigned short *rate)
-{
-    if (st.chip_cfg.dmp_on)
-        return -1;
-    else
-        rate[0] = st.chip_cfg.sample_rate;
-
-    return 0;
-}
-
-/**
- *  @brief      Set sampling rate.
- *  Sampling rate must be between 4Hz and 1kHz.
- *  @param[in]  rate    Desired sampling rate (Hz).
- *  @return     0 if successful.
- */
-int mpu_set_sample_rate(unsigned short rate)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    if (st.chip_cfg.dmp_on)
-        return -1;
-    else {
-        if (st.chip_cfg.lp_accel_mode) {
-            if (rate && (rate <= 40)) {
-                /* Just stay in low-power accel mode. */
-                mpu_lp_accel_mode(rate);
-                return 0;
-            }
-            /* Requested rate exceeds the allowed frequencies in LP accel mode,
-             * switch back to full-power mode.
-             */
-            mpu_lp_accel_mode(0);
-        }
-        if (rate < 4)
-            rate = 4;
-        else if (rate > 1000)
-            rate = 1000;
-
-        data = 1000 / rate - 1;
-        if (i2c_write(st.hw->addr, st.reg->rate_div, 1, &data))
-            return -1;
-
-        st.chip_cfg.sample_rate = 1000 / (1 + data);
-
-#ifdef AK89xx_SECONDARY
-        mpu_set_compass_sample_rate(min(st.chip_cfg.compass_sample_rate, MAX_COMPASS_SAMPLE_RATE));
-#endif
-
-        /* Automatically set LPF to 1/2 sampling rate. */
-        mpu_set_lpf(st.chip_cfg.sample_rate >> 1);
-        return 0;
-    }
-}
-
-/**
- *  @brief      Get compass sampling rate.
- *  @param[out] rate    Current compass sampling rate (Hz).
- *  @return     0 if successful.
- */
-int mpu_get_compass_sample_rate(unsigned short *rate)
-{
-#ifdef AK89xx_SECONDARY
-    rate[0] = st.chip_cfg.compass_sample_rate;
-    return 0;
-#else
-    rate[0] = 0;
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Set compass sampling rate.
- *  The compass on the auxiliary I2C bus is read by the MPU hardware at a
- *  maximum of 100Hz. The actual rate can be set to a fraction of the gyro
- *  sampling rate.
- *
- *  \n WARNING: The new rate may be different than what was requested. Call
- *  mpu_get_compass_sample_rate to check the actual setting.
- *  @param[in]  rate    Desired compass sampling rate (Hz).
- *  @return     0 if successful.
- */
-int mpu_set_compass_sample_rate(unsigned short rate)
-{
-#ifdef AK89xx_SECONDARY
-    unsigned char div;
-    if (!rate || rate > st.chip_cfg.sample_rate || rate > MAX_COMPASS_SAMPLE_RATE)
-        return -1;
-
-    div = st.chip_cfg.sample_rate / rate - 1;
-    if (i2c_write(st.hw->addr, st.reg->s4_ctrl, 1, &div))
-        return -1;
-    st.chip_cfg.compass_sample_rate = st.chip_cfg.sample_rate / (div + 1);
-    return 0;
-#else
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Get gyro sensitivity scale factor.
- *  @param[out] sens    Conversion from hardware units to dps.
- *  @return     0 if successful.
- */
-int mpu_get_gyro_sens(float *sens)
-{
-    switch (st.chip_cfg.gyro_fsr) {
-    case INV_FSR_250DPS:
-        sens[0] = 131.f;
-        break;
-    case INV_FSR_500DPS:
-        sens[0] = 65.5f;
-        break;
-    case INV_FSR_1000DPS:
-        sens[0] = 32.8f;
-        break;
-    case INV_FSR_2000DPS:
-        sens[0] = 16.4f;
-        break;
-    default:
-        return -1;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Get accel sensitivity scale factor.
- *  @param[out] sens    Conversion from hardware units to g's.
- *  @return     0 if successful.
- */
-int mpu_get_accel_sens(unsigned short *sens)
-{
-    switch (st.chip_cfg.accel_fsr) {
-    case INV_FSR_2G:
-        sens[0] = 16384;
-        break;
-    case INV_FSR_4G:
-        sens[0] = 8092;
-        break;
-    case INV_FSR_8G:
-        sens[0] = 4096;
-        break;
-    case INV_FSR_16G:
-        sens[0] = 2048;
-        break;
-    default:
-        return -1;
-    }
-    if (st.chip_cfg.accel_half)
-        sens[0] >>= 1;
-    return 0;
-}
-
-/**
- *  @brief      Get current FIFO configuration.
- *  @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  @param[out] sensors Mask of sensors in FIFO.
- *  @return     0 if successful.
- */
-int mpu_get_fifo_config(unsigned char *sensors)
-{
-    sensors[0] = st.chip_cfg.fifo_enable;
-    return 0;
-}
-
-/**
- *  @brief      Select which sensors are pushed to FIFO.
- *  @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  @param[in]  sensors Mask of sensors to push to FIFO.
- *  @return     0 if successful.
- */
-int mpu_configure_fifo(unsigned char sensors)
-{
-    unsigned char prev;
-    int result = 0;
-
-    /* Compass data isn't going into the FIFO. Stop trying. */
-    sensors &= ~INV_XYZ_COMPASS;
-
-    if (st.chip_cfg.dmp_on)
-        return 0;
-    else {
-        if (!(st.chip_cfg.sensors))
-            return -1;
-        prev = st.chip_cfg.fifo_enable;
-        st.chip_cfg.fifo_enable = sensors & st.chip_cfg.sensors;
-        if (st.chip_cfg.fifo_enable != sensors)
-            /* You're not getting what you asked for. Some sensors are
-             * asleep.
-             */
-            result = -1;
-        else
-            result = 0;
-        if (sensors || st.chip_cfg.lp_accel_mode)
-            set_int_enable(1);
-        else
-            set_int_enable(0);
-        if (sensors) {
-            if (mpu_reset_fifo()) {
-                st.chip_cfg.fifo_enable = prev;
-                return -1;
-            }
-        }
-    }
-
-    return result;
-}
-
-/**
- *  @brief      Get current power state.
- *  @param[in]  power_on    1 if turned on, 0 if suspended.
- *  @return     0 if successful.
- */
-int mpu_get_power_state(unsigned char *power_on)
-{
-    if (st.chip_cfg.sensors)
-        power_on[0] = 1;
-    else
-        power_on[0] = 0;
-    return 0;
-}
-
-/**
- *  @brief      Turn specific sensors on/off.
- *  @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  \n INV_XYZ_COMPASS
- *  @param[in]  sensors    Mask of sensors to wake.
- *  @return     0 if successful.
- */
-int mpu_set_sensors(unsigned char sensors)
-{
-    unsigned char data;
-#ifdef AK89xx_SECONDARY
-    unsigned char user_ctrl;
-#endif
-
-    if (sensors & INV_XYZ_GYRO)
-        data = INV_CLK_PLL;
-    else if (sensors)
-        data = 0;
-    else
-        data = BIT_SLEEP;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, &data)) {
-        st.chip_cfg.sensors = 0;
-        return -1;
-    }
-    st.chip_cfg.clk_src = data & ~BIT_SLEEP;
-
-    data = 0;
-    if (!(sensors & INV_X_GYRO))
-        data |= BIT_STBY_XG;
-    if (!(sensors & INV_Y_GYRO))
-        data |= BIT_STBY_YG;
-    if (!(sensors & INV_Z_GYRO))
-        data |= BIT_STBY_ZG;
-    if (!(sensors & INV_XYZ_ACCEL))
-        data |= BIT_STBY_XYZA;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_2, 1, &data)) {
-        st.chip_cfg.sensors = 0;
-        return -1;
-    }
-
-    if (sensors && (sensors != INV_XYZ_ACCEL))
-        /* Latched interrupts only used in LP accel mode. */
-        mpu_set_int_latched(0);
-
-#ifdef AK89xx_SECONDARY
-#ifdef AK89xx_BYPASS
-    if (sensors & INV_XYZ_COMPASS)
-        mpu_set_bypass(1);
-    else
-        mpu_set_bypass(0);
-#else
-    if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &user_ctrl))
-        return -1;
-    /* Handle AKM power management. */
-    if (sensors & INV_XYZ_COMPASS) {
-        data = AKM_SINGLE_MEASUREMENT;
-        user_ctrl |= BIT_AUX_IF_EN;
-    } else {
-        data = AKM_POWER_DOWN;
-        user_ctrl &= ~BIT_AUX_IF_EN;
-    }
-    if (st.chip_cfg.dmp_on)
-        user_ctrl |= BIT_DMP_EN;
-    else
-        user_ctrl &= ~BIT_DMP_EN;
-    if (i2c_write(st.hw->addr, st.reg->s1_do, 1, &data))
-        return -1;
-    /* Enable/disable I2C master mode. */
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &user_ctrl))
-        return -1;
-#endif
-#endif
-
-    st.chip_cfg.sensors = sensors;
-    st.chip_cfg.lp_accel_mode = 0;
-    delay_ms(50);
-    return 0;
-}
-
-/**
- *  @brief      Read the MPU interrupt status registers.
- *  @param[out] status  Mask of interrupt bits.
- *  @return     0 if successful.
- */
-int mpu_get_int_status(short *status)
-{
-    unsigned char tmp[2];
-    if (!st.chip_cfg.sensors)
-        return -1;
-    if (i2c_read(st.hw->addr, st.reg->dmp_int_status, 2, tmp))
-        return -1;
-    status[0] = (tmp[0] << 8) | tmp[1];
-    return 0;
-}
-
-/**
- *  @brief      Get one packet from the FIFO.
- *  If @e sensors does not contain a particular sensor, disregard the data
- *  returned to that pointer.
- *  \n @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  \n If the FIFO has no new data, @e sensors will be zero.
- *  \n If the FIFO is disabled, @e sensors will be zero and this function will
- *  return a non-zero error code.
- *  @param[out] gyro        Gyro data in hardware units.
- *  @param[out] accel       Accel data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds.
- *  @param[out] sensors     Mask of sensors read from FIFO.
- *  @param[out] more        Number of remaining packets.
- *  @return     0 if successful.
- */
-int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
-        unsigned char *sensors, unsigned char *more)
-{
-    /* Assumes maximum packet size is gyro (6) + accel (6). */
-    unsigned char data[MAX_PACKET_LENGTH];
-    unsigned char packet_size = 0;
-    unsigned short fifo_count, index = 0;
-
-    if (st.chip_cfg.dmp_on)
-        return -1;
-
-    sensors[0] = 0;
-    if (!st.chip_cfg.sensors)
-        return -1;
-    if (!st.chip_cfg.fifo_enable)
-        return -1;
-
-    if (st.chip_cfg.fifo_enable & INV_X_GYRO)
-        packet_size += 2;
-    if (st.chip_cfg.fifo_enable & INV_Y_GYRO)
-        packet_size += 2;
-    if (st.chip_cfg.fifo_enable & INV_Z_GYRO)
-        packet_size += 2;
-    if (st.chip_cfg.fifo_enable & INV_XYZ_ACCEL)
-        packet_size += 6;
-
-    if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data))
-        return -1;
-    fifo_count = (data[0] << 8) | data[1];
-    if (fifo_count < packet_size)
-        return 0;
-//    log_i("FIFO count: %hd\n", fifo_count);
-    if (fifo_count > (st.hw->max_fifo >> 1)) {
-        /* FIFO is 50% full, better check overflow bit. */
-        if (i2c_read(st.hw->addr, st.reg->int_status, 1, data))
-            return -1;
-        if (data[0] & BIT_FIFO_OVERFLOW) {
-            mpu_reset_fifo();
-            return -2;
-        }
-    }
-    get_ms((unsigned long*)timestamp);
-
-    if (i2c_read(st.hw->addr, st.reg->fifo_r_w, packet_size, data))
-        return -1;
-    more[0] = fifo_count / packet_size - 1;
-    sensors[0] = 0;
-
-    if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_XYZ_ACCEL) {
-        accel[0] = (data[index+0] << 8) | data[index+1];
-        accel[1] = (data[index+2] << 8) | data[index+3];
-        accel[2] = (data[index+4] << 8) | data[index+5];
-        sensors[0] |= INV_XYZ_ACCEL;
-        index += 6;
-    }
-    if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_X_GYRO) {
-        gyro[0] = (data[index+0] << 8) | data[index+1];
-        sensors[0] |= INV_X_GYRO;
-        index += 2;
-    }
-    if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_Y_GYRO) {
-        gyro[1] = (data[index+0] << 8) | data[index+1];
-        sensors[0] |= INV_Y_GYRO;
-        index += 2;
-    }
-    if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_Z_GYRO) {
-        gyro[2] = (data[index+0] << 8) | data[index+1];
-        sensors[0] |= INV_Z_GYRO;
-        index += 2;
-    }
-
-    return 0;
-}
-
-/**
- *  @brief      Get one unparsed packet from the FIFO.
- *  This function should be used if the packet is to be parsed elsewhere.
- *  @param[in]  length  Length of one FIFO packet.
- *  @param[in]  data    FIFO packet.
- *  @param[in]  more    Number of remaining packets.
- */
-int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
-    unsigned char *more)
-{
-    unsigned char tmp[2];
-    unsigned short fifo_count;
-
-//    printf("addr %d, dmp_on %d, sensors %d\r\n", st.hw->addr, st.chip_cfg.dmp_on, st.chip_cfg.sensors);
-
-    if (!st.chip_cfg.dmp_on)
-        return -1;
-    if (!st.chip_cfg.sensors)
-        return -1;
-
-//    printf("----1\r\n");
-
-    if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, tmp))
-        return -1;
-
-//    printf("----2\r\n");
-
-    fifo_count = (tmp[0] << 8) | tmp[1];
-    if (fifo_count < length) {
-        more[0] = 0;
-        return -1;
-    }
-
-//    printf("----3\r\n");
-    if (fifo_count > (st.hw->max_fifo >> 1)) {
-
-//        printf("----3.1\r\n");
-        /* FIFO is 50% full, better check overflow bit. */
-        if (i2c_read(st.hw->addr, st.reg->int_status, 1, tmp))
-            return -1;
-
-//        printf("----3.2\r\n");
-        if (tmp[0] & BIT_FIFO_OVERFLOW) {
-            mpu_reset_fifo();
-            return -2;
-        }
-    }
-
-//    printf("----4\r\n");
-    if (i2c_read(st.hw->addr, st.reg->fifo_r_w, length, data))
-        return -1;
-
-    more[0] = fifo_count / length - 1;
-    return 0;
-}
-
-/**
- *  @brief      Set device to bypass mode.
- *  @param[in]  bypass_on   1 to enable bypass mode.
- *  @return     0 if successful.
- */
-int mpu_set_bypass(unsigned char bypass_on)
-{
-    unsigned char tmp;
-
-    if (st.chip_cfg.bypass_mode == bypass_on)
-        return 0;
-
-    if (bypass_on) {
-        if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
-            return -1;
-        tmp &= ~BIT_AUX_IF_EN;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
-            return -1;
-        delay_ms(3);
-        tmp = BIT_BYPASS_EN;
-        if (st.chip_cfg.active_low_int)
-            tmp |= BIT_ACTL;
-        if (st.chip_cfg.latched_int)
-            tmp |= BIT_LATCH_EN | BIT_ANY_RD_CLR;
-        if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp))
-            return -1;
-    } else {
-        /* Enable I2C master mode if compass is being used. */
-        if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
-            return -1;
-        if (st.chip_cfg.sensors & INV_XYZ_COMPASS)
-            tmp |= BIT_AUX_IF_EN;
-        else
-            tmp &= ~BIT_AUX_IF_EN;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
-            return -1;
-        delay_ms(3);
-        if (st.chip_cfg.active_low_int)
-            tmp = BIT_ACTL;
-        else
-            tmp = 0;
-        if (st.chip_cfg.latched_int)
-            tmp |= BIT_LATCH_EN | BIT_ANY_RD_CLR;
-        if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp))
-            return -1;
-    }
-    st.chip_cfg.bypass_mode = bypass_on;
-    return 0;
-}
-
-/**
- *  @brief      Set interrupt level.
- *  @param[in]  active_low  1 for active low, 0 for active high.
- *  @return     0 if successful.
- */
-int mpu_set_int_level(unsigned char active_low)
-{
-    st.chip_cfg.active_low_int = active_low;
-    return 0;
-}
-
-/**
- *  @brief      Enable latched interrupts.
- *  Any MPU register will clear the interrupt.
- *  @param[in]  enable  1 to enable, 0 to disable.
- *  @return     0 if successful.
- */
-int mpu_set_int_latched(unsigned char enable)
-{
-    unsigned char tmp;
-    if (st.chip_cfg.latched_int == enable)
-        return 0;
-
-    if (enable)
-        tmp = BIT_LATCH_EN | BIT_ANY_RD_CLR;
-    else
-        tmp = 0;
-    if (st.chip_cfg.bypass_mode)
-        tmp |= BIT_BYPASS_EN;
-    if (st.chip_cfg.active_low_int)
-        tmp |= BIT_ACTL;
-    if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp))
-        return -1;
-    st.chip_cfg.latched_int = enable;
-    return 0;
-}
-
-#ifdef MPU6050
-static int get_accel_prod_shift(float *st_shift)
-{
-    unsigned char tmp[4], shift_code[3], ii;
-
-    if (i2c_read(st.hw->addr, 0x0D, 4, tmp))
-        return 0x07;
-
-    shift_code[0] = ((tmp[0] & 0xE0) >> 3) | ((tmp[3] & 0x30) >> 4);
-    shift_code[1] = ((tmp[1] & 0xE0) >> 3) | ((tmp[3] & 0x0C) >> 2);
-    shift_code[2] = ((tmp[2] & 0xE0) >> 3) | (tmp[3] & 0x03);
-    for (ii = 0; ii < 3; ii++) {
-        if (!shift_code[ii]) {
-            st_shift[ii] = 0.f;
-            continue;
-        }
-        /* Equivalent to..
-         * st_shift[ii] = 0.34f * powf(0.92f/0.34f, (shift_code[ii]-1) / 30.f)
-         */
-        st_shift[ii] = 0.34f;
-        while (--shift_code[ii])
-            st_shift[ii] *= 1.034f;
-    }
-    return 0;
-}
-
-static int accel_self_test(long *bias_regular, long *bias_st)
-{
-    int jj, result = 0;
-    float st_shift[3], st_shift_cust, st_shift_var;
-
-    get_accel_prod_shift(st_shift);
-    for(jj = 0; jj < 3; jj++) {
-        st_shift_cust = labs(bias_regular[jj] - bias_st[jj]) / 65536.f;
-        if (st_shift[jj]) {
-            st_shift_var = st_shift_cust / st_shift[jj] - 1.f;
-            if (fabs(st_shift_var) > test.max_accel_var)
-                result |= 1 << jj;
-        } else if ((st_shift_cust < test.min_g) ||
-            (st_shift_cust > test.max_g))
-            result |= 1 << jj;
-    }
-
-    return result;
-}
-
-static int gyro_self_test(long *bias_regular, long *bias_st)
-{
-    int jj, result = 0;
-    unsigned char tmp[3];
-    float st_shift, st_shift_cust, st_shift_var;
-
-    if (i2c_read(st.hw->addr, 0x0D, 3, tmp))
-        return 0x07;
-
-    tmp[0] &= 0x1F;
-    tmp[1] &= 0x1F;
-    tmp[2] &= 0x1F;
-
-    for (jj = 0; jj < 3; jj++) {
-        st_shift_cust = labs(bias_regular[jj] - bias_st[jj]) / 65536.f;
-        if (tmp[jj]) {
-            st_shift = 3275.f / test.gyro_sens;
-            while (--tmp[jj])
-                st_shift *= 1.046f;
-            st_shift_var = st_shift_cust / st_shift - 1.f;
-            if (fabs(st_shift_var) > test.max_gyro_var)
-                result |= 1 << jj;
-        } else if ((st_shift_cust < test.min_dps) ||
-            (st_shift_cust > test.max_dps))
-            result |= 1 << jj;
-    }
-    return result;
-}
-
-#ifdef AK89xx_SECONDARY
-static int compass_self_test(void)
-{
-    unsigned char tmp[6];
-    unsigned char tries = 10;
-    int result = 0x07;
-    short data;
-
-    mpu_set_bypass(1);
-
-    tmp[0] = AKM_POWER_DOWN;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp))
-        return 0x07;
-    tmp[0] = AKM_BIT_SELF_TEST;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_ASTC, 1, tmp))
-        goto AKM_restore;
-    tmp[0] = AKM_MODE_SELF_TEST;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp))
-        goto AKM_restore;
-
-    do {
-        delay_ms(10);
-        if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ST1, 1, tmp))
-            goto AKM_restore;
-        if (tmp[0] & AKM_DATA_READY)
-            break;
-    } while (tries--);
-    if (!(tmp[0] & AKM_DATA_READY))
-        goto AKM_restore;
-
-    if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_HXL, 6, tmp))
-        goto AKM_restore;
-
-    result = 0;
-    data = (short)(tmp[1] << 8) | tmp[0];
-    if ((data > 100) || (data < -100))
-        result |= 0x01;
-    data = (short)(tmp[3] << 8) | tmp[2];
-    if ((data > 100) || (data < -100))
-        result |= 0x02;
-    data = (short)(tmp[5] << 8) | tmp[4];
-    if ((data > -300) || (data < -1000))
-        result |= 0x04;
-
-AKM_restore:
-    tmp[0] = 0 | SUPPORTS_AK89xx_HIGH_SENS;
-    i2c_write(st.chip_cfg.compass_addr, AKM_REG_ASTC, 1, tmp);
-    tmp[0] = SUPPORTS_AK89xx_HIGH_SENS;
-    i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp);
-    mpu_set_bypass(0);
-    return result;
-}
-#endif
-#endif
-
-static int get_st_biases(long *gyro, long *accel, unsigned char hw_test)
-{
-    unsigned char data[MAX_PACKET_LENGTH];
-    unsigned char packet_count, ii;
-    unsigned short fifo_count;
-
-    data[0] = 0x01;
-    data[1] = 0;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, data))
-        return -1;
-    delay_ms(200);
-    data[0] = 0;
-    if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
-        return -1;
-    data[0] = BIT_FIFO_RST | BIT_DMP_RST;
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
-        return -1;
-    delay_ms(15);
-    data[0] = st.test->reg_lpf;
-    if (i2c_write(st.hw->addr, st.reg->lpf, 1, data))
-        return -1;
-    data[0] = st.test->reg_rate_div;
-    if (i2c_write(st.hw->addr, st.reg->rate_div, 1, data))
-        return -1;
-    if (hw_test)
-        data[0] = st.test->reg_gyro_fsr | 0xE0;
-    else
-        data[0] = st.test->reg_gyro_fsr;
-    if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, data))
-        return -1;
-
-    if (hw_test)
-        data[0] = st.test->reg_accel_fsr | 0xE0;
-    else
-        data[0] = test.reg_accel_fsr;
-    if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, data))
-        return -1;
-    if (hw_test)
-        delay_ms(200);
-
-    /* Fill FIFO for test.wait_ms milliseconds. */
-    data[0] = BIT_FIFO_EN;
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
-        return -1;
-
-    data[0] = INV_XYZ_GYRO | INV_XYZ_ACCEL;
-    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
-        return -1;
-    delay_ms(test.wait_ms);
-    data[0] = 0;
-    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
-        return -1;
-
-    if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data))
-        return -1;
-
-    fifo_count = (data[0] << 8) | data[1];
-    packet_count = fifo_count / MAX_PACKET_LENGTH;
-    gyro[0] = gyro[1] = gyro[2] = 0;
-    accel[0] = accel[1] = accel[2] = 0;
-
-    for (ii = 0; ii < packet_count; ii++) {
-        short accel_cur[3], gyro_cur[3];
-        if (i2c_read(st.hw->addr, st.reg->fifo_r_w, MAX_PACKET_LENGTH, data))
-            return -1;
-        accel_cur[0] = ((short)data[0] << 8) | data[1];
-        accel_cur[1] = ((short)data[2] << 8) | data[3];
-        accel_cur[2] = ((short)data[4] << 8) | data[5];
-        accel[0] += (long)accel_cur[0];
-        accel[1] += (long)accel_cur[1];
-        accel[2] += (long)accel_cur[2];
-        gyro_cur[0] = (((short)data[6] << 8) | data[7]);
-        gyro_cur[1] = (((short)data[8] << 8) | data[9]);
-        gyro_cur[2] = (((short)data[10] << 8) | data[11]);
-        gyro[0] += (long)gyro_cur[0];
-        gyro[1] += (long)gyro_cur[1];
-        gyro[2] += (long)gyro_cur[2];
-    }
-#ifdef EMPL_NO_64BIT
-    gyro[0] = (long)(((float)gyro[0]*65536.f) / test.gyro_sens / packet_count);
-    gyro[1] = (long)(((float)gyro[1]*65536.f) / test.gyro_sens / packet_count);
-    gyro[2] = (long)(((float)gyro[2]*65536.f) / test.gyro_sens / packet_count);
-    if (has_accel) {
-        accel[0] = (long)(((float)accel[0]*65536.f) / test.accel_sens /
-            packet_count);
-        accel[1] = (long)(((float)accel[1]*65536.f) / test.accel_sens /
-            packet_count);
-        accel[2] = (long)(((float)accel[2]*65536.f) / test.accel_sens /
-            packet_count);
-        /* Don't remove gravity! */
-        accel[2] -= 65536L;
-    }
-#else
-    gyro[0] = (long)(((long long)gyro[0]<<16) / test.gyro_sens / packet_count);
-    gyro[1] = (long)(((long long)gyro[1]<<16) / test.gyro_sens / packet_count);
-    gyro[2] = (long)(((long long)gyro[2]<<16) / test.gyro_sens / packet_count);
-    accel[0] = (long)(((long long)accel[0]<<16) / test.accel_sens /
-        packet_count);
-    accel[1] = (long)(((long long)accel[1]<<16) / test.accel_sens /
-        packet_count);
-    accel[2] = (long)(((long long)accel[2]<<16) / test.accel_sens /
-        packet_count);
-    /* Don't remove gravity! */
-    if (accel[2] > 0L)
-        accel[2] -= 65536L;
-    else
-        accel[2] += 65536L;
-#endif
-
-    return 0;
-}
-
-/**
- *  @brief      Trigger gyro/accel/compass self-test.
- *  On success/error, the self-test returns a mask representing the sensor(s)
- *  that failed. For each bit, a one (1) represents a "pass" case; conversely,
- *  a zero (0) indicates a failure.
- *
- *  \n The mask is defined as follows:
- *  \n Bit 0:   Gyro.
- *  \n Bit 1:   Accel.
- *  \n Bit 2:   Compass.
- *
- *  \n Currently, the hardware self-test is unsupported for MPU6500. However,
- *  this function can still be used to obtain the accel and gyro biases.
- *
- *  \n This function must be called with the device either face-up or face-down
- *  (z-axis is parallel to gravity).
- *  @param[out] gyro        Gyro biases in q16 format.
- *  @param[out] accel       Accel biases (if applicable) in q16 format.
- *  @return     Result mask (see above).
- */
-int mpu_run_self_test(long *gyro, long *accel)
-{
-#ifdef MPU6050
-    const unsigned char tries = 2;
-    long gyro_st[3], accel_st[3];
-    unsigned char accel_result, gyro_result;
-#ifdef AK89xx_SECONDARY
-    unsigned char compass_result;
-#endif
-    int ii;
-#endif
-    int result;
-    unsigned char accel_fsr, fifo_sensors, sensors_on;
-    unsigned short gyro_fsr, sample_rate, lpf;
-    unsigned char dmp_was_on;
-
-    if (st.chip_cfg.dmp_on) {
-        mpu_set_dmp_state(0);
-        dmp_was_on = 1;
-    } else
-        dmp_was_on = 0;
-
-    /* Get initial settings. */
-    mpu_get_gyro_fsr(&gyro_fsr);
-    mpu_get_accel_fsr(&accel_fsr);
-    mpu_get_lpf(&lpf);
-    mpu_get_sample_rate(&sample_rate);
-    sensors_on = st.chip_cfg.sensors;
-    mpu_get_fifo_config(&fifo_sensors);
-
-    /* For older chips, the self-test will be different. */
-#if defined MPU6050
-    for (ii = 0; ii < tries; ii++)
-        if (!get_st_biases(gyro, accel, 0))
-            break;
-    if (ii == tries) {
-        /* If we reach this point, we most likely encountered an I2C error.
-         * We'll just report an error for all three sensors.
-         */
-        result = 0;
-        goto restore;
-    }
-    for (ii = 0; ii < tries; ii++)
-        if (!get_st_biases(gyro_st, accel_st, 1))
-            break;
-    if (ii == tries) {
-        /* Again, probably an I2C error. */
-        result = 0;
-        goto restore;
-    }
-    accel_result = accel_self_test(accel, accel_st);
-    gyro_result = gyro_self_test(gyro, gyro_st);
-
-    result = 0;
-    if (!gyro_result)
-        result |= 0x01;
-    if (!accel_result)
-        result |= 0x02;
-
-#ifdef AK89xx_SECONDARY
-    compass_result = compass_self_test();
-    if (!compass_result)
-        result |= 0x04;
-#endif
-restore:
-#elif defined MPU6500
-    /* For now, this function will return a "pass" result for all three sensors
-     * for compatibility with current test applications.
-     */
-    get_st_biases(gyro, accel, 0);
-    result = 0x7;
-#endif
-    /* Set to invalid values to ensure no I2C writes are skipped. */
-    st.chip_cfg.gyro_fsr = 0xFF;
-    st.chip_cfg.accel_fsr = 0xFF;
-    st.chip_cfg.lpf = 0xFF;
-    st.chip_cfg.sample_rate = 0xFFFF;
-    st.chip_cfg.sensors = 0xFF;
-    st.chip_cfg.fifo_enable = 0xFF;
-    st.chip_cfg.clk_src = INV_CLK_PLL;
-    mpu_set_gyro_fsr(gyro_fsr);
-    mpu_set_accel_fsr(accel_fsr);
-    mpu_set_lpf(lpf);
-    mpu_set_sample_rate(sample_rate);
-    mpu_set_sensors(sensors_on);
-    mpu_configure_fifo(fifo_sensors);
-
-    if (dmp_was_on)
-        mpu_set_dmp_state(1);
-
-    return result;
-}
-
-/**
- *  @brief      Write to the DMP memory.
- *  This function prevents I2C writes past the bank boundaries. The DMP memory
- *  is only accessible when the chip is awake.
- *  @param[in]  mem_addr    Memory location (bank << 8 | start address)
- *  @param[in]  length      Number of bytes to write.
- *  @param[in]  data        Bytes to write to memory.
- *  @return     0 if successful.
- */
-int mpu_write_mem(unsigned short mem_addr, unsigned short length,
-        unsigned char *data)
-{
-    unsigned char tmp[2];
-
-    if (!data)
-        return -1;
-    if (!st.chip_cfg.sensors)
-        return -1;
-
-    tmp[0] = (unsigned char)(mem_addr >> 8);
-    tmp[1] = (unsigned char)(mem_addr & 0xFF);
-
-    /* Check bank boundaries. */
-    if (tmp[1] + length > st.hw->bank_size)
-        return -1;
-
-    if (i2c_write(st.hw->addr, st.reg->bank_sel, 2, tmp))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->mem_r_w, length, data))
-        return -1;
-    return 0;
-}
-
-/**
- *  @brief      Read from the DMP memory.
- *  This function prevents I2C reads past the bank boundaries. The DMP memory
- *  is only accessible when the chip is awake.
- *  @param[in]  mem_addr    Memory location (bank << 8 | start address)
- *  @param[in]  length      Number of bytes to read.
- *  @param[out] data        Bytes read from memory.
- *  @return     0 if successful.
- */
-int mpu_read_mem(unsigned short mem_addr, unsigned short length,
-        unsigned char *data)
-{
-    unsigned char tmp[2];
-
-    if (!data)
-        return -1;
-    if (!st.chip_cfg.sensors)
-        return -1;
-
-    tmp[0] = (unsigned char)(mem_addr >> 8);
-    tmp[1] = (unsigned char)(mem_addr & 0xFF);
-
-    /* Check bank boundaries. */
-    if (tmp[1] + length > st.hw->bank_size)
-        return -1;
-
-    if (i2c_write(st.hw->addr, st.reg->bank_sel, 2, tmp))
-        return -1;
-    if (i2c_read(st.hw->addr, st.reg->mem_r_w, length, data))
-        return -1;
-    return 0;
-}
-
-/**
- *  @brief      Load and verify DMP image.
- *  @param[in]  length      Length of DMP image.
- *  @param[in]  firmware    DMP code.
- *  @param[in]  start_addr  Starting address of DMP code memory.
- *  @param[in]  sample_rate Fixed sampling rate used when DMP is enabled.
- *  @return     0 if successful.
- */
-int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
-    unsigned short start_addr, unsigned short sample_rate)
-{
-    unsigned short ii;
-    unsigned short this_write;
-    /* Must divide evenly into st.hw->bank_size to avoid bank crossings. */
-#define LOAD_CHUNK  (16)
-    unsigned char cur[LOAD_CHUNK], tmp[2];
-
-    if (st.chip_cfg.dmp_loaded)
-        /* DMP should only be loaded once. */
-        return -1;
-
-    if (!firmware)
-        return -1;
-    for (ii = 0; ii < length; ii += this_write) {
-        this_write = min(LOAD_CHUNK, length - ii);
-        if (mpu_write_mem(ii, this_write, (unsigned char*)&firmware[ii]))
-            return -1;
-        if (mpu_read_mem(ii, this_write, cur))
-            return -1;
-        if (memcmp(firmware+ii, cur, this_write))
-            return -2;
-    }
-
-    /* Set program start address. */
-    tmp[0] = start_addr >> 8;
-    tmp[1] = start_addr & 0xFF;
-    if (i2c_write(st.hw->addr, st.reg->prgm_start_h, 2, tmp))
-        return -1;
-
-    st.chip_cfg.dmp_loaded = 1;
-    st.chip_cfg.dmp_sample_rate = sample_rate;
-    return 0;
-}
-
-/**
- *  @brief      Enable/disable DMP support.
- *  @param[in]  enable  1 to turn on the DMP.
- *  @return     0 if successful.
- */
-int mpu_set_dmp_state(unsigned char enable)
-{
-    unsigned char tmp;
-    if (st.chip_cfg.dmp_on == enable)
-        return 0;
-
-    if (enable) {
-        if (!st.chip_cfg.dmp_loaded)
-            return -1;
-        /* Disable data ready interrupt. */
-        set_int_enable(0);
-        /* Disable bypass mode. */
-        mpu_set_bypass(0);
-        /* Keep constant sample rate, FIFO rate controlled by DMP. */
-        mpu_set_sample_rate(st.chip_cfg.dmp_sample_rate);
-        /* Remove FIFO elements. */
-        tmp = 0;
-        i2c_write(st.hw->addr, 0x23, 1, &tmp);
-        st.chip_cfg.dmp_on = 1;
-        /* Enable DMP interrupt. */
-        set_int_enable(1);
-        mpu_reset_fifo();
-    } else {
-        /* Disable DMP interrupt. */
-        set_int_enable(0);
-        /* Restore FIFO settings. */
-        tmp = st.chip_cfg.fifo_enable;
-        i2c_write(st.hw->addr, 0x23, 1, &tmp);
-        st.chip_cfg.dmp_on = 0;
-        mpu_reset_fifo();
-    }
-    return 0;
-}
-
-/**
- *  @brief      Get DMP state.
- *  @param[out] enabled 1 if enabled.
- *  @return     0 if successful.
- */
-int mpu_get_dmp_state(unsigned char *enabled)
-{
-    enabled[0] = st.chip_cfg.dmp_on;
-    return 0;
-}
-
-
-/* This initialization is similar to the one in ak8975.c. */
-static int setup_compass(void)
-{
-#ifdef AK89xx_SECONDARY
-    unsigned char data[4], akm_addr;
-
-    mpu_set_bypass(1);
-
-    /* Find compass. Possible addresses range from 0x0C to 0x0F. */
-    for (akm_addr = 0x0C; akm_addr <= 0x0F; akm_addr++) {
-        int result;
-        result = i2c_read(akm_addr, AKM_REG_WHOAMI, 1, data);
-        if (!result && (data[0] == AKM_WHOAMI))
-            break;
-    }
-
-    if (akm_addr > 0x0F) {
-        /* TODO: Handle this case in all compass-related functions. */
-        log_e("Compass not found.\n");
-        return -1;
-    }
-
-    st.chip_cfg.compass_addr = akm_addr;
-
-    data[0] = AKM_POWER_DOWN;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data))
-        return -1;
-    delay_ms(1);
-
-    data[0] = AKM_FUSE_ROM_ACCESS;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data))
-        return -1;
-    delay_ms(1);
-
-    /* Get sensitivity adjustment data from fuse ROM. */
-    if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ASAX, 3, data))
-        return -1;
-    st.chip_cfg.mag_sens_adj[0] = (long)data[0] + 128;
-    st.chip_cfg.mag_sens_adj[1] = (long)data[1] + 128;
-    st.chip_cfg.mag_sens_adj[2] = (long)data[2] + 128;
-
-    data[0] = AKM_POWER_DOWN;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data))
-        return -1;
-    delay_ms(1);
-
-    mpu_set_bypass(0);
-
-    /* Set up master mode, master clock, and ES bit. */
-    data[0] = 0x40;
-    if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data))
-        return -1;
-
-    /* Slave 0 reads from AKM data registers. */
-    data[0] = BIT_I2C_READ | st.chip_cfg.compass_addr;
-    if (i2c_write(st.hw->addr, st.reg->s0_addr, 1, data))
-        return -1;
-
-    /* Compass reads start at this register. */
-    data[0] = AKM_REG_ST1;
-    if (i2c_write(st.hw->addr, st.reg->s0_reg, 1, data))
-        return -1;
-
-    /* Enable slave 0, 8-byte reads. */
-    data[0] = BIT_SLAVE_EN | 8;
-    if (i2c_write(st.hw->addr, st.reg->s0_ctrl, 1, data))
-        return -1;
-
-    /* Slave 1 changes AKM measurement mode. */
-    data[0] = st.chip_cfg.compass_addr;
-    if (i2c_write(st.hw->addr, st.reg->s1_addr, 1, data))
-        return -1;
-
-    /* AKM measurement mode register. */
-    data[0] = AKM_REG_CNTL;
-    if (i2c_write(st.hw->addr, st.reg->s1_reg, 1, data))
-        return -1;
-
-    /* Enable slave 1, 1-byte writes. */
-    data[0] = BIT_SLAVE_EN | 1;
-    if (i2c_write(st.hw->addr, st.reg->s1_ctrl, 1, data))
-        return -1;
-
-    /* Set slave 1 data. */
-    data[0] = AKM_SINGLE_MEASUREMENT;
-    if (i2c_write(st.hw->addr, st.reg->s1_do, 1, data))
-        return -1;
-
-    /* Trigger slave 0 and slave 1 actions at each sample. */
-    data[0] = 0x03;
-    if (i2c_write(st.hw->addr, st.reg->i2c_delay_ctrl, 1, data))
-        return -1;
-
-#ifdef MPU9150
-    /* For the MPU9150, the auxiliary I2C bus needs to be set to VDD. */
-    data[0] = BIT_I2C_MST_VDDIO;
-    if (i2c_write(st.hw->addr, st.reg->yg_offs_tc, 1, data))
-        return -1;
-#endif
-
-    return 0;
-#else
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Read raw compass data.
- *  @param[out] data        Raw data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds. Null if not needed.
- *  @return     0 if successful.
- */
-int mpu_get_compass_reg(short *data, unsigned long *timestamp)
-{
-#ifdef AK89xx_SECONDARY
-    unsigned char tmp[9];
-
-    if (!(st.chip_cfg.sensors & INV_XYZ_COMPASS))
-        return -1;
-
-#ifdef AK89xx_BYPASS
-    if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ST1, 8, tmp))
-        return -1;
-    tmp[8] = AKM_SINGLE_MEASUREMENT;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp+8))
-        return -1;
-#else
-    if (i2c_read(st.hw->addr, st.reg->raw_compass, 8, tmp))
-        return -1;
-#endif
-
-#if defined AK8975_SECONDARY
-    /* AK8975 doesn't have the overrun error bit. */
-    if (!(tmp[0] & AKM_DATA_READY))
-        return -2;
-    if ((tmp[7] & AKM_OVERFLOW) || (tmp[7] & AKM_DATA_ERROR))
-        return -3;
-#elif defined AK8963_SECONDARY
-    /* AK8963 doesn't have the data read error bit. */
-    if (!(tmp[0] & AKM_DATA_READY) || (tmp[0] & AKM_DATA_OVERRUN))
-        return -2;
-    if (tmp[7] & AKM_OVERFLOW)
-        return -3;
-#endif
-    data[0] = (tmp[2] << 8) | tmp[1];
-    data[1] = (tmp[4] << 8) | tmp[3];
-    data[2] = (tmp[6] << 8) | tmp[5];
-
-    data[0] = ((long)data[0] * st.chip_cfg.mag_sens_adj[0]) >> 8;
-    data[1] = ((long)data[1] * st.chip_cfg.mag_sens_adj[1]) >> 8;
-    data[2] = ((long)data[2] * st.chip_cfg.mag_sens_adj[2]) >> 8;
-
-    if (timestamp)
-        get_ms(timestamp);
-    return 0;
-#else
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Get the compass full-scale range.
- *  @param[out] fsr Current full-scale range.
- *  @return     0 if successful.
- */
-int mpu_get_compass_fsr(unsigned short *fsr)
-{
-#ifdef AK89xx_SECONDARY
-    fsr[0] = st.hw->compass_fsr;
-    return 0;
-#else
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Enters LP accel motion interrupt mode.
- *  The behaviour of this feature is very different between the MPU6050 and the
- *  MPU6500. Each chip's version of this feature is explained below.
- *
- *  \n The hardware motion threshold can be between 32mg and 8160mg in 32mg
- *  increments.
- *
- *  \n Low-power accel mode supports the following frequencies:
- *  \n 1.25Hz, 5Hz, 20Hz, 40Hz
- *
- *  \n MPU6500:
- *  \n Unlike the MPU6050 version, the hardware does not "lock in" a reference
- *  sample. The hardware monitors the accel data and detects any large change
- *  over a short period of time.
- *
- *  \n The hardware motion threshold can be between 4mg and 1020mg in 4mg
- *  increments.
- *
- *  \n MPU6500 Low-power accel mode supports the following frequencies:
- *  \n 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz
- *
- *  \n\n NOTES:
- *  \n The driver will round down @e thresh to the nearest supported value if
- *  an unsupported threshold is selected.
- *  \n To select a fractional wake-up frequency, round down the value passed to
- *  @e lpa_freq.
- *  \n The MPU6500 does not support a delay parameter. If this function is used
- *  for the MPU6500, the value passed to @e time will be ignored.
- *  \n To disable this mode, set @e lpa_freq to zero. The driver will restore
- *  the previous configuration.
- *
- *  @param[in]  thresh      Motion threshold in mg.
- *  @param[in]  time        Duration in milliseconds that the accel data must
- *                          exceed @e thresh before motion is reported.
- *  @param[in]  lpa_freq    Minimum sampling rate, or zero to disable.
- *  @return     0 if successful.
- */
-int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time,
-    unsigned char lpa_freq)
-{
-    unsigned char data[3];
-
-    if (lpa_freq) {
-        unsigned char thresh_hw;
-
-#if defined MPU6500
-        /* 1LSb = 4mg. */
-        if (thresh > 1020)
-            thresh_hw = 255;
-        else if (thresh < 4)
-            thresh_hw = 1;
-        else
-            thresh_hw = thresh >> 2;
-#endif
-
-        if (!time)
-            /* Minimum duration must be 1ms. */
-            time = 1;
-
-#if defined MPU6500
-        if (lpa_freq > 640)
-#endif
-            /* At this point, the chip has not been re-configured, so the
-             * function can safely exit.
-             */
-            return -1;
-
-        if (!st.chip_cfg.int_motion_only) {
-            /* Store current settings for later. */
-            if (st.chip_cfg.dmp_on) {
-                mpu_set_dmp_state(0);
-                st.chip_cfg.cache.dmp_on = 1;
-            } else
-                st.chip_cfg.cache.dmp_on = 0;
-            mpu_get_gyro_fsr(&st.chip_cfg.cache.gyro_fsr);
-            mpu_get_accel_fsr(&st.chip_cfg.cache.accel_fsr);
-            mpu_get_lpf(&st.chip_cfg.cache.lpf);
-            mpu_get_sample_rate(&st.chip_cfg.cache.sample_rate);
-            st.chip_cfg.cache.sensors_on = st.chip_cfg.sensors;
-            mpu_get_fifo_config(&st.chip_cfg.cache.fifo_sensors);
-        }
-
-#if defined MPU6500
-        /* Disable hardware interrupts. */
-        set_int_enable(0);
-
-        /* Enter full-power accel-only mode, no FIFO/DMP. */
-        data[0] = 0;
-        data[1] = 0;
-        data[2] = BIT_STBY_XYZG;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 3, data))
-            goto lp_int_restore;
-
-        /* Set motion threshold. */
-        data[0] = thresh_hw;
-        if (i2c_write(st.hw->addr, st.reg->motion_thr, 1, data))
-            goto lp_int_restore;
-
-        /* Set wake frequency. */
-        if (lpa_freq == 1)
-            data[0] = INV_LPA_1_25HZ;
-        else if (lpa_freq == 2)
-            data[0] = INV_LPA_2_5HZ;
-        else if (lpa_freq <= 5)
-            data[0] = INV_LPA_5HZ;
-        else if (lpa_freq <= 10)
-            data[0] = INV_LPA_10HZ;
-        else if (lpa_freq <= 20)
-            data[0] = INV_LPA_20HZ;
-        else if (lpa_freq <= 40)
-            data[0] = INV_LPA_40HZ;
-        else if (lpa_freq <= 80)
-            data[0] = INV_LPA_80HZ;
-        else if (lpa_freq <= 160)
-            data[0] = INV_LPA_160HZ;
-        else if (lpa_freq <= 320)
-            data[0] = INV_LPA_320HZ;
-        else
-            data[0] = INV_LPA_640HZ;
-        if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, data))
-            goto lp_int_restore;
-
-        /* Enable motion interrupt (MPU6500 version). */
-        data[0] = BITS_WOM_EN;
-        if (i2c_write(st.hw->addr, st.reg->accel_intel, 1, data))
-            goto lp_int_restore;
-
-        /* Enable cycle mode. */
-        data[0] = BIT_LPA_CYCLE;
-        if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
-            goto lp_int_restore;
-
-        /* Enable interrupt. */
-        data[0] = BIT_MOT_INT_EN;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data))
-            goto lp_int_restore;
-
-        st.chip_cfg.int_motion_only = 1;
-        return 0;
-#endif
-    } else {
-        /* Don't "restore" the previous state if no state has been saved. */
-        int ii;
-        char *cache_ptr = (char*)&st.chip_cfg.cache;
-        for (ii = 0; ii < sizeof(st.chip_cfg.cache); ii++) {
-            if (cache_ptr[ii] != 0)
-                goto lp_int_restore;
-        }
-        /* If we reach this point, motion interrupt mode hasn't been used yet. */
-        return -1;
-    }
-lp_int_restore:
-    /* Set to invalid values to ensure no I2C writes are skipped. */
-    st.chip_cfg.gyro_fsr = 0xFF;
-    st.chip_cfg.accel_fsr = 0xFF;
-    st.chip_cfg.lpf = 0xFF;
-    st.chip_cfg.sample_rate = 0xFFFF;
-    st.chip_cfg.sensors = 0xFF;
-    st.chip_cfg.fifo_enable = 0xFF;
-    st.chip_cfg.clk_src = INV_CLK_PLL;
-    mpu_set_sensors(st.chip_cfg.cache.sensors_on);
-    mpu_set_gyro_fsr(st.chip_cfg.cache.gyro_fsr);
-    mpu_set_accel_fsr(st.chip_cfg.cache.accel_fsr);
-    mpu_set_lpf(st.chip_cfg.cache.lpf);
-    mpu_set_sample_rate(st.chip_cfg.cache.sample_rate);
-    mpu_configure_fifo(st.chip_cfg.cache.fifo_sensors);
-
-    if (st.chip_cfg.cache.dmp_on)
-        mpu_set_dmp_state(1);
-
-#ifdef MPU6500
-    /* Disable motion interrupt (MPU6500 version). */
-    data[0] = 0;
-    if (i2c_write(st.hw->addr, st.reg->accel_intel, 1, data))
-        goto lp_int_restore;
-#endif
-
-    st.chip_cfg.int_motion_only = 0;
-    return 0;
-}
-
-/**
- *  @}
- */
-

Core备份3/imu4/inv_mpu4.h

@@ -1,132 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
-    See included License.txt for License information.
- $
- */
-/**
- *  @addtogroup  DRIVERS Sensor Driver Layer
- *  @brief       Hardware drivers to communicate with sensors via I2C.
- *
- *  @{
- *      @file       inv_mpu.h
- *      @brief      An I2C-based driver for Invensense gyroscopes.
- *      @details    This driver currently works for the following devices:
- *                  MPU6050
- *                  MPU6500
- *                  MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus)
- *                  MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus)
- */
-
-#ifndef _INV_MPU_H_
-#define _INV_MPU_H_
-
-#define MOTION_DRIVER_TARGET_STM32
-#define MPU6050
-//#define EMPL
-//#define USE_DMP
-
-#define INV_X_GYRO      (0x40)
-#define INV_Y_GYRO      (0x20)
-#define INV_Z_GYRO      (0x10)
-#define INV_XYZ_GYRO    (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO)
-#define INV_XYZ_ACCEL   (0x08)
-#define INV_XYZ_COMPASS (0x01)
-
-struct int_param_s {
-#if defined EMPL_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_STM32
-    void (*cb)(void);
-    unsigned short pin;
-    unsigned char lp_exit;
-    unsigned char active_low;
-#elif defined EMPL_TARGET_UC3L0
-    unsigned long pin;
-    void (*cb)(volatile void*);
-    void *arg;
-#endif
-};
-
-#define MPU_INT_STATUS_DATA_READY       (0x0001)
-#define MPU_INT_STATUS_DMP              (0x0002)
-#define MPU_INT_STATUS_PLL_READY        (0x0004)
-#define MPU_INT_STATUS_I2C_MST          (0x0008)
-#define MPU_INT_STATUS_FIFO_OVERFLOW    (0x0010)
-#define MPU_INT_STATUS_ZMOT             (0x0020)
-#define MPU_INT_STATUS_MOT              (0x0040)
-#define MPU_INT_STATUS_FREE_FALL        (0x0080)
-#define MPU_INT_STATUS_DMP_0            (0x0100)
-#define MPU_INT_STATUS_DMP_1            (0x0200)
-#define MPU_INT_STATUS_DMP_2            (0x0400)
-#define MPU_INT_STATUS_DMP_3            (0x0800)
-#define MPU_INT_STATUS_DMP_4            (0x1000)
-#define MPU_INT_STATUS_DMP_5            (0x2000)
-
-/* Set up APIs */
-int mpu_init(struct int_param_s *int_param);
-int mpu_init_slave(void);
-int mpu_set_bypass(unsigned char bypass_on);
-
-/* Configuration APIs */
-int mpu_lp_accel_mode(unsigned char rate);
-int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time,
-    unsigned char lpa_freq);
-int mpu_set_int_level(unsigned char active_low);
-int mpu_set_int_latched(unsigned char enable);
-
-int mpu_set_dmp_state(unsigned char enable);
-int mpu_get_dmp_state(unsigned char *enabled);
-
-int mpu_get_lpf(unsigned short *lpf);
-int mpu_set_lpf(unsigned short lpf);
-
-int mpu_get_gyro_fsr(unsigned short *fsr);
-int mpu_set_gyro_fsr(unsigned short fsr);
-
-int mpu_get_accel_fsr(unsigned char *fsr);
-int mpu_set_accel_fsr(unsigned char fsr);
-
-int mpu_get_compass_fsr(unsigned short *fsr);
-
-int mpu_get_gyro_sens(float *sens);
-int mpu_get_accel_sens(unsigned short *sens);
-
-int mpu_get_sample_rate(unsigned short *rate);
-int mpu_set_sample_rate(unsigned short rate);
-int mpu_get_compass_sample_rate(unsigned short *rate);
-int mpu_set_compass_sample_rate(unsigned short rate);
-
-int mpu_get_fifo_config(unsigned char *sensors);
-int mpu_configure_fifo(unsigned char sensors);
-
-int mpu_get_power_state(unsigned char *power_on);
-int mpu_set_sensors(unsigned char sensors);
-
-int mpu_set_accel_bias(const long *accel_bias);
-
-/* Data getter/setter APIs */
-int mpu_get_gyro_reg(short *data, unsigned long *timestamp);
-int mpu_get_accel_reg(short *data, unsigned long *timestamp);
-int mpu_get_compass_reg(short *data, unsigned long *timestamp);
-int mpu_get_temperature(long *data, unsigned long *timestamp);
-
-int mpu_get_int_status(short *status);
-int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
-    unsigned char *sensors, unsigned char *more);
-int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
-    unsigned char *more);
-int mpu_reset_fifo(void);
-
-int mpu_write_mem(unsigned short mem_addr, unsigned short length,
-    unsigned char *data);
-int mpu_read_mem(unsigned short mem_addr, unsigned short length,
-    unsigned char *data);
-int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
-    unsigned short start_addr, unsigned short sample_rate);
-
-int mpu_reg_dump(void);
-int mpu_read_reg(unsigned char reg, unsigned char *data);
-int mpu_run_self_test(long *gyro, long *accel);
-int mpu_register_tap_cb(void (*func)(unsigned char, unsigned char));
-
-#endif  /* #ifndef _INV_MPU_H_ */
-

Core备份3/imu4/inv_mpu_dmp_motion_driver4.c

@@ -1,1380 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
-    See included License.txt for License information.
- $
- */
-/**
- *  @addtogroup  DRIVERS Sensor Driver Layer
- *  @brief       Hardware drivers to communicate with sensors via I2C.
- *
- *  @{
- *      @file       inv_mpu_dmp_motion_driver.c
- *      @brief      DMP image and interface functions.
- *      @details    All functions are preceded by the dmp_ prefix to
- *                  differentiate among MPL and general driver function calls.
- */
-#include <stdio.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-#include "inv_mpu4.h"
-#include "inv_mpu_dmp_motion_driver4.h"
-#include "dmpKey4.h"
-#include "dmpmap4.h"
-
-#include "MPU60504.h"
-
-/* The following functions must be defined for this platform:
- * i2c_write(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char const *data)
- * i2c_read(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char *data)
- * delay_ms(unsigned long num_ms)
- * get_ms(unsigned long *count)
- */
-#if defined MOTION_DRIVER_TARGET_MSP430
-#include "msp430.h"
-#include "msp430_clock.h"
-#define delay_ms    msp430_delay_ms
-#define get_ms      msp430_get_clock_ms
-#define log_i(...)     do {} while (0)
-#define log_e(...)     do {} while (0)
-
-#elif defined EMPL_TARGET_MSP430
-#include "msp430.h"
-#include "msp430_clock.h"
-#include "log.h"
-#define delay_ms    msp430_delay_ms
-#define get_ms      msp430_get_clock_ms
-#define log_i       MPL_LOGI
-#define log_e       MPL_LOGE
-
-#elif defined EMPL_TARGET_UC3L0
-/* Instead of using the standard TWI driver from the ASF library, we're using
- * a TWI driver that follows the slave address + register address convention.
- */
-#include "delay.h"
-#include "sysclk.h"
-#include "log.h"
-#include "uc3l0_clock.h"
-/* delay_ms is a function already defined in ASF. */
-#define get_ms  uc3l0_get_clock_ms
-#define log_i       MPL_LOGI
-#define log_e       MPL_LOGE
-
-#elif defined MOTION_DRIVER_TARGET_STM32
-
-#define delay_ms    HAL_Delay
-#define get_ms      get_tick_count
-
-#define log_i(...)     do {} while (0)
-#define log_e(...)     do {} while (0)
-
-#else
-#error  Gyro driver is missing the system layer implementations.
-#endif
-
-/* These defines are copied from dmpDefaultMPU6050.c in the general MPL
- * releases. These defines may change for each DMP image, so be sure to modify
- * these values when switching to a new image.
- */
-#define CFG_LP_QUAT             (2712)
-#define END_ORIENT_TEMP         (1866)
-#define CFG_27                  (2742)
-#define CFG_20                  (2224)
-#define CFG_23                  (2745)
-#define CFG_FIFO_ON_EVENT       (2690)
-#define END_PREDICTION_UPDATE   (1761)
-#define CGNOTICE_INTR           (2620)
-#define X_GRT_Y_TMP             (1358)
-#define CFG_DR_INT              (1029)
-#define CFG_AUTH                (1035)
-#define UPDATE_PROP_ROT         (1835)
-#define END_COMPARE_Y_X_TMP2    (1455)
-#define SKIP_X_GRT_Y_TMP        (1359)
-#define SKIP_END_COMPARE        (1435)
-#define FCFG_3                  (1088)
-#define FCFG_2                  (1066)
-#define FCFG_1                  (1062)
-#define END_COMPARE_Y_X_TMP3    (1434)
-#define FCFG_7                  (1073)
-#define FCFG_6                  (1106)
-#define FLAT_STATE_END          (1713)
-#define SWING_END_4             (1616)
-#define SWING_END_2             (1565)
-#define SWING_END_3             (1587)
-#define SWING_END_1             (1550)
-#define CFG_8                   (2718)
-#define CFG_15                  (2727)
-#define CFG_16                  (2746)
-#define CFG_EXT_GYRO_BIAS       (1189)
-#define END_COMPARE_Y_X_TMP     (1407)
-#define DO_NOT_UPDATE_PROP_ROT  (1839)
-#define CFG_7                   (1205)
-#define FLAT_STATE_END_TEMP     (1683)
-#define END_COMPARE_Y_X         (1484)
-#define SKIP_SWING_END_1        (1551)
-#define SKIP_SWING_END_3        (1588)
-#define SKIP_SWING_END_2        (1566)
-#define TILTG75_START           (1672)
-#define CFG_6                   (2753)
-#define TILTL75_END             (1669)
-#define END_ORIENT              (1884)
-#define CFG_FLICK_IN            (2573)
-#define TILTL75_START           (1643)
-#define CFG_MOTION_BIAS         (1208)
-#define X_GRT_Y                 (1408)
-#define TEMPLABEL               (2324)
-#define CFG_ANDROID_ORIENT_INT  (1853)
-#define CFG_GYRO_RAW_DATA       (2722)
-#define X_GRT_Y_TMP2            (1379)
-
-#define D_0_22                  (22+512)
-#define D_0_24                  (24+512)
-
-#define D_0_36                  (36)
-#define D_0_52                  (52)
-#define D_0_96                  (96)
-#define D_0_104                 (104)
-#define D_0_108                 (108)
-#define D_0_163                 (163)
-#define D_0_188                 (188)
-#define D_0_192                 (192)
-#define D_0_224                 (224)
-#define D_0_228                 (228)
-#define D_0_232                 (232)
-#define D_0_236                 (236)
-
-#define D_1_2                   (256 + 2)
-#define D_1_4                   (256 + 4)
-#define D_1_8                   (256 + 8)
-#define D_1_10                  (256 + 10)
-#define D_1_24                  (256 + 24)
-#define D_1_28                  (256 + 28)
-#define D_1_36                  (256 + 36)
-#define D_1_40                  (256 + 40)
-#define D_1_44                  (256 + 44)
-#define D_1_72                  (256 + 72)
-#define D_1_74                  (256 + 74)
-#define D_1_79                  (256 + 79)
-#define D_1_88                  (256 + 88)
-#define D_1_90                  (256 + 90)
-#define D_1_92                  (256 + 92)
-#define D_1_96                  (256 + 96)
-#define D_1_98                  (256 + 98)
-#define D_1_106                 (256 + 106)
-#define D_1_108                 (256 + 108)
-#define D_1_112                 (256 + 112)
-#define D_1_128                 (256 + 144)
-#define D_1_152                 (256 + 12)
-#define D_1_160                 (256 + 160)
-#define D_1_176                 (256 + 176)
-#define D_1_178                 (256 + 178)
-#define D_1_218                 (256 + 218)
-#define D_1_232                 (256 + 232)
-#define D_1_236                 (256 + 236)
-#define D_1_240                 (256 + 240)
-#define D_1_244                 (256 + 244)
-#define D_1_250                 (256 + 250)
-#define D_1_252                 (256 + 252)
-#define D_2_12                  (512 + 12)
-#define D_2_96                  (512 + 96)
-#define D_2_108                 (512 + 108)
-#define D_2_208                 (512 + 208)
-#define D_2_224                 (512 + 224)
-#define D_2_236                 (512 + 236)
-#define D_2_244                 (512 + 244)
-#define D_2_248                 (512 + 248)
-#define D_2_252                 (512 + 252)
-
-#define CPASS_BIAS_X            (35 * 16 + 4)
-#define CPASS_BIAS_Y            (35 * 16 + 8)
-#define CPASS_BIAS_Z            (35 * 16 + 12)
-#define CPASS_MTX_00            (36 * 16)
-#define CPASS_MTX_01            (36 * 16 + 4)
-#define CPASS_MTX_02            (36 * 16 + 8)
-#define CPASS_MTX_10            (36 * 16 + 12)
-#define CPASS_MTX_11            (37 * 16)
-#define CPASS_MTX_12            (37 * 16 + 4)
-#define CPASS_MTX_20            (37 * 16 + 8)
-#define CPASS_MTX_21            (37 * 16 + 12)
-#define CPASS_MTX_22            (43 * 16 + 12)
-#define D_EXT_GYRO_BIAS_X       (61 * 16)
-#define D_EXT_GYRO_BIAS_Y       (61 * 16) + 4
-#define D_EXT_GYRO_BIAS_Z       (61 * 16) + 8
-#define D_ACT0                  (40 * 16)
-#define D_ACSX                  (40 * 16 + 4)
-#define D_ACSY                  (40 * 16 + 8)
-#define D_ACSZ                  (40 * 16 + 12)
-
-#define FLICK_MSG               (45 * 16 + 4)
-#define FLICK_COUNTER           (45 * 16 + 8)
-#define FLICK_LOWER             (45 * 16 + 12)
-#define FLICK_UPPER             (46 * 16 + 12)
-
-#define D_AUTH_OUT              (992)
-#define D_AUTH_IN               (996)
-#define D_AUTH_A                (1000)
-#define D_AUTH_B                (1004)
-
-#define D_PEDSTD_BP_B           (768 + 0x1C)
-#define D_PEDSTD_HP_A           (768 + 0x78)
-#define D_PEDSTD_HP_B           (768 + 0x7C)
-#define D_PEDSTD_BP_A4          (768 + 0x40)
-#define D_PEDSTD_BP_A3          (768 + 0x44)
-#define D_PEDSTD_BP_A2          (768 + 0x48)
-#define D_PEDSTD_BP_A1          (768 + 0x4C)
-#define D_PEDSTD_INT_THRSH      (768 + 0x68)
-#define D_PEDSTD_CLIP           (768 + 0x6C)
-#define D_PEDSTD_SB             (768 + 0x28)
-#define D_PEDSTD_SB_TIME        (768 + 0x2C)
-#define D_PEDSTD_PEAKTHRSH      (768 + 0x98)
-#define D_PEDSTD_TIML           (768 + 0x2A)
-#define D_PEDSTD_TIMH           (768 + 0x2E)
-#define D_PEDSTD_PEAK           (768 + 0X94)
-#define D_PEDSTD_STEPCTR        (768 + 0x60)
-#define D_PEDSTD_TIMECTR        (964)
-#define D_PEDSTD_DECI           (768 + 0xA0)
-
-#define D_HOST_NO_MOT           (976)
-#define D_ACCEL_BIAS            (660)
-
-#define D_ORIENT_GAP            (76)
-
-#define D_TILT0_H               (48)
-#define D_TILT0_L               (50)
-#define D_TILT1_H               (52)
-#define D_TILT1_L               (54)
-#define D_TILT2_H               (56)
-#define D_TILT2_L               (58)
-#define D_TILT3_H               (60)
-#define D_TILT3_L               (62)
-
-#define DMP_CODE_SIZE           (3062)
-
-static const unsigned char dmp_memory[DMP_CODE_SIZE] = {
-    /* bank # 0 */
-    0x00, 0x00, 0x70, 0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,
-    0x00, 0x65, 0x00, 0x54, 0xff, 0xef, 0x00, 0x00, 0xfa, 0x80, 0x00, 0x0b, 0x12, 0x82, 0x00, 0x01,
-    0x03, 0x0c, 0x30, 0xc3, 0x0e, 0x8c, 0x8c, 0xe9, 0x14, 0xd5, 0x40, 0x02, 0x13, 0x71, 0x0f, 0x8e,
-    0x38, 0x83, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83, 0x25, 0x8e, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83,
-    0xff, 0xff, 0xff, 0xff, 0x0f, 0xfe, 0xa9, 0xd6, 0x24, 0x00, 0x04, 0x00, 0x1a, 0x82, 0x79, 0xa1,
-    0x00, 0x00, 0x00, 0x3c, 0xff, 0xff, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x38, 0x83, 0x6f, 0xa2,
-    0x00, 0x3e, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xca, 0xe3, 0x09, 0x3e, 0x80, 0x00, 0x00,
-    0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,
-    0x00, 0x0c, 0x00, 0x00, 0x00, 0x0c, 0x18, 0x6e, 0x00, 0x00, 0x06, 0x92, 0x0a, 0x16, 0xc0, 0xdf,
-    0xff, 0xff, 0x02, 0x56, 0xfd, 0x8c, 0xd3, 0x77, 0xff, 0xe1, 0xc4, 0x96, 0xe0, 0xc5, 0xbe, 0xaa,
-    0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0x0b, 0x2b, 0x00, 0x00, 0x16, 0x57, 0x00, 0x00, 0x03, 0x59,
-    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1d, 0xfa, 0x00, 0x02, 0x6c, 0x1d, 0x00, 0x00, 0x00, 0x00,
-    0x3f, 0xff, 0xdf, 0xeb, 0x00, 0x3e, 0xb3, 0xb6, 0x00, 0x0d, 0x22, 0x78, 0x00, 0x00, 0x2f, 0x3c,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x19, 0x42, 0xb5, 0x00, 0x00, 0x39, 0xa2, 0x00, 0x00, 0xb3, 0x65,
-    0xd9, 0x0e, 0x9f, 0xc9, 0x1d, 0xcf, 0x4c, 0x34, 0x30, 0x00, 0x00, 0x00, 0x50, 0x00, 0x00, 0x00,
-    0x3b, 0xb6, 0x7a, 0xe8, 0x00, 0x64, 0x00, 0x00, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    /* bank # 1 */
-    0x10, 0x00, 0x00, 0x00, 0x10, 0x00, 0xfa, 0x92, 0x10, 0x00, 0x22, 0x5e, 0x00, 0x0d, 0x22, 0x9f,
-    0x00, 0x01, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00, 0xff, 0x46, 0x00, 0x00, 0x63, 0xd4, 0x00, 0x00,
-    0x10, 0x00, 0x00, 0x00, 0x04, 0xd6, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00,
-    0x00, 0x00, 0x10, 0x72, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x06, 0x00, 0x02, 0x00, 0x05, 0x00, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x05, 0x00, 0x64, 0x00, 0x20, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x03, 0x00,
-    0x00, 0x00, 0x00, 0x32, 0xf8, 0x98, 0x00, 0x00, 0xff, 0x65, 0x00, 0x00, 0x83, 0x0f, 0x00, 0x00,
-    0xff, 0x9b, 0xfc, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00,
-    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0xb2, 0x6a, 0x00, 0x02, 0x00, 0x00,
-    0x00, 0x01, 0xfb, 0x83, 0x00, 0x68, 0x00, 0x00, 0x00, 0xd9, 0xfc, 0x00, 0x7c, 0xf1, 0xff, 0x83,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x64, 0x03, 0xe8, 0x00, 0x64, 0x00, 0x28,
-    0x00, 0x00, 0x00, 0x25, 0x00, 0x00, 0x00, 0x00, 0x16, 0xa0, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00,
-    0x00, 0x00, 0x10, 0x00, 0x00, 0x2f, 0x00, 0x00, 0x00, 0x00, 0x01, 0xf4, 0x00, 0x00, 0x10, 0x00,
-    /* bank # 2 */
-    0x00, 0x28, 0x00, 0x00, 0xff, 0xff, 0x45, 0x81, 0xff, 0xff, 0xfa, 0x72, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x44, 0x00, 0x05, 0x00, 0x05, 0xba, 0xc6, 0x00, 0x47, 0x78, 0xa2,
-    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
-    0x00, 0x00, 0x25, 0x4d, 0x00, 0x2f, 0x70, 0x6d, 0x00, 0x00, 0x05, 0xae, 0x00, 0x0c, 0x02, 0xd0,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x64, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0e, 0x00, 0x0e,
-    0x00, 0x00, 0x0a, 0xc7, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x32, 0xff, 0xff, 0xff, 0x9c,
-    0x00, 0x00, 0x0b, 0x2b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x64,
-    0xff, 0xe5, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    /* bank # 3 */
-    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x24, 0x26, 0xd3,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x10, 0x00, 0x96, 0x00, 0x3c,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x0c, 0x0a, 0x4e, 0x68, 0xcd, 0xcf, 0x77, 0x09, 0x50, 0x16, 0x67, 0x59, 0xc6, 0x19, 0xce, 0x82,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0xd7, 0x84, 0x00, 0x03, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xc7, 0x93, 0x8f, 0x9d, 0x1e, 0x1b, 0x1c, 0x19,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0x18, 0x85, 0x00, 0x00, 0x40, 0x00,
-    0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x67, 0x7d, 0xdf, 0x7e, 0x72, 0x90, 0x2e, 0x55, 0x4c, 0xf6, 0xe6, 0x88,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-
-    /* bank # 4 */
-    0xd8, 0xdc, 0xb4, 0xb8, 0xb0, 0xd8, 0xb9, 0xab, 0xf3, 0xf8, 0xfa, 0xb3, 0xb7, 0xbb, 0x8e, 0x9e,
-    0xae, 0xf1, 0x32, 0xf5, 0x1b, 0xf1, 0xb4, 0xb8, 0xb0, 0x80, 0x97, 0xf1, 0xa9, 0xdf, 0xdf, 0xdf,
-    0xaa, 0xdf, 0xdf, 0xdf, 0xf2, 0xaa, 0xc5, 0xcd, 0xc7, 0xa9, 0x0c, 0xc9, 0x2c, 0x97, 0xf1, 0xa9,
-    0x89, 0x26, 0x46, 0x66, 0xb2, 0x89, 0x99, 0xa9, 0x2d, 0x55, 0x7d, 0xb0, 0xb0, 0x8a, 0xa8, 0x96,
-    0x36, 0x56, 0x76, 0xf1, 0xba, 0xa3, 0xb4, 0xb2, 0x80, 0xc0, 0xb8, 0xa8, 0x97, 0x11, 0xb2, 0x83,
-    0x98, 0xba, 0xa3, 0xf0, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xb2, 0xb9, 0xb4, 0x98, 0x83, 0xf1,
-    0xa3, 0x29, 0x55, 0x7d, 0xba, 0xb5, 0xb1, 0xa3, 0x83, 0x93, 0xf0, 0x00, 0x28, 0x50, 0xf5, 0xb2,
-    0xb6, 0xaa, 0x83, 0x93, 0x28, 0x54, 0x7c, 0xf1, 0xb9, 0xa3, 0x82, 0x93, 0x61, 0xba, 0xa2, 0xda,
-    0xde, 0xdf, 0xdb, 0x81, 0x9a, 0xb9, 0xae, 0xf5, 0x60, 0x68, 0x70, 0xf1, 0xda, 0xba, 0xa2, 0xdf,
-    0xd9, 0xba, 0xa2, 0xfa, 0xb9, 0xa3, 0x82, 0x92, 0xdb, 0x31, 0xba, 0xa2, 0xd9, 0xba, 0xa2, 0xf8,
-    0xdf, 0x85, 0xa4, 0xd0, 0xc1, 0xbb, 0xad, 0x83, 0xc2, 0xc5, 0xc7, 0xb8, 0xa2, 0xdf, 0xdf, 0xdf,
-    0xba, 0xa0, 0xdf, 0xdf, 0xdf, 0xd8, 0xd8, 0xf1, 0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35,
-    0x5d, 0xb2, 0xb6, 0xba, 0xaf, 0x8c, 0x96, 0x19, 0x8f, 0x9f, 0xa7, 0x0e, 0x16, 0x1e, 0xb4, 0x9a,
-    0xb8, 0xaa, 0x87, 0x2c, 0x54, 0x7c, 0xba, 0xa4, 0xb0, 0x8a, 0xb6, 0x91, 0x32, 0x56, 0x76, 0xb2,
-    0x84, 0x94, 0xa4, 0xc8, 0x08, 0xcd, 0xd8, 0xb8, 0xb4, 0xb0, 0xf1, 0x99, 0x82, 0xa8, 0x2d, 0x55,
-    0x7d, 0x98, 0xa8, 0x0e, 0x16, 0x1e, 0xa2, 0x2c, 0x54, 0x7c, 0x92, 0xa4, 0xf0, 0x2c, 0x50, 0x78,
-    /* bank # 5 */
-    0xf1, 0x84, 0xa8, 0x98, 0xc4, 0xcd, 0xfc, 0xd8, 0x0d, 0xdb, 0xa8, 0xfc, 0x2d, 0xf3, 0xd9, 0xba,
-    0xa6, 0xf8, 0xda, 0xba, 0xa6, 0xde, 0xd8, 0xba, 0xb2, 0xb6, 0x86, 0x96, 0xa6, 0xd0, 0xf3, 0xc8,
-    0x41, 0xda, 0xa6, 0xc8, 0xf8, 0xd8, 0xb0, 0xb4, 0xb8, 0x82, 0xa8, 0x92, 0xf5, 0x2c, 0x54, 0x88,
-    0x98, 0xf1, 0x35, 0xd9, 0xf4, 0x18, 0xd8, 0xf1, 0xa2, 0xd0, 0xf8, 0xf9, 0xa8, 0x84, 0xd9, 0xc7,
-    0xdf, 0xf8, 0xf8, 0x83, 0xc5, 0xda, 0xdf, 0x69, 0xdf, 0x83, 0xc1, 0xd8, 0xf4, 0x01, 0x14, 0xf1,
-    0xa8, 0x82, 0x4e, 0xa8, 0x84, 0xf3, 0x11, 0xd1, 0x82, 0xf5, 0xd9, 0x92, 0x28, 0x97, 0x88, 0xf1,
-    0x09, 0xf4, 0x1c, 0x1c, 0xd8, 0x84, 0xa8, 0xf3, 0xc0, 0xf9, 0xd1, 0xd9, 0x97, 0x82, 0xf1, 0x29,
-    0xf4, 0x0d, 0xd8, 0xf3, 0xf9, 0xf9, 0xd1, 0xd9, 0x82, 0xf4, 0xc2, 0x03, 0xd8, 0xde, 0xdf, 0x1a,
-    0xd8, 0xf1, 0xa2, 0xfa, 0xf9, 0xa8, 0x84, 0x98, 0xd9, 0xc7, 0xdf, 0xf8, 0xf8, 0xf8, 0x83, 0xc7,
-    0xda, 0xdf, 0x69, 0xdf, 0xf8, 0x83, 0xc3, 0xd8, 0xf4, 0x01, 0x14, 0xf1, 0x98, 0xa8, 0x82, 0x2e,
-    0xa8, 0x84, 0xf3, 0x11, 0xd1, 0x82, 0xf5, 0xd9, 0x92, 0x50, 0x97, 0x88, 0xf1, 0x09, 0xf4, 0x1c,
-    0xd8, 0x84, 0xa8, 0xf3, 0xc0, 0xf8, 0xf9, 0xd1, 0xd9, 0x97, 0x82, 0xf1, 0x49, 0xf4, 0x0d, 0xd8,
-    0xf3, 0xf9, 0xf9, 0xd1, 0xd9, 0x82, 0xf4, 0xc4, 0x03, 0xd8, 0xde, 0xdf, 0xd8, 0xf1, 0xad, 0x88,
-    0x98, 0xcc, 0xa8, 0x09, 0xf9, 0xd9, 0x82, 0x92, 0xa8, 0xf5, 0x7c, 0xf1, 0x88, 0x3a, 0xcf, 0x94,
-    0x4a, 0x6e, 0x98, 0xdb, 0x69, 0x31, 0xda, 0xad, 0xf2, 0xde, 0xf9, 0xd8, 0x87, 0x95, 0xa8, 0xf2,
-    0x21, 0xd1, 0xda, 0xa5, 0xf9, 0xf4, 0x17, 0xd9, 0xf1, 0xae, 0x8e, 0xd0, 0xc0, 0xc3, 0xae, 0x82,
-    /* bank # 6 */
-    0xc6, 0x84, 0xc3, 0xa8, 0x85, 0x95, 0xc8, 0xa5, 0x88, 0xf2, 0xc0, 0xf1, 0xf4, 0x01, 0x0e, 0xf1,
-    0x8e, 0x9e, 0xa8, 0xc6, 0x3e, 0x56, 0xf5, 0x54, 0xf1, 0x88, 0x72, 0xf4, 0x01, 0x15, 0xf1, 0x98,
-    0x45, 0x85, 0x6e, 0xf5, 0x8e, 0x9e, 0x04, 0x88, 0xf1, 0x42, 0x98, 0x5a, 0x8e, 0x9e, 0x06, 0x88,
-    0x69, 0xf4, 0x01, 0x1c, 0xf1, 0x98, 0x1e, 0x11, 0x08, 0xd0, 0xf5, 0x04, 0xf1, 0x1e, 0x97, 0x02,
-    0x02, 0x98, 0x36, 0x25, 0xdb, 0xf9, 0xd9, 0x85, 0xa5, 0xf3, 0xc1, 0xda, 0x85, 0xa5, 0xf3, 0xdf,
-    0xd8, 0x85, 0x95, 0xa8, 0xf3, 0x09, 0xda, 0xa5, 0xfa, 0xd8, 0x82, 0x92, 0xa8, 0xf5, 0x78, 0xf1,
-    0x88, 0x1a, 0x84, 0x9f, 0x26, 0x88, 0x98, 0x21, 0xda, 0xf4, 0x1d, 0xf3, 0xd8, 0x87, 0x9f, 0x39,
-    0xd1, 0xaf, 0xd9, 0xdf, 0xdf, 0xfb, 0xf9, 0xf4, 0x0c, 0xf3, 0xd8, 0xfa, 0xd0, 0xf8, 0xda, 0xf9,
-    0xf9, 0xd0, 0xdf, 0xd9, 0xf9, 0xd8, 0xf4, 0x0b, 0xd8, 0xf3, 0x87, 0x9f, 0x39, 0xd1, 0xaf, 0xd9,
-    0xdf, 0xdf, 0xf4, 0x1d, 0xf3, 0xd8, 0xfa, 0xfc, 0xa8, 0x69, 0xf9, 0xf9, 0xaf, 0xd0, 0xda, 0xde,
-    0xfa, 0xd9, 0xf8, 0x8f, 0x9f, 0xa8, 0xf1, 0xcc, 0xf3, 0x98, 0xdb, 0x45, 0xd9, 0xaf, 0xdf, 0xd0,
-    0xf8, 0xd8, 0xf1, 0x8f, 0x9f, 0xa8, 0xca, 0xf3, 0x88, 0x09, 0xda, 0xaf, 0x8f, 0xcb, 0xf8, 0xd8,
-    0xf2, 0xad, 0x97, 0x8d, 0x0c, 0xd9, 0xa5, 0xdf, 0xf9, 0xba, 0xa6, 0xf3, 0xfa, 0xf4, 0x12, 0xf2,
-    0xd8, 0x95, 0x0d, 0xd1, 0xd9, 0xba, 0xa6, 0xf3, 0xfa, 0xda, 0xa5, 0xf2, 0xc1, 0xba, 0xa6, 0xf3,
-    0xdf, 0xd8, 0xf1, 0xba, 0xb2, 0xb6, 0x86, 0x96, 0xa6, 0xd0, 0xca, 0xf3, 0x49, 0xda, 0xa6, 0xcb,
-    0xf8, 0xd8, 0xb0, 0xb4, 0xb8, 0xd8, 0xad, 0x84, 0xf2, 0xc0, 0xdf, 0xf1, 0x8f, 0xcb, 0xc3, 0xa8,
-    /* bank # 7 */
-    0xb2, 0xb6, 0x86, 0x96, 0xc8, 0xc1, 0xcb, 0xc3, 0xf3, 0xb0, 0xb4, 0x88, 0x98, 0xa8, 0x21, 0xdb,
-    0x71, 0x8d, 0x9d, 0x71, 0x85, 0x95, 0x21, 0xd9, 0xad, 0xf2, 0xfa, 0xd8, 0x85, 0x97, 0xa8, 0x28,
-    0xd9, 0xf4, 0x08, 0xd8, 0xf2, 0x8d, 0x29, 0xda, 0xf4, 0x05, 0xd9, 0xf2, 0x85, 0xa4, 0xc2, 0xf2,
-    0xd8, 0xa8, 0x8d, 0x94, 0x01, 0xd1, 0xd9, 0xf4, 0x11, 0xf2, 0xd8, 0x87, 0x21, 0xd8, 0xf4, 0x0a,
-    0xd8, 0xf2, 0x84, 0x98, 0xa8, 0xc8, 0x01, 0xd1, 0xd9, 0xf4, 0x11, 0xd8, 0xf3, 0xa4, 0xc8, 0xbb,
-    0xaf, 0xd0, 0xf2, 0xde, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xd8, 0xf1, 0xb8, 0xf6,
-    0xb5, 0xb9, 0xb0, 0x8a, 0x95, 0xa3, 0xde, 0x3c, 0xa3, 0xd9, 0xf8, 0xd8, 0x5c, 0xa3, 0xd9, 0xf8,
-    0xd8, 0x7c, 0xa3, 0xd9, 0xf8, 0xd8, 0xf8, 0xf9, 0xd1, 0xa5, 0xd9, 0xdf, 0xda, 0xfa, 0xd8, 0xb1,
-    0x85, 0x30, 0xf7, 0xd9, 0xde, 0xd8, 0xf8, 0x30, 0xad, 0xda, 0xde, 0xd8, 0xf2, 0xb4, 0x8c, 0x99,
-    0xa3, 0x2d, 0x55, 0x7d, 0xa0, 0x83, 0xdf, 0xdf, 0xdf, 0xb5, 0x91, 0xa0, 0xf6, 0x29, 0xd9, 0xfb,
-    0xd8, 0xa0, 0xfc, 0x29, 0xd9, 0xfa, 0xd8, 0xa0, 0xd0, 0x51, 0xd9, 0xf8, 0xd8, 0xfc, 0x51, 0xd9,
-    0xf9, 0xd8, 0x79, 0xd9, 0xfb, 0xd8, 0xa0, 0xd0, 0xfc, 0x79, 0xd9, 0xfa, 0xd8, 0xa1, 0xf9, 0xf9,
-    0xf9, 0xf9, 0xf9, 0xa0, 0xda, 0xdf, 0xdf, 0xdf, 0xd8, 0xa1, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xac,
-    0xde, 0xf8, 0xad, 0xde, 0x83, 0x93, 0xac, 0x2c, 0x54, 0x7c, 0xf1, 0xa8, 0xdf, 0xdf, 0xdf, 0xf6,
-    0x9d, 0x2c, 0xda, 0xa0, 0xdf, 0xd9, 0xfa, 0xdb, 0x2d, 0xf8, 0xd8, 0xa8, 0x50, 0xda, 0xa0, 0xd0,
-    0xde, 0xd9, 0xd0, 0xf8, 0xf8, 0xf8, 0xdb, 0x55, 0xf8, 0xd8, 0xa8, 0x78, 0xda, 0xa0, 0xd0, 0xdf,
-    /* bank # 8 */
-    0xd9, 0xd0, 0xfa, 0xf8, 0xf8, 0xf8, 0xf8, 0xdb, 0x7d, 0xf8, 0xd8, 0x9c, 0xa8, 0x8c, 0xf5, 0x30,
-    0xdb, 0x38, 0xd9, 0xd0, 0xde, 0xdf, 0xa0, 0xd0, 0xde, 0xdf, 0xd8, 0xa8, 0x48, 0xdb, 0x58, 0xd9,
-    0xdf, 0xd0, 0xde, 0xa0, 0xdf, 0xd0, 0xde, 0xd8, 0xa8, 0x68, 0xdb, 0x70, 0xd9, 0xdf, 0xdf, 0xa0,
-    0xdf, 0xdf, 0xd8, 0xf1, 0xa8, 0x88, 0x90, 0x2c, 0x54, 0x7c, 0x98, 0xa8, 0xd0, 0x5c, 0x38, 0xd1,
-    0xda, 0xf2, 0xae, 0x8c, 0xdf, 0xf9, 0xd8, 0xb0, 0x87, 0xa8, 0xc1, 0xc1, 0xb1, 0x88, 0xa8, 0xc6,
-    0xf9, 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xa8,
-    0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xf7, 0x8d, 0x9d, 0xad, 0xf8, 0x18, 0xda,
-    0xf2, 0xae, 0xdf, 0xd8, 0xf7, 0xad, 0xfa, 0x30, 0xd9, 0xa4, 0xde, 0xf9, 0xd8, 0xf2, 0xae, 0xde,
-    0xfa, 0xf9, 0x83, 0xa7, 0xd9, 0xc3, 0xc5, 0xc7, 0xf1, 0x88, 0x9b, 0xa7, 0x7a, 0xad, 0xf7, 0xde,
-    0xdf, 0xa4, 0xf8, 0x84, 0x94, 0x08, 0xa7, 0x97, 0xf3, 0x00, 0xae, 0xf2, 0x98, 0x19, 0xa4, 0x88,
-    0xc6, 0xa3, 0x94, 0x88, 0xf6, 0x32, 0xdf, 0xf2, 0x83, 0x93, 0xdb, 0x09, 0xd9, 0xf2, 0xaa, 0xdf,
-    0xd8, 0xd8, 0xae, 0xf8, 0xf9, 0xd1, 0xda, 0xf3, 0xa4, 0xde, 0xa7, 0xf1, 0x88, 0x9b, 0x7a, 0xd8,
-    0xf3, 0x84, 0x94, 0xae, 0x19, 0xf9, 0xda, 0xaa, 0xf1, 0xdf, 0xd8, 0xa8, 0x81, 0xc0, 0xc3, 0xc5,
-    0xc7, 0xa3, 0x92, 0x83, 0xf6, 0x28, 0xad, 0xde, 0xd9, 0xf8, 0xd8, 0xa3, 0x50, 0xad, 0xd9, 0xf8,
-    0xd8, 0xa3, 0x78, 0xad, 0xd9, 0xf8, 0xd8, 0xf8, 0xf9, 0xd1, 0xa1, 0xda, 0xde, 0xc3, 0xc5, 0xc7,
-    0xd8, 0xa1, 0x81, 0x94, 0xf8, 0x18, 0xf2, 0xb0, 0x89, 0xac, 0xc3, 0xc5, 0xc7, 0xf1, 0xd8, 0xb8,
-    /* bank # 9 */
-    0xb4, 0xb0, 0x97, 0x86, 0xa8, 0x31, 0x9b, 0x06, 0x99, 0x07, 0xab, 0x97, 0x28, 0x88, 0x9b, 0xf0,
-    0x0c, 0x20, 0x14, 0x40, 0xb0, 0xb4, 0xb8, 0xf0, 0xa8, 0x8a, 0x9a, 0x28, 0x50, 0x78, 0xb7, 0x9b,
-    0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xf1, 0xbb, 0xab,
-    0x88, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0xb3, 0x8b, 0xb8, 0xa8, 0x04, 0x28, 0x50, 0x78, 0xf1, 0xb0,
-    0x88, 0xb4, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xbb, 0xab, 0xb3, 0x8b, 0x02, 0x26, 0x46, 0x66, 0xb0,
-    0xb8, 0xf0, 0x8a, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x8b, 0x29, 0x51, 0x79, 0x8a, 0x24, 0x70, 0x59,
-    0x8b, 0x20, 0x58, 0x71, 0x8a, 0x44, 0x69, 0x38, 0x8b, 0x39, 0x40, 0x68, 0x8a, 0x64, 0x48, 0x31,
-    0x8b, 0x30, 0x49, 0x60, 0x88, 0xf1, 0xac, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0x8c, 0xa8, 0x04, 0x28,
-    0x50, 0x78, 0xf1, 0x88, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xac, 0x8c, 0x02, 0x26, 0x46, 0x66, 0xf0,
-    0x89, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xa9,
-    0x88, 0x09, 0x20, 0x59, 0x70, 0xab, 0x11, 0x38, 0x40, 0x69, 0xa8, 0x19, 0x31, 0x48, 0x60, 0x8c,
-    0xa8, 0x3c, 0x41, 0x5c, 0x20, 0x7c, 0x00, 0xf1, 0x87, 0x98, 0x19, 0x86, 0xa8, 0x6e, 0x76, 0x7e,
-    0xa9, 0x99, 0x88, 0x2d, 0x55, 0x7d, 0xd8, 0xb1, 0xb5, 0xb9, 0xa3, 0xdf, 0xdf, 0xdf, 0xae, 0xd0,
-    0xdf, 0xaa, 0xd0, 0xde, 0xf2, 0xab, 0xf8, 0xf9, 0xd9, 0xb0, 0x87, 0xc4, 0xaa, 0xf1, 0xdf, 0xdf,
-    0xbb, 0xaf, 0xdf, 0xdf, 0xb9, 0xd8, 0xb1, 0xf1, 0xa3, 0x97, 0x8e, 0x60, 0xdf, 0xb0, 0x84, 0xf2,
-    0xc8, 0xf8, 0xf9, 0xd9, 0xde, 0xd8, 0x93, 0x85, 0xf1, 0x4a, 0xb1, 0x83, 0xa3, 0x08, 0xb5, 0x83,
-    /* bank # 10 */
-    0x9a, 0x08, 0x10, 0xb7, 0x9f, 0x10, 0xd8, 0xf1, 0xb0, 0xba, 0xae, 0xb0, 0x8a, 0xc2, 0xb2, 0xb6,
-    0x8e, 0x9e, 0xf1, 0xfb, 0xd9, 0xf4, 0x1d, 0xd8, 0xf9, 0xd9, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad,
-    0x61, 0xd9, 0xae, 0xfb, 0xd8, 0xf4, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad, 0x19, 0xd9, 0xae, 0xfb,
-    0xdf, 0xd8, 0xf4, 0x16, 0xf1, 0xd8, 0xf8, 0xad, 0x8d, 0x61, 0xd9, 0xf4, 0xf4, 0xac, 0xf5, 0x9c,
-    0x9c, 0x8d, 0xdf, 0x2b, 0xba, 0xb6, 0xae, 0xfa, 0xf8, 0xf4, 0x0b, 0xd8, 0xf1, 0xae, 0xd0, 0xf8,
-    0xad, 0x51, 0xda, 0xae, 0xfa, 0xf8, 0xf1, 0xd8, 0xb9, 0xb1, 0xb6, 0xa3, 0x83, 0x9c, 0x08, 0xb9,
-    0xb1, 0x83, 0x9a, 0xb5, 0xaa, 0xc0, 0xfd, 0x30, 0x83, 0xb7, 0x9f, 0x10, 0xb5, 0x8b, 0x93, 0xf2,
-    0x02, 0x02, 0xd1, 0xab, 0xda, 0xde, 0xd8, 0xf1, 0xb0, 0x80, 0xba, 0xab, 0xc0, 0xc3, 0xb2, 0x84,
-    0xc1, 0xc3, 0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9, 0xab, 0xde, 0xb0,
-    0x87, 0x9c, 0xb9, 0xa3, 0xdd, 0xf1, 0xb3, 0x8b, 0x8b, 0x8b, 0x8b, 0x8b, 0xb0, 0x87, 0xa3, 0xa3,
-    0xa3, 0xa3, 0xb2, 0x8b, 0xb6, 0x9b, 0xf2, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3,
-    0xa3, 0xf1, 0xb0, 0x87, 0xb5, 0x9a, 0xa3, 0xf3, 0x9b, 0xa3, 0xa3, 0xdc, 0xba, 0xac, 0xdf, 0xb9,
-    0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3,
-    0xd8, 0xd8, 0xd8, 0xbb, 0xb3, 0xb7, 0xf1, 0xaa, 0xf9, 0xda, 0xff, 0xd9, 0x80, 0x9a, 0xaa, 0x28,
-    0xb4, 0x80, 0x98, 0xa7, 0x20, 0xb7, 0x97, 0x87, 0xa8, 0x66, 0x88, 0xf0, 0x79, 0x51, 0xf1, 0x90,
-    0x2c, 0x87, 0x0c, 0xa7, 0x81, 0x97, 0x62, 0x93, 0xf0, 0x71, 0x71, 0x60, 0x85, 0x94, 0x01, 0x29,
-    /* bank # 11 */
-    0x51, 0x79, 0x90, 0xa5, 0xf1, 0x28, 0x4c, 0x6c, 0x87, 0x0c, 0x95, 0x18, 0x85, 0x78, 0xa3, 0x83,
-    0x90, 0x28, 0x4c, 0x6c, 0x88, 0x6c, 0xd8, 0xf3, 0xa2, 0x82, 0x00, 0xf2, 0x10, 0xa8, 0x92, 0x19,
-    0x80, 0xa2, 0xf2, 0xd9, 0x26, 0xd8, 0xf1, 0x88, 0xa8, 0x4d, 0xd9, 0x48, 0xd8, 0x96, 0xa8, 0x39,
-    0x80, 0xd9, 0x3c, 0xd8, 0x95, 0x80, 0xa8, 0x39, 0xa6, 0x86, 0x98, 0xd9, 0x2c, 0xda, 0x87, 0xa7,
-    0x2c, 0xd8, 0xa8, 0x89, 0x95, 0x19, 0xa9, 0x80, 0xd9, 0x38, 0xd8, 0xa8, 0x89, 0x39, 0xa9, 0x80,
-    0xda, 0x3c, 0xd8, 0xa8, 0x2e, 0xa8, 0x39, 0x90, 0xd9, 0x0c, 0xd8, 0xa8, 0x95, 0x31, 0x98, 0xd9,
-    0x0c, 0xd8, 0xa8, 0x09, 0xd9, 0xff, 0xd8, 0x01, 0xda, 0xff, 0xd8, 0x95, 0x39, 0xa9, 0xda, 0x26,
-    0xff, 0xd8, 0x90, 0xa8, 0x0d, 0x89, 0x99, 0xa8, 0x10, 0x80, 0x98, 0x21, 0xda, 0x2e, 0xd8, 0x89,
-    0x99, 0xa8, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x86, 0x96, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8,
-    0x87, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x82, 0x92, 0xf3, 0x41, 0x80, 0xf1, 0xd9, 0x2e, 0xd8,
-    0xa8, 0x82, 0xf3, 0x19, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, 0x82, 0xac, 0xf3, 0xc0, 0xa2, 0x80, 0x22,
-    0xf1, 0xa6, 0x2e, 0xa7, 0x2e, 0xa9, 0x22, 0x98, 0xa8, 0x29, 0xda, 0xac, 0xde, 0xff, 0xd8, 0xa2,
-    0xf2, 0x2a, 0xf1, 0xa9, 0x2e, 0x82, 0x92, 0xa8, 0xf2, 0x31, 0x80, 0xa6, 0x96, 0xf1, 0xd9, 0x00,
-    0xac, 0x8c, 0x9c, 0x0c, 0x30, 0xac, 0xde, 0xd0, 0xde, 0xff, 0xd8, 0x8c, 0x9c, 0xac, 0xd0, 0x10,
-    0xac, 0xde, 0x80, 0x92, 0xa2, 0xf2, 0x4c, 0x82, 0xa8, 0xf1, 0xca, 0xf2, 0x35, 0xf1, 0x96, 0x88,
-    0xa6, 0xd9, 0x00, 0xd8, 0xf1, 0xff
-};
-
-static const unsigned short sStartAddress = 0x0400;
-
-/* END OF SECTION COPIED FROM dmpDefaultMPU6050.c */
-
-#define INT_SRC_TAP             (0x01)
-#define INT_SRC_ANDROID_ORIENT  (0x08)
-
-#define DMP_FEATURE_SEND_ANY_GYRO   (DMP_FEATURE_SEND_RAW_GYRO | \
-                                     DMP_FEATURE_SEND_CAL_GYRO)
-
-#define MAX_PACKET_LENGTH   (32)
-
-#define DMP_SAMPLE_RATE     (200)
-#define GYRO_SF             (46850825LL * 200 / DMP_SAMPLE_RATE)
-
-#define FIFO_CORRUPTION_CHECK
-#ifdef FIFO_CORRUPTION_CHECK
-#define QUAT_ERROR_THRESH       (1L<<24)
-#define QUAT_MAG_SQ_NORMALIZED  (1L<<28)
-#define QUAT_MAG_SQ_MIN         (QUAT_MAG_SQ_NORMALIZED - QUAT_ERROR_THRESH)
-#define QUAT_MAG_SQ_MAX         (QUAT_MAG_SQ_NORMALIZED + QUAT_ERROR_THRESH)
-#endif
-
-struct dmp_s {
-    void (*tap_cb)(unsigned char count, unsigned char direction);
-    void (*android_orient_cb)(unsigned char orientation);
-    unsigned short orient;
-    unsigned short feature_mask;
-    unsigned short fifo_rate;
-    unsigned char packet_length;
-};
-
-static struct dmp_s dmp = {
-    .tap_cb = NULL,
-    .android_orient_cb = NULL,
-    .orient = 0,
-    .feature_mask = 0,
-    .fifo_rate = 0,
-    .packet_length = 0
-};
-
-/**
- *  @brief  Load the DMP with this image.
- *  @return 0 if successful.
- */
-int dmp_load_motion_driver_firmware(void)
-{
-    return mpu_load_firmware(DMP_CODE_SIZE, dmp_memory, sStartAddress,
-        DMP_SAMPLE_RATE);
-}
-
-/**
- *  @brief      Push gyro and accel orientation to the DMP.
- *  The orientation is represented here as the output of
- *  @e inv_orientation_matrix_to_scalar.
- *  @param[in]  orient  Gyro and accel orientation in body frame.
- *  @return     0 if successful.
- */
-int dmp_set_orientation(unsigned short orient)
-{
-    unsigned char gyro_regs[3], accel_regs[3];
-    const unsigned char gyro_axes[3] = {DINA4C, DINACD, DINA6C};
-    const unsigned char accel_axes[3] = {DINA0C, DINAC9, DINA2C};
-    const unsigned char gyro_sign[3] = {DINA36, DINA56, DINA76};
-    const unsigned char accel_sign[3] = {DINA26, DINA46, DINA66};
-
-    gyro_regs[0] = gyro_axes[orient & 3];
-    gyro_regs[1] = gyro_axes[(orient >> 3) & 3];
-    gyro_regs[2] = gyro_axes[(orient >> 6) & 3];
-    accel_regs[0] = accel_axes[orient & 3];
-    accel_regs[1] = accel_axes[(orient >> 3) & 3];
-    accel_regs[2] = accel_axes[(orient >> 6) & 3];
-
-    /* Chip-to-body, axes only. */
-    if (mpu_write_mem(FCFG_1, 3, gyro_regs))
-        return -1;
-    if (mpu_write_mem(FCFG_2, 3, accel_regs))
-        return -1;
-
-    memcpy(gyro_regs, gyro_sign, 3);
-    memcpy(accel_regs, accel_sign, 3);
-    if (orient & 4) {
-        gyro_regs[0] |= 1;
-        accel_regs[0] |= 1;
-    }
-    if (orient & 0x20) {
-        gyro_regs[1] |= 1;
-        accel_regs[1] |= 1;
-    }
-    if (orient & 0x100) {
-        gyro_regs[2] |= 1;
-        accel_regs[2] |= 1;
-    }
-
-    /* Chip-to-body, sign only. */
-    if (mpu_write_mem(FCFG_3, 3, gyro_regs))
-        return -1;
-    if (mpu_write_mem(FCFG_7, 3, accel_regs))
-        return -1;
-    dmp.orient = orient;
-    return 0;
-}
-
-/**
- *  @brief      Push gyro biases to the DMP.
- *  Because the gyro integration is handled in the DMP, any gyro biases
- *  calculated by the MPL should be pushed down to DMP memory to remove
- *  3-axis quaternion drift.
- *  \n NOTE: If the DMP-based gyro calibration is enabled, the DMP will
- *  overwrite the biases written to this location once a new one is computed.
- *  @param[in]  bias    Gyro biases in q16.
- *  @return     0 if successful.
- */
-int dmp_set_gyro_bias(long *bias)
-{
-    long gyro_bias_body[3];
-    unsigned char regs[4];
-
-    gyro_bias_body[0] = bias[dmp.orient & 3];
-    if (dmp.orient & 4)
-        gyro_bias_body[0] *= -1;
-    gyro_bias_body[1] = bias[(dmp.orient >> 3) & 3];
-    if (dmp.orient & 0x20)
-        gyro_bias_body[1] *= -1;
-    gyro_bias_body[2] = bias[(dmp.orient >> 6) & 3];
-    if (dmp.orient & 0x100)
-        gyro_bias_body[2] *= -1;
-
-#ifdef EMPL_NO_64BIT
-    gyro_bias_body[0] = (long)(((float)gyro_bias_body[0] * GYRO_SF) / 1073741824.f);
-    gyro_bias_body[1] = (long)(((float)gyro_bias_body[1] * GYRO_SF) / 1073741824.f);
-    gyro_bias_body[2] = (long)(((float)gyro_bias_body[2] * GYRO_SF) / 1073741824.f);
-#else
-    gyro_bias_body[0] = (long)(((long long)gyro_bias_body[0] * GYRO_SF) >> 30);
-    gyro_bias_body[1] = (long)(((long long)gyro_bias_body[1] * GYRO_SF) >> 30);
-    gyro_bias_body[2] = (long)(((long long)gyro_bias_body[2] * GYRO_SF) >> 30);
-#endif
-
-    regs[0] = (unsigned char)((gyro_bias_body[0] >> 24) & 0xFF);
-    regs[1] = (unsigned char)((gyro_bias_body[0] >> 16) & 0xFF);
-    regs[2] = (unsigned char)((gyro_bias_body[0] >> 8) & 0xFF);
-    regs[3] = (unsigned char)(gyro_bias_body[0] & 0xFF);
-    if (mpu_write_mem(D_EXT_GYRO_BIAS_X, 4, regs))
-        return -1;
-
-    regs[0] = (unsigned char)((gyro_bias_body[1] >> 24) & 0xFF);
-    regs[1] = (unsigned char)((gyro_bias_body[1] >> 16) & 0xFF);
-    regs[2] = (unsigned char)((gyro_bias_body[1] >> 8) & 0xFF);
-    regs[3] = (unsigned char)(gyro_bias_body[1] & 0xFF);
-    if (mpu_write_mem(D_EXT_GYRO_BIAS_Y, 4, regs))
-        return -1;
-
-    regs[0] = (unsigned char)((gyro_bias_body[2] >> 24) & 0xFF);
-    regs[1] = (unsigned char)((gyro_bias_body[2] >> 16) & 0xFF);
-    regs[2] = (unsigned char)((gyro_bias_body[2] >> 8) & 0xFF);
-    regs[3] = (unsigned char)(gyro_bias_body[2] & 0xFF);
-    return mpu_write_mem(D_EXT_GYRO_BIAS_Z, 4, regs);
-}
-
-/**
- *  @brief      Push accel biases to the DMP.
- *  These biases will be removed from the DMP 6-axis quaternion.
- *  @param[in]  bias    Accel biases in q16.
- *  @return     0 if successful.
- */
-int dmp_set_accel_bias(long *bias)
-{
-    long accel_bias_body[3];
-    unsigned char regs[12];
-    long long accel_sf;
-    unsigned short accel_sens;
-
-    mpu_get_accel_sens(&accel_sens);
-    accel_sf = (long long)accel_sens << 15;
-//    __no_operation();
-    __NOP();
-
-    accel_bias_body[0] = bias[dmp.orient & 3];
-    if (dmp.orient & 4)
-        accel_bias_body[0] *= -1;
-    accel_bias_body[1] = bias[(dmp.orient >> 3) & 3];
-    if (dmp.orient & 0x20)
-        accel_bias_body[1] *= -1;
-    accel_bias_body[2] = bias[(dmp.orient >> 6) & 3];
-    if (dmp.orient & 0x100)
-        accel_bias_body[2] *= -1;
-
-#ifdef EMPL_NO_64BIT
-    accel_bias_body[0] = (long)(((float)accel_bias_body[0] * accel_sf) / 1073741824.f);
-    accel_bias_body[1] = (long)(((float)accel_bias_body[1] * accel_sf) / 1073741824.f);
-    accel_bias_body[2] = (long)(((float)accel_bias_body[2] * accel_sf) / 1073741824.f);
-#else
-    accel_bias_body[0] = (long)(((long long)accel_bias_body[0] * accel_sf) >> 30);
-    accel_bias_body[1] = (long)(((long long)accel_bias_body[1] * accel_sf) >> 30);
-    accel_bias_body[2] = (long)(((long long)accel_bias_body[2] * accel_sf) >> 30);
-#endif
-
-    regs[0] = (unsigned char)((accel_bias_body[0] >> 24) & 0xFF);
-    regs[1] = (unsigned char)((accel_bias_body[0] >> 16) & 0xFF);
-    regs[2] = (unsigned char)((accel_bias_body[0] >> 8) & 0xFF);
-    regs[3] = (unsigned char)(accel_bias_body[0] & 0xFF);
-    regs[4] = (unsigned char)((accel_bias_body[1] >> 24) & 0xFF);
-    regs[5] = (unsigned char)((accel_bias_body[1] >> 16) & 0xFF);
-    regs[6] = (unsigned char)((accel_bias_body[1] >> 8) & 0xFF);
-    regs[7] = (unsigned char)(accel_bias_body[1] & 0xFF);
-    regs[8] = (unsigned char)((accel_bias_body[2] >> 24) & 0xFF);
-    regs[9] = (unsigned char)((accel_bias_body[2] >> 16) & 0xFF);
-    regs[10] = (unsigned char)((accel_bias_body[2] >> 8) & 0xFF);
-    regs[11] = (unsigned char)(accel_bias_body[2] & 0xFF);
-    return mpu_write_mem(D_ACCEL_BIAS, 12, regs);
-}
-
-/**
- *  @brief      Set DMP output rate.
- *  Only used when DMP is on.
- *  @param[in]  rate    Desired fifo rate (Hz).
- *  @return     0 if successful.
- */
-int dmp_set_fifo_rate(unsigned short rate)
-{
-    const unsigned char regs_end[12] = {DINAFE, DINAF2, DINAAB,
-        0xc4, DINAAA, DINAF1, DINADF, DINADF, 0xBB, 0xAF, DINADF, DINADF};
-    unsigned short div;
-    unsigned char tmp[8];
-
-    if (rate > DMP_SAMPLE_RATE)
-        return -1;
-    div = DMP_SAMPLE_RATE / rate - 1;
-    tmp[0] = (unsigned char)((div >> 8) & 0xFF);
-    tmp[1] = (unsigned char)(div & 0xFF);
-    if (mpu_write_mem(D_0_22, 2, tmp))
-        return -1;
-    if (mpu_write_mem(CFG_6, 12, (unsigned char*)regs_end))
-        return -1;
-
-    dmp.fifo_rate = rate;
-    return 0;
-}
-
-/**
- *  @brief      Get DMP output rate.
- *  @param[out] rate    Current fifo rate (Hz).
- *  @return     0 if successful.
- */
-int dmp_get_fifo_rate(unsigned short *rate)
-{
-    rate[0] = dmp.fifo_rate;
-    return 0;
-}
-
-/**
- *  @brief      Set tap threshold for a specific axis.
- *  @param[in]  axis    1, 2, and 4 for XYZ accel, respectively.
- *  @param[in]  thresh  Tap threshold, in mg/ms.
- *  @return     0 if successful.
- */
-int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh)
-{
-    unsigned char tmp[4], accel_fsr;
-    float scaled_thresh;
-    unsigned short dmp_thresh, dmp_thresh_2;
-    if (!(axis & TAP_XYZ) || thresh > 1600)
-        return -1;
-
-    scaled_thresh = (float)thresh / DMP_SAMPLE_RATE;
-
-    mpu_get_accel_fsr(&accel_fsr);
-    switch (accel_fsr) {
-    case 2:
-        dmp_thresh = (unsigned short)(scaled_thresh * 16384);
-        /* dmp_thresh * 0.75 */
-        dmp_thresh_2 = (unsigned short)(scaled_thresh * 12288);
-        break;
-    case 4:
-        dmp_thresh = (unsigned short)(scaled_thresh * 8192);
-        /* dmp_thresh * 0.75 */
-        dmp_thresh_2 = (unsigned short)(scaled_thresh * 6144);
-        break;
-    case 8:
-        dmp_thresh = (unsigned short)(scaled_thresh * 4096);
-        /* dmp_thresh * 0.75 */
-        dmp_thresh_2 = (unsigned short)(scaled_thresh * 3072);
-        break;
-    case 16:
-        dmp_thresh = (unsigned short)(scaled_thresh * 2048);
-        /* dmp_thresh * 0.75 */
-        dmp_thresh_2 = (unsigned short)(scaled_thresh * 1536);
-        break;
-    default:
-        return -1;
-    }
-    tmp[0] = (unsigned char)(dmp_thresh >> 8);
-    tmp[1] = (unsigned char)(dmp_thresh & 0xFF);
-    tmp[2] = (unsigned char)(dmp_thresh_2 >> 8);
-    tmp[3] = (unsigned char)(dmp_thresh_2 & 0xFF);
-
-    if (axis & TAP_X) {
-        if (mpu_write_mem(DMP_TAP_THX, 2, tmp))
-            return -1;
-        if (mpu_write_mem(D_1_36, 2, tmp+2))
-            return -1;
-    }
-    if (axis & TAP_Y) {
-        if (mpu_write_mem(DMP_TAP_THY, 2, tmp))
-            return -1;
-        if (mpu_write_mem(D_1_40, 2, tmp+2))
-            return -1;
-    }
-    if (axis & TAP_Z) {
-        if (mpu_write_mem(DMP_TAP_THZ, 2, tmp))
-            return -1;
-        if (mpu_write_mem(D_1_44, 2, tmp+2))
-            return -1;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Set which axes will register a tap.
- *  @param[in]  axis    1, 2, and 4 for XYZ, respectively.
- *  @return     0 if successful.
- */
-int dmp_set_tap_axes(unsigned char axis)
-{
-    unsigned char tmp = 0;
-
-    if (axis & TAP_X)
-        tmp |= 0x30;
-    if (axis & TAP_Y)
-        tmp |= 0x0C;
-    if (axis & TAP_Z)
-        tmp |= 0x03;
-    return mpu_write_mem(D_1_72, 1, &tmp);
-}
-
-/**
- *  @brief      Set minimum number of taps needed for an interrupt.
- *  @param[in]  min_taps    Minimum consecutive taps (1-4).
- *  @return     0 if successful.
- */
-int dmp_set_tap_count(unsigned char min_taps)
-{
-    unsigned char tmp;
-
-    if (min_taps < 1)
-        min_taps = 1;
-    else if (min_taps > 4)
-        min_taps = 4;
-
-    tmp = min_taps - 1;
-    return mpu_write_mem(D_1_79, 1, &tmp);
-}
-
-/**
- *  @brief      Set length between valid taps.
- *  @param[in]  time    Milliseconds between taps.
- *  @return     0 if successful.
- */
-int dmp_set_tap_time(unsigned short time)
-{
-    unsigned short dmp_time;
-    unsigned char tmp[2];
-
-    dmp_time = time / (1000 / DMP_SAMPLE_RATE);
-    tmp[0] = (unsigned char)(dmp_time >> 8);
-    tmp[1] = (unsigned char)(dmp_time & 0xFF);
-    return mpu_write_mem(DMP_TAPW_MIN, 2, tmp);
-}
-
-/**
- *  @brief      Set max time between taps to register as a multi-tap.
- *  @param[in]  time    Max milliseconds between taps.
- *  @return     0 if successful.
- */
-int dmp_set_tap_time_multi(unsigned short time)
-{
-    unsigned short dmp_time;
-    unsigned char tmp[2];
-
-    dmp_time = time / (1000 / DMP_SAMPLE_RATE);
-    tmp[0] = (unsigned char)(dmp_time >> 8);
-    tmp[1] = (unsigned char)(dmp_time & 0xFF);
-    return mpu_write_mem(D_1_218, 2, tmp);
-}
-
-/**
- *  @brief      Set shake rejection threshold.
- *  If the DMP detects a gyro sample larger than @e thresh, taps are rejected.
- *  @param[in]  sf      Gyro scale factor.
- *  @param[in]  thresh  Gyro threshold in dps.
- *  @return     0 if successful.
- */
-int dmp_set_shake_reject_thresh(long sf, unsigned short thresh)
-{
-    unsigned char tmp[4];
-    long thresh_scaled = sf / 1000 * thresh;
-    tmp[0] = (unsigned char)(((long)thresh_scaled >> 24) & 0xFF);
-    tmp[1] = (unsigned char)(((long)thresh_scaled >> 16) & 0xFF);
-    tmp[2] = (unsigned char)(((long)thresh_scaled >> 8) & 0xFF);
-    tmp[3] = (unsigned char)((long)thresh_scaled & 0xFF);
-    return mpu_write_mem(D_1_92, 4, tmp);
-}
-
-/**
- *  @brief      Set shake rejection time.
- *  Sets the length of time that the gyro must be outside of the threshold set
- *  by @e gyro_set_shake_reject_thresh before taps are rejected. A mandatory
- *  60 ms is added to this parameter.
- *  @param[in]  time    Time in milliseconds.
- *  @return     0 if successful.
- */
-int dmp_set_shake_reject_time(unsigned short time)
-{
-    unsigned char tmp[2];
-
-    time /= (1000 / DMP_SAMPLE_RATE);
-    tmp[0] = time >> 8;
-    tmp[1] = time & 0xFF;
-    return mpu_write_mem(D_1_90,2,tmp);
-}
-
-/**
- *  @brief      Set shake rejection timeout.
- *  Sets the length of time after a shake rejection that the gyro must stay
- *  inside of the threshold before taps can be detected again. A mandatory
- *  60 ms is added to this parameter.
- *  @param[in]  time    Time in milliseconds.
- *  @return     0 if successful.
- */
-int dmp_set_shake_reject_timeout(unsigned short time)
-{
-    unsigned char tmp[2];
-
-    time /= (1000 / DMP_SAMPLE_RATE);
-    tmp[0] = time >> 8;
-    tmp[1] = time & 0xFF;
-    return mpu_write_mem(D_1_88,2,tmp);
-}
-
-/**
- *  @brief      Get current step count.
- *  @param[out] count   Number of steps detected.
- *  @return     0 if successful.
- */
-int dmp_get_pedometer_step_count(unsigned long *count)
-{
-    unsigned char tmp[4];
-    if (!count)
-        return -1;
-
-    if (mpu_read_mem(D_PEDSTD_STEPCTR, 4, tmp))
-        return -1;
-
-    count[0] = ((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) |
-        ((unsigned long)tmp[2] << 8) | tmp[3];
-    return 0;
-}
-
-/**
- *  @brief      Overwrite current step count.
- *  WARNING: This function writes to DMP memory and could potentially encounter
- *  a race condition if called while the pedometer is enabled.
- *  @param[in]  count   New step count.
- *  @return     0 if successful.
- */
-int dmp_set_pedometer_step_count(unsigned long count)
-{
-    unsigned char tmp[4];
-
-    tmp[0] = (unsigned char)((count >> 24) & 0xFF);
-    tmp[1] = (unsigned char)((count >> 16) & 0xFF);
-    tmp[2] = (unsigned char)((count >> 8) & 0xFF);
-    tmp[3] = (unsigned char)(count & 0xFF);
-    return mpu_write_mem(D_PEDSTD_STEPCTR, 4, tmp);
-}
-
-/**
- *  @brief      Get duration of walking time.
- *  @param[in]  time    Walk time in milliseconds.
- *  @return     0 if successful.
- */
-int dmp_get_pedometer_walk_time(unsigned long *time)
-{
-    unsigned char tmp[4];
-    if (!time)
-        return -1;
-
-    if (mpu_read_mem(D_PEDSTD_TIMECTR, 4, tmp))
-        return -1;
-
-    time[0] = (((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) |
-        ((unsigned long)tmp[2] << 8) | tmp[3]) * 20;
-    return 0;
-}
-
-/**
- *  @brief      Overwrite current walk time.
- *  WARNING: This function writes to DMP memory and could potentially encounter
- *  a race condition if called while the pedometer is enabled.
- *  @param[in]  time    New walk time in milliseconds.
- */
-int dmp_set_pedometer_walk_time(unsigned long time)
-{
-    unsigned char tmp[4];
-
-    time /= 20;
-
-    tmp[0] = (unsigned char)((time >> 24) & 0xFF);
-    tmp[1] = (unsigned char)((time >> 16) & 0xFF);
-    tmp[2] = (unsigned char)((time >> 8) & 0xFF);
-    tmp[3] = (unsigned char)(time & 0xFF);
-    return mpu_write_mem(D_PEDSTD_TIMECTR, 4, tmp);
-}
-
-/**
- *  @brief      Enable DMP features.
- *  The following \#define's are used in the input mask:
- *  \n DMP_FEATURE_TAP
- *  \n DMP_FEATURE_ANDROID_ORIENT
- *  \n DMP_FEATURE_LP_QUAT
- *  \n DMP_FEATURE_6X_LP_QUAT
- *  \n DMP_FEATURE_GYRO_CAL
- *  \n DMP_FEATURE_SEND_RAW_ACCEL
- *  \n DMP_FEATURE_SEND_RAW_GYRO
- *  \n NOTE: DMP_FEATURE_LP_QUAT and DMP_FEATURE_6X_LP_QUAT are mutually
- *  exclusive.
- *  \n NOTE: DMP_FEATURE_SEND_RAW_GYRO and DMP_FEATURE_SEND_CAL_GYRO are also
- *  mutually exclusive.
- *  @param[in]  mask    Mask of features to enable.
- *  @return     0 if successful.
- */
-int dmp_enable_feature(unsigned short mask)
-{
-    unsigned char tmp[10];
-
-    /* TODO: All of these settings can probably be integrated into the default
-     * DMP image.
-     */
-    /* Set integration scale factor. */
-    tmp[0] = (unsigned char)((GYRO_SF >> 24) & 0xFF);
-    tmp[1] = (unsigned char)((GYRO_SF >> 16) & 0xFF);
-    tmp[2] = (unsigned char)((GYRO_SF >> 8) & 0xFF);
-    tmp[3] = (unsigned char)(GYRO_SF & 0xFF);
-    mpu_write_mem(D_0_104, 4, tmp);
-
-    /* Send sensor data to the FIFO. */
-    tmp[0] = 0xA3;
-    if (mask & DMP_FEATURE_SEND_RAW_ACCEL) {
-        tmp[1] = 0xC0;
-        tmp[2] = 0xC8;
-        tmp[3] = 0xC2;
-    } else {
-        tmp[1] = 0xA3;
-        tmp[2] = 0xA3;
-        tmp[3] = 0xA3;
-    }
-    if (mask & DMP_FEATURE_SEND_ANY_GYRO) {
-        tmp[4] = 0xC4;
-        tmp[5] = 0xCC;
-        tmp[6] = 0xC6;
-    } else {
-        tmp[4] = 0xA3;
-        tmp[5] = 0xA3;
-        tmp[6] = 0xA3;
-    }
-    tmp[7] = 0xA3;
-    tmp[8] = 0xA3;
-    tmp[9] = 0xA3;
-    mpu_write_mem(CFG_15,10,tmp);
-
-    /* Send gesture data to the FIFO. */
-    if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT))
-        tmp[0] = DINA20;
-    else
-        tmp[0] = 0xD8;
-    mpu_write_mem(CFG_27,1,tmp);
-
-    if (mask & DMP_FEATURE_GYRO_CAL)
-        dmp_enable_gyro_cal(1);
-    else
-        dmp_enable_gyro_cal(0);
-
-    if (mask & DMP_FEATURE_SEND_ANY_GYRO) {
-        if (mask & DMP_FEATURE_SEND_CAL_GYRO) {
-            tmp[0] = 0xB2;
-            tmp[1] = 0x8B;
-            tmp[2] = 0xB6;
-            tmp[3] = 0x9B;
-        } else {
-            tmp[0] = DINAC0;
-            tmp[1] = DINA80;
-            tmp[2] = DINAC2;
-            tmp[3] = DINA90;
-        }
-        mpu_write_mem(CFG_GYRO_RAW_DATA, 4, tmp);
-    }
-
-    if (mask & DMP_FEATURE_TAP) {
-        /* Enable tap. */
-        tmp[0] = 0xF8;
-        mpu_write_mem(CFG_20, 1, tmp);
-        dmp_set_tap_thresh(TAP_XYZ, 250);
-        dmp_set_tap_axes(TAP_XYZ);
-        dmp_set_tap_count(1);
-        dmp_set_tap_time(100);
-        dmp_set_tap_time_multi(500);
-
-        dmp_set_shake_reject_thresh(GYRO_SF, 200);
-        dmp_set_shake_reject_time(40);
-        dmp_set_shake_reject_timeout(10);
-    } else {
-        tmp[0] = 0xD8;
-        mpu_write_mem(CFG_20, 1, tmp);
-    }
-
-    if (mask & DMP_FEATURE_ANDROID_ORIENT) {
-        tmp[0] = 0xD9;
-    } else
-        tmp[0] = 0xD8;
-    mpu_write_mem(CFG_ANDROID_ORIENT_INT, 1, tmp);
-
-    if (mask & DMP_FEATURE_LP_QUAT)
-        dmp_enable_lp_quat(1);
-    else
-        dmp_enable_lp_quat(0);
-
-    if (mask & DMP_FEATURE_6X_LP_QUAT)
-        dmp_enable_6x_lp_quat(1);
-    else
-        dmp_enable_6x_lp_quat(0);
-
-    /* Pedometer is always enabled. */
-    dmp.feature_mask = mask | DMP_FEATURE_PEDOMETER;
-    mpu_reset_fifo();
-
-    dmp.packet_length = 0;
-    if (mask & DMP_FEATURE_SEND_RAW_ACCEL)
-        dmp.packet_length += 6;
-    if (mask & DMP_FEATURE_SEND_ANY_GYRO)
-        dmp.packet_length += 6;
-    if (mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT))
-        dmp.packet_length += 16;
-    if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT))
-        dmp.packet_length += 4;
-
-    return 0;
-}
-
-/**
- *  @brief      Get list of currently enabled DMP features.
- *  @param[out] Mask of enabled features.
- *  @return     0 if successful.
- */
-int dmp_get_enabled_features(unsigned short *mask)
-{
-    mask[0] = dmp.feature_mask;
-    return 0;
-}
-
-/**
- *  @brief      Calibrate the gyro data in the DMP.
- *  After eight seconds of no motion, the DMP will compute gyro biases and
- *  subtract them from the quaternion output. If @e dmp_enable_feature is
- *  called with @e DMP_FEATURE_SEND_CAL_GYRO, the biases will also be
- *  subtracted from the gyro output.
- *  @param[in]  enable  1 to enable gyro calibration.
- *  @return     0 if successful.
- */
-int dmp_enable_gyro_cal(unsigned char enable)
-{
-    if (enable) {
-        unsigned char regs[9] = {0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35, 0x5d};
-        return mpu_write_mem(CFG_MOTION_BIAS, 9, regs);
-    } else {
-        unsigned char regs[9] = {0xb8, 0xaa, 0xaa, 0xaa, 0xb0, 0x88, 0xc3, 0xc5, 0xc7};
-        return mpu_write_mem(CFG_MOTION_BIAS, 9, regs);
-    }
-}
-
-/**
- *  @brief      Generate 3-axis quaternions from the DMP.
- *  In this driver, the 3-axis and 6-axis DMP quaternion features are mutually
- *  exclusive.
- *  @param[in]  enable  1 to enable 3-axis quaternion.
- *  @return     0 if successful.
- */
-int dmp_enable_lp_quat(unsigned char enable)
-{
-    unsigned char regs[4];
-    if (enable) {
-        regs[0] = DINBC0;
-        regs[1] = DINBC2;
-        regs[2] = DINBC4;
-        regs[3] = DINBC6;
-    }
-    else
-        memset(regs, 0x8B, 4);
-
-    mpu_write_mem(CFG_LP_QUAT, 4, regs);
-
-    return mpu_reset_fifo();
-}
-
-/**
- *  @brief       Generate 6-axis quaternions from the DMP.
- *  In this driver, the 3-axis and 6-axis DMP quaternion features are mutually
- *  exclusive.
- *  @param[in]   enable  1 to enable 6-axis quaternion.
- *  @return      0 if successful.
- */
-int dmp_enable_6x_lp_quat(unsigned char enable)
-{
-    unsigned char regs[4];
-    if (enable) {
-        regs[0] = DINA20;
-        regs[1] = DINA28;
-        regs[2] = DINA30;
-        regs[3] = DINA38;
-    } else
-        memset(regs, 0xA3, 4);
-
-    mpu_write_mem(CFG_8, 4, regs);
-
-    return mpu_reset_fifo();
-}
-
-/**
- *  @brief      Decode the four-byte gesture data and execute any callbacks.
- *  @param[in]  gesture Gesture data from DMP packet.
- *  @return     0 if successful.
- */
-static int decode_gesture(unsigned char *gesture)
-{
-    unsigned char tap, android_orient;
-
-    android_orient = gesture[3] & 0xC0;
-    tap = 0x3F & gesture[3];
-
-    if (gesture[1] & INT_SRC_TAP) {
-        unsigned char direction, count;
-        direction = tap >> 3;
-        count = (tap % 8) + 1;
-        if (dmp.tap_cb)
-            dmp.tap_cb(direction, count);
-    }
-
-    if (gesture[1] & INT_SRC_ANDROID_ORIENT) {
-        if (dmp.android_orient_cb)
-            dmp.android_orient_cb(android_orient >> 6);
-    }
-
-    return 0;
-}
-
-/**
- *  @brief      Specify when a DMP interrupt should occur.
- *  A DMP interrupt can be configured to trigger on either of the two
- *  conditions below:
- *  \n a. One FIFO period has elapsed (set by @e mpu_set_sample_rate).
- *  \n b. A tap event has been detected.
- *  @param[in]  mode    DMP_INT_GESTURE or DMP_INT_CONTINUOUS.
- *  @return     0 if successful.
- */
-int dmp_set_interrupt_mode(unsigned char mode)
-{
-    const unsigned char regs_continuous[11] =
-        {0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9};
-    const unsigned char regs_gesture[11] =
-        {0xda, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0xda, 0xb4, 0xda};
-
-    switch (mode) {
-    case DMP_INT_CONTINUOUS:
-        return mpu_write_mem(CFG_FIFO_ON_EVENT, 11,
-            (unsigned char*)regs_continuous);
-    case DMP_INT_GESTURE:
-        return mpu_write_mem(CFG_FIFO_ON_EVENT, 11,
-            (unsigned char*)regs_gesture);
-    default:
-        return -1;
-    }
-}
-
-/**
- *  @brief      Get one packet from the FIFO.
- *  If @e sensors does not contain a particular sensor, disregard the data
- *  returned to that pointer.
- *  \n @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  \n INV_WXYZ_QUAT
- *  \n If the FIFO has no new data, @e sensors will be zero.
- *  \n If the FIFO is disabled, @e sensors will be zero and this function will
- *  return a non-zero error code.
- *  @param[out] gyro        Gyro data in hardware units.
- *  @param[out] accel       Accel data in hardware units.
- *  @param[out] quat        3-axis quaternion data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds.
- *  @param[out] sensors     Mask of sensors read from FIFO.
- *  @param[out] more        Number of remaining packets.
- *  @return     0 if successful.
- */
-int dmp_read_fifo(short *gyro, short *accel, long *quat,
-    unsigned long *timestamp, short *sensors, unsigned char *more)
-{
-    unsigned char fifo_data[MAX_PACKET_LENGTH];
-    unsigned char ii = 0;
-
-    /* TODO: sensors[0] only changes when dmp_enable_feature is called. We can
-     * cache this value and save some cycles.
-     */
-    sensors[0] = 0;
-
-    /* Get a packet. */
-    if (mpu_read_fifo_stream(dmp.packet_length, fifo_data, more))
-        return -1;
-
-    /* Parse DMP packet. */
-    if (dmp.feature_mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT)) {
-#ifdef FIFO_CORRUPTION_CHECK
-        long quat_q14[4], quat_mag_sq;
-#endif
-        quat[0] = ((long)fifo_data[0] << 24) | ((long)fifo_data[1] << 16) |
-            ((long)fifo_data[2] << 8) | fifo_data[3];
-        quat[1] = ((long)fifo_data[4] << 24) | ((long)fifo_data[5] << 16) |
-            ((long)fifo_data[6] << 8) | fifo_data[7];
-        quat[2] = ((long)fifo_data[8] << 24) | ((long)fifo_data[9] << 16) |
-            ((long)fifo_data[10] << 8) | fifo_data[11];
-        quat[3] = ((long)fifo_data[12] << 24) | ((long)fifo_data[13] << 16) |
-            ((long)fifo_data[14] << 8) | fifo_data[15];
-        ii += 16;
-#ifdef FIFO_CORRUPTION_CHECK
-        /* We can detect a corrupted FIFO by monitoring the quaternion data and
-         * ensuring that the magnitude is always normalized to one. This
-         * shouldn't happen in normal operation, but if an I2C error occurs,
-         * the FIFO reads might become misaligned.
-         *
-         * Let's start by scaling down the quaternion data to avoid long long
-         * math.
-         */
-        quat_q14[0] = quat[0] >> 16;
-        quat_q14[1] = quat[1] >> 16;
-        quat_q14[2] = quat[2] >> 16;
-        quat_q14[3] = quat[3] >> 16;
-        quat_mag_sq = quat_q14[0] * quat_q14[0] + quat_q14[1] * quat_q14[1] +
-            quat_q14[2] * quat_q14[2] + quat_q14[3] * quat_q14[3];
-        if ((quat_mag_sq < QUAT_MAG_SQ_MIN) ||
-            (quat_mag_sq > QUAT_MAG_SQ_MAX)) {
-            /* Quaternion is outside of the acceptable threshold. */
-            mpu_reset_fifo();
-            sensors[0] = 0;
-            return -1;
-        }
-        sensors[0] |= INV_WXYZ_QUAT;
-#endif
-    }
-
-    if (dmp.feature_mask & DMP_FEATURE_SEND_RAW_ACCEL) {
-        accel[0] = ((short)fifo_data[ii+0] << 8) | fifo_data[ii+1];
-        accel[1] = ((short)fifo_data[ii+2] << 8) | fifo_data[ii+3];
-        accel[2] = ((short)fifo_data[ii+4] << 8) | fifo_data[ii+5];
-        ii += 6;
-        sensors[0] |= INV_XYZ_ACCEL;
-    }
-
-    if (dmp.feature_mask & DMP_FEATURE_SEND_ANY_GYRO) {
-        gyro[0] = ((short)fifo_data[ii+0] << 8) | fifo_data[ii+1];
-        gyro[1] = ((short)fifo_data[ii+2] << 8) | fifo_data[ii+3];
-        gyro[2] = ((short)fifo_data[ii+4] << 8) | fifo_data[ii+5];
-        ii += 6;
-        sensors[0] |= INV_XYZ_GYRO;
-    }
-
-    /* Gesture data is at the end of the DMP packet. Parse it and call
-     * the gesture callbacks (if registered).
-     */
-    if (dmp.feature_mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT))
-        decode_gesture(fifo_data + ii);
-
-    get_ms(timestamp);
-    return 0;
-}
-
-/**
- *  @brief      Register a function to be executed on a tap event.
- *  The tap direction is represented by one of the following:
- *  \n TAP_X_UP
- *  \n TAP_X_DOWN
- *  \n TAP_Y_UP
- *  \n TAP_Y_DOWN
- *  \n TAP_Z_UP
- *  \n TAP_Z_DOWN
- *  @param[in]  func    Callback function.
- *  @return     0 if successful.
- */
-int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char))
-{
-    dmp.tap_cb = func;
-    return 0;
-}
-
-/**
- *  @brief      Register a function to be executed on a android orientation event.
- *  @param[in]  func    Callback function.
- *  @return     0 if successful.
- */
-int dmp_register_android_orient_cb(void (*func)(unsigned char))
-{
-    dmp.android_orient_cb = func;
-    return 0;
-}
-
-/**
- *  @}
- */
-

Core备份3/imu4/inv_mpu_dmp_motion_driver4.h

@@ -1,97 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
-    See included License.txt for License information.
- $
- */
-/**
- *  @addtogroup  DRIVERS Sensor Driver Layer
- *  @brief       Hardware drivers to communicate with sensors via I2C.
- *
- *  @{
- *      @file       inv_mpu_dmp_motion_driver.h
- *      @brief      DMP image and interface functions.
- *      @details    All functions are preceded by the dmp_ prefix to
- *                  differentiate among MPL and general driver function calls.
- */
-#ifndef _INV_MPU_DMP_MOTION_DRIVER_H_
-#define _INV_MPU_DMP_MOTION_DRIVER_H_
-
-#define TAP_X               (0x01)
-#define TAP_Y               (0x02)
-#define TAP_Z               (0x04)
-#define TAP_XYZ             (0x07)
-
-#define TAP_X_UP            (0x01)
-#define TAP_X_DOWN          (0x02)
-#define TAP_Y_UP            (0x03)
-#define TAP_Y_DOWN          (0x04)
-#define TAP_Z_UP            (0x05)
-#define TAP_Z_DOWN          (0x06)
-
-#define ANDROID_ORIENT_PORTRAIT             (0x00)
-#define ANDROID_ORIENT_LANDSCAPE            (0x01)
-#define ANDROID_ORIENT_REVERSE_PORTRAIT     (0x02)
-#define ANDROID_ORIENT_REVERSE_LANDSCAPE    (0x03)
-
-#define DMP_INT_GESTURE     (0x01)
-#define DMP_INT_CONTINUOUS  (0x02)
-
-#define DMP_FEATURE_TAP             (0x001)
-#define DMP_FEATURE_ANDROID_ORIENT  (0x002)
-#define DMP_FEATURE_LP_QUAT         (0x004)
-#define DMP_FEATURE_PEDOMETER       (0x008)
-#define DMP_FEATURE_6X_LP_QUAT      (0x010)
-#define DMP_FEATURE_GYRO_CAL        (0x020)
-#define DMP_FEATURE_SEND_RAW_ACCEL  (0x040)
-#define DMP_FEATURE_SEND_RAW_GYRO   (0x080)
-#define DMP_FEATURE_SEND_CAL_GYRO   (0x100)
-
-#define INV_WXYZ_QUAT       (0x100)
-
-/* Set up functions. */
-int dmp_load_motion_driver_firmware(void);
-int dmp_set_fifo_rate(unsigned short rate);
-int dmp_get_fifo_rate(unsigned short *rate);
-int dmp_enable_feature(unsigned short mask);
-int dmp_get_enabled_features(unsigned short *mask);
-int dmp_set_interrupt_mode(unsigned char mode);
-int dmp_set_orientation(unsigned short orient);
-int dmp_set_gyro_bias(long *bias);
-int dmp_set_accel_bias(long *bias);
-
-/* Tap functions. */
-int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char));
-int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh);
-int dmp_set_tap_axes(unsigned char axis);
-int dmp_set_tap_count(unsigned char min_taps);
-int dmp_set_tap_time(unsigned short time);
-int dmp_set_tap_time_multi(unsigned short time);
-int dmp_set_shake_reject_thresh(long sf, unsigned short thresh);
-int dmp_set_shake_reject_time(unsigned short time);
-int dmp_set_shake_reject_timeout(unsigned short time);
-
-/* Android orientation functions. */
-int dmp_register_android_orient_cb(void (*func)(unsigned char));
-
-/* LP quaternion functions. */
-int dmp_enable_lp_quat(unsigned char enable);
-int dmp_enable_6x_lp_quat(unsigned char enable);
-
-/* Pedometer functions. */
-int dmp_get_pedometer_step_count(unsigned long *count);
-int dmp_set_pedometer_step_count(unsigned long count);
-int dmp_get_pedometer_walk_time(unsigned long *time);
-int dmp_set_pedometer_walk_time(unsigned long time);
-
-/* DMP gyro calibration functions. */
-int dmp_enable_gyro_cal(unsigned char enable);
-
-/* Read function. This function should be called whenever the MPU interrupt is
- * detected.
- */
-int dmp_read_fifo(short *gyro, short *accel, long *quat,
-    unsigned long *timestamp, short *sensors, unsigned char *more);
-
-#endif  /* #ifndef _INV_MPU_DMP_MOTION_DRIVER_H_ */
-

Core备份3/imu5/MPU60505.c

@@ -1,542 +0,0 @@
-/*
- * MPU6050.c
- *
- *  Created on: Oct 26, 2021
- *      Author: Administrator
- */
-
-#include "MPU60505.h"
-
-#include <stdio.h>
-
- u8 IIC_Write_Byte(u8 reg, u8 value)
- {
-	 return IIC_Write_Len(MPU_ADDR, reg, 1, &value);
- }
-
- u8 IIC_Read_Byte(u8 reg)
- {
-	 u8 value = 0;
-
-	 IIC_Read_Len(MPU_ADDR, reg, 1, &value);
-
-	 return value;
- }
-
- //IIC连续写
- u8 IIC_Write_Len(u8 addr,u8 reg, u8 len, u8 *buf)
- {
-	 addr = (addr << 1) | 0;
-
-	 u8 data[10] = {0};
-	 data[0] = reg;
-	 for(int i = 0; i < len; i++)
-	 {
-		 data[1 + i] = buf[i];
-	 }
-
-	 if(HAL_I2C_Master_Transmit(&hi2c1, (uint16_t)addr, (uint8_t*)data, len + 1, 10000)!= HAL_OK)
-	 {
-		 printf("++write len byte fail\r\n");
-		 return 1;
-	 }
-
-	 return 0;
- }
-
- //IIC连续读
- u8 IIC_Read_Len(u8 addr,u8 reg,u8 len,u8 *buf)
- {
-	 u8 tmp  = (addr << 1) | 0;
-	 if(HAL_I2C_Master_Transmit(&hi2c1, (uint16_t)tmp, (uint8_t*)&reg, 1, 10000)!= HAL_OK)
-	 {
-		 printf("++write byte fail\r\n");
-		 return 1;
-	 }
-
-	 tmp  = (addr << 1) | 1;
-	 if(HAL_I2C_Master_Receive(&hi2c1, (uint16_t)tmp, (uint8_t *)buf, len, 10000) != HAL_OK)
-	 {
-		 printf("--read byte fail\r\n");
-	 }
-
- }
-
-
-//初始化MPU6050
-//返回值: 0,成功
-//        其他,错误代码
-u8 MPU_Init(void)
-{
-    u8 res = 0;
-
-    IIC_Write_Byte(MPU_PWR_MGMT1_REG,0X80);//复位MPU6050
-
-    HAL_Delay(100);
-
-    IIC_Write_Byte(MPU_PWR_MGMT1_REG,0X00);//唤醒MPU6050
-
-    MPU_Set_Gyro_Fsr(3); //陀螺仪传感器,±2000dps
-    MPU_Set_Accel_Fsr(0); //加速度传感器 ±2g
-    MPU_Set_Rate(50); //设置采样率50HZ
-    IIC_Write_Byte(MPU_INT_EN_REG,0X00); //关闭所有中断
-    IIC_Write_Byte(MPU_USER_CTRL_REG,0X00);//I2C主模式关闭
-    IIC_Write_Byte(MPU_FIFO_EN_REG,0X00);//关闭FIFO
-    IIC_Write_Byte(MPU_INTBP_CFG_REG,0X80);//INT引脚低电平有效
-
-    res=IIC_Read_Byte(MPU_DEVICE_ID_REG);
-
-    printf("the addr is:%d\r\n", res);
-
-    if(res==MPU_ADDR)//器件ID正确
-    {
-        IIC_Write_Byte(MPU_PWR_MGMT1_REG,0X01);//设置CLKSEL,PLL X 轴为参考
-        IIC_Write_Byte(MPU_PWR_MGMT2_REG,0X00);//加速度陀螺仪都工作
-        MPU_Set_Rate(50); //设置采样率为50HZ
-    }
-    else
-    {
-    	return 1;
-    }
-
-    return 0;
-}
-
-//设置MPU6050陀螺仪传感器满量程范围
-//fsr:0,±250dps;1,±500dps;2,±1000dps;3,±2000dps
-//返回值:0,设置成功
-//    其他,设置失败
-u8 MPU_Set_Gyro_Fsr(u8 fsr)
-{
-    return IIC_Write_Byte(MPU_GYRO_CFG_REG, fsr<<3);//设置陀螺仪满量程范围
-}
-
-//设置MPU6050加速度传感器满量程范围
-//fsr:0,±2g;1,±4g;2,±8g;3,±16g
-//返回值:0,设置成功
-//    其他,设置失败
-u8 MPU_Set_Accel_Fsr(u8 fsr)
-{
-    return IIC_Write_Byte(MPU_ACCEL_CFG_REG, fsr<<3);//设置加速度传感器满量程范围
-}
-
-//设置MPU6050的数字低通滤波器
-//lpf:数字低通滤波频率(Hz)
-//返回值:0,设置成功
-//    其他,设置失败
-u8 MPU_Set_LPF(u16 lpf)
-{
-    u8 data=0;
-    if(lpf>=188) data=1;
-    else if(lpf>=98) data=2;
-    else if(lpf>=42) data=2;
-    else if(lpf>=42) data=3;
-    else if(lpf>=20) data=4;
-    else if(lpf>=10) data=5;
-    else data=6;
-    return IIC_Write_Byte(MPU_CFG_REG,data);//设置数字低通滤波器
-}
-
-//设置MPU6050的采样率(假定Fs=1KHz)
-//rate:4~1000(Hz)
-//返回值:0,设置成功
-//    其他,设置失败
-u8 MPU_Set_Rate(u16 rate)
-{
-    u8 data;
-    if(rate>1000)rate=1000;
-    if(rate<4)rate=4;
-    data=1000/rate-1;
-    data=IIC_Write_Byte(MPU_SAMPLE_RATE_REG, data);  //设置数字低通滤波器
-    return MPU_Set_LPF(rate/2); //自动设置LPF为采样率的一半
-}
-
-//得到温度值
-//返回值:温度值(扩大了100倍)
-short MPU_Get_Temperature(void)
-{
-    u8 buf[2];
-    short raw;
-    float temp;
-    IIC_Read_Len(MPU_ADDR, MPU_TEMP_OUTH_REG, 2, buf);
-    raw=((u16)buf[0]<<8)|buf[1];
-    temp=36.53+((double)raw)/340;
-
-    return temp*100;;
-}
-
-//得到陀螺仪值(原始值)
-//gx,gy,gz:陀螺仪x,y,z轴的原始读数(带符号)
-//返回值:0,成功
-// 其他,错误代码
-u8 MPU_Get_Gyroscope(short *gx,short *gy,short *gz)
-{
-    u8 buf[6],res;
-    res=IIC_Read_Len(MPU_ADDR,MPU_GYRO_XOUTH_REG,6,buf);
-    if(res==0)
-    {
-        *gx=((u16)buf[0]<<8)|buf[1];
-        *gy=((u16)buf[2]<<8)|buf[3];
-        *gz=((u16)buf[4]<<8)|buf[5];
-    }
-    return res;
-}
-
-//得到加速度值(原始值)
-//ax,ay,az:陀螺仪x,y,z轴的原始读数(带符号)
-//返回值:0,成功
-//    其他,错误代码
-u8 MPU_Get_Accelerometer(short *ax,short *ay,short *az)
-{
-    u8 buf[6],res;
-    res=IIC_Read_Len(MPU_ADDR,MPU_ACCEL_XOUTH_REG,6,buf);
-    if(res==0)
-    {
-        *ax=((u16)buf[0]<<8)|buf[1];
-        *ay=((u16)buf[2]<<8)|buf[3];
-        *az=((u16)buf[4]<<8)|buf[5];
-    }
-    return res;;
-}
-
-/*--------------------以下为使用板载固件DMP的相关代码，这个融合得到的姿态角效果很好*/
-
-
-/**
-  * @brief  获取当前毫秒值
-  * @param  存储最新毫秒值的变量
-  * @retval 无
-  */
-int get_tick_count(unsigned long *count)
-{
-   count[0] = HAL_GetTick();
-	return 0;
-}
-
-
-#include "inv_mpu5.h"
-#include "inv_mpu_dmp_motion_driver5.h"
-
-/* Data requested by client. */
-#define PRINT_ACCEL     (0x01)
-#define PRINT_GYRO      (0x02)
-#define PRINT_QUAT      (0x04)
-
-#define ACCEL_ON        (0x01)
-#define GYRO_ON         (0x02)
-
-#define MOTION          (0)
-#define NO_MOTION       (1)
-
-/* Starting sampling rate. */ //100
-#define DEFAULT_MPU_HZ  (50)
-
-struct rx_s {
-    unsigned char header[3];
-    unsigned char cmd;
-};
-struct hal_s {
-    unsigned char sensors;
-    unsigned char dmp_on;
-    unsigned char wait_for_tap;
-    volatile unsigned char new_gyro;
-    unsigned short report;
-    unsigned short dmp_features;
-    unsigned char motion_int_mode;
-    struct rx_s rx;
-};
-static struct hal_s hal = {0};
-
-/* USB RX binary semaphore. Actually, it's just a flag. Not included in struct
- * because it's declared extern elsewhere.
- */
-volatile unsigned char rx_new;
-
-/* The sensors can be mounted onto the board in any orientation. The mounting
- * matrix seen below tells the MPL how to rotate the raw data from thei
- * driver(s).
- * TODO: The following matrices refer to the configuration on an internal test
- * board at Invensense. If needed, please modify the matrices to match the
- * chip-to-body matrix for your particular set up.
- */
-static signed char gyro_orientation[9] = {-1, 0, 0,
-                                           0,-1, 0,
-                                           0, 0, 1};
-
-/* Every time new gyro data is available, this function is called in an
- * ISR context. In this example, it sets a flag protecting the FIFO read
- * function.
- */
-static void gyro_data_ready_cb(void)
-{
-    hal.new_gyro = 1;
-}
-
-enum packet_type_e {
-    PACKET_TYPE_ACCEL,
-    PACKET_TYPE_GYRO,
-    PACKET_TYPE_QUAT,
-    PACKET_TYPE_TAP,
-    PACKET_TYPE_ANDROID_ORIENT,
-    PACKET_TYPE_PEDO,
-    PACKET_TYPE_MISC
-};
-
-#define BYTE u_char
-/* Send data to the Python client application.
- * Data is formatted as follows:
- * packet[0]    = $
- * packet[1]    = packet type (see packet_type_e)
- * packet[2+]   = data
- */
-void send_packet(char packet_type, void *data)
-{
-
-	#define MAX_BUF_LENGTH  (18)
-    char buf[MAX_BUF_LENGTH], length;
-
-    memset(buf, 0, MAX_BUF_LENGTH);
-    buf[0] = '$';
-    buf[1] = packet_type;
-
-    if (packet_type == PACKET_TYPE_ACCEL || packet_type == PACKET_TYPE_GYRO) {
-        short *sdata = (short*)data;
-        buf[2] = (char)(sdata[0] >> 8);
-        buf[3] = (char)sdata[0];
-        buf[4] = (char)(sdata[1] >> 8);
-        buf[5] = (char)sdata[1];
-        buf[6] = (char)(sdata[2] >> 8);
-        buf[7] = (char)sdata[2];
-        length = 8;
-    } else if (packet_type == PACKET_TYPE_QUAT) {
-        long *ldata = (long*)data;
-        buf[2] = (char)(ldata[0] >> 24);
-        buf[3] = (char)(ldata[0] >> 16);
-        buf[4] = (char)(ldata[0] >> 8);
-        buf[5] = (char)ldata[0];
-        buf[6] = (char)(ldata[1] >> 24);
-        buf[7] = (char)(ldata[1] >> 16);
-        buf[8] = (char)(ldata[1] >> 8);
-        buf[9] = (char)ldata[1];
-        buf[10] = (char)(ldata[2] >> 24);
-        buf[11] = (char)(ldata[2] >> 16);
-        buf[12] = (char)(ldata[2] >> 8);
-        buf[13] = (char)ldata[2];
-        buf[14] = (char)(ldata[3] >> 24);
-        buf[15] = (char)(ldata[3] >> 16);
-        buf[16] = (char)(ldata[3] >> 8);
-        buf[17] = (char)ldata[3];
-        length = 18;
-    } else if (packet_type == PACKET_TYPE_TAP) {
-        buf[2] = ((char*)data)[0];
-        buf[3] = ((char*)data)[1];
-        length = 4;
-    } else if (packet_type == PACKET_TYPE_ANDROID_ORIENT) {
-        buf[2] = ((char*)data)[0];
-        length = 3;
-    } else if (packet_type == PACKET_TYPE_PEDO) {
-        long *ldata = (long*)data;
-        buf[2] = (char)(ldata[0] >> 24);
-        buf[3] = (char)(ldata[0] >> 16);
-        buf[4] = (char)(ldata[0] >> 8);
-        buf[5] = (char)ldata[0];
-        buf[6] = (char)(ldata[1] >> 24);
-        buf[7] = (char)(ldata[1] >> 16);
-        buf[8] = (char)(ldata[1] >> 8);
-        buf[9] = (char)ldata[1];
-        length = 10;
-    } else if (packet_type == PACKET_TYPE_MISC) {
-        buf[2] = ((char*)data)[0];
-        buf[3] = ((char*)data)[1];
-        buf[4] = ((char*)data)[2];
-        buf[5] = ((char*)data)[3];
-        length = 6;
-    }
-
-//    cdcSendDataWaitTilDone((BYTE*)buf, length, CDC0_INTFNUM, 100);
-}
-
-/* These next two functions converts the orientation matrix (see
- * gyro_orientation) to a scalar representation for use by the DMP.
- * NOTE: These functions are borrowed from Invensense's MPL.
- */
-static inline unsigned short inv_row_2_scale(const signed char *row)
-{
-    unsigned short b;
-
-    if (row[0] > 0)
-        b = 0;
-    else if (row[0] < 0)
-        b = 4;
-    else if (row[1] > 0)
-        b = 1;
-    else if (row[1] < 0)
-        b = 5;
-    else if (row[2] > 0)
-        b = 2;
-    else if (row[2] < 0)
-        b = 6;
-    else
-        b = 7;      // error
-    return b;
-}
-static inline unsigned short inv_orientation_matrix_to_scalar(
-    const signed char *mtx)
-{
-    unsigned short scalar;
-
-    /*
-       XYZ  010_001_000 Identity Matrix
-       XZY  001_010_000
-       YXZ  010_000_001
-       YZX  000_010_001
-       ZXY  001_000_010
-       ZYX  000_001_010
-     */
-
-    scalar = inv_row_2_scale(mtx);
-    scalar |= inv_row_2_scale(mtx + 3) << 3;
-    scalar |= inv_row_2_scale(mtx + 6) << 6;
-
-
-    return scalar;
-}
-
-static inline void run_self_test(void)
-{
-    int result;
-    char test_packet[4] = {0};
-    long gyro[3], accel[3];
-
-    result = mpu_run_self_test(gyro, accel);
-    if (result == 0x7) {
-        /* Test passed. We can trust the gyro data here, so let's push it down
-         * to the DMP.
-         */
-        float sens;
-        unsigned short accel_sens;
-        mpu_get_gyro_sens(&sens);
-        gyro[0] = (long)(gyro[0] * sens);
-        gyro[1] = (long)(gyro[1] * sens);
-        gyro[2] = (long)(gyro[2] * sens);
-        dmp_set_gyro_bias(gyro);
-        mpu_get_accel_sens(&accel_sens);
-        accel[0] *= accel_sens;
-        accel[1] *= accel_sens;
-        accel[2] *= accel_sens;
-        dmp_set_accel_bias(accel);
-    }
-
-    /* Report results. */
-    test_packet[0] = 't';
-    test_packet[1] = result;
-    send_packet(PACKET_TYPE_MISC, test_packet);
-}
-
-
-#define INT_EXIT_LPM0 12
-
-void DMP_Init(void)
-{
-    struct int_param_s int_param;
-
-	/* Set up gyro.
-	 * Every function preceded by mpu_ is a driver function and can be found
-	 * in inv_mpu.h.
-	 */
-	int_param.cb = gyro_data_ready_cb;
-	int_param.pin = 16;
-	int_param.lp_exit = INT_EXIT_LPM0;
-	int_param.active_low = 1;
-
-	int result = mpu_init(&int_param);
-
-	printf("mpu_init, %d\r\n", result);
-
-	if(result == 0)     //mpu初始化
-	{
-		if(!mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL))    //设置需要的传感器
-			printf("mpu_set_sensor complete ......\r\n");
-
-		if(!mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL)) //设置fifo
-			printf("mpu_configure_fifo complete ......\r\n");
-
-		if(!mpu_set_sample_rate(DEFAULT_MPU_HZ))              //设置采集样率
-			printf("mpu_set_sample_rate complete ......\r\n");
-
-
-		unsigned short gyro_rate = 0, gyro_fsr = 0;
-		unsigned char accel_fsr = 0;
-
-	    mpu_get_sample_rate(&gyro_rate);
-	    mpu_get_gyro_fsr(&gyro_fsr);
-	    mpu_get_accel_fsr(&accel_fsr);
-
-	    printf("gyro_rate %d, gyro_fsr %d, accel_fsr %d\r\n", gyro_rate, gyro_fsr, accel_fsr);
-
-
-
-		if(!dmp_load_motion_driver_firmware())                //加载dmp固件
-			printf("dmp_load_motion_driver_firmware complete ......\r\n");
-
-		if(!dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation)))
-			printf("dmp_set_orientation complete ......\r\n"); //设置陀螺仪方向
-
-		if(!dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP |
-				DMP_FEATURE_ANDROID_ORIENT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO |
-				DMP_FEATURE_GYRO_CAL))
-			printf("dmp_enable_feature complete ......\r\n");
-
-		if(!dmp_set_fifo_rate(DEFAULT_MPU_HZ))    //设置速率
-			printf("dmp_set_fifo_rate complete ......\r\n");
-
-		run_self_test();                          //自检(非必要)
-
-		if(!mpu_set_dmp_state(1))                 //使能
-			printf("mpu_set_dmp_state complete ......\r\n");
-	}
-
-}
-
-#define q30 1073741824.0
-
-uint8_t Read_DMP(float* Pitch,float* Roll,float* Yaw)
-{
-	short gyro[3], accel[3], sensors;
-	float q0=1.0f,q1=0.0f,q2=0.0f,q3=0.0f;
-	unsigned long sensor_timestamp;
-	unsigned char more;
-	long quat[4];
-
-	int ret = dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors, &more);
-
-//	printf("dmp_read_fifo, %d\r\n", ret);
-
-	if(ret)
-	{
-		return 1;
-	}
-
-	if (sensors & INV_WXYZ_QUAT)
-	{
-		q0=quat[0] / q30;
-		q1=quat[1] / q30;
-		q2=quat[2] / q30;
-		q3=quat[3] / q30;
-		*Pitch = (float)asin(-2 * q1 * q3 + 2 * q0* q2)* 57.3;
-		*Roll =  (float)atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2* q2 + 1)* 57.3; // roll
-		*Yaw =   (float)atan2(2*(q1*q2 + q0*q3),q0*q0+q1*q1-q2*q2-q3*q3) * 57.3;
-		return 0;
-	}
-	else
-	{
-		return 2;
-	}
-
-}
-
-
-
-
-
-

Core备份3/imu5/MPU60505.h

@@ -1,117 +0,0 @@
-/*
- * MPU6050.h
- *
- *  Created on: Oct 26, 2021
- *      Author: Administrator
- */
-
-#ifndef INC_MPU6050_H_
-#define INC_MPU6050_H_
-
-#include "i2c.h"
-#include "inv_mpu5.h"
-
-//#define MPU_ACCEL_OFFS_REG		0X06	//accel_offs寄存器,可读取版本号,寄存器手册未提到
-//#define MPU_PROD_ID_REG			0X0C	//prod id寄存器,在寄存器手册未提到
-#define MPU_SELF_TESTX_REG		0X0D	//自检寄存器X
-#define MPU_SELF_TESTY_REG		0X0E	//自检寄存器Y
-#define MPU_SELF_TESTZ_REG		0X0F	//自检寄存器Z
-#define MPU_SELF_TESTA_REG		0X10	//自检寄存器A
-#define MPU_SAMPLE_RATE_REG		0X19	//采样频率分频器
-#define MPU_CFG_REG				0X1A	//配置寄存器
-#define MPU_GYRO_CFG_REG		0X1B	//陀螺仪配置寄存器
-#define MPU_ACCEL_CFG_REG		0X1C	//加速度计配置寄存器
-#define MPU_MOTION_DET_REG		0X1F	//运动检测阀值设置寄存器
-#define MPU_FIFO_EN_REG			0X23	//FIFO使能寄存器
-#define MPU_I2CMST_CTRL_REG		0X24	//IIC主机控制寄存器
-#define MPU_I2CSLV0_ADDR_REG	0X25	//IIC从机0器件地址寄存器
-#define MPU_I2CSLV0_REG			0X26	//IIC从机0数据地址寄存器
-#define MPU_I2CSLV0_CTRL_REG	0X27	//IIC从机0控制寄存器
-#define MPU_I2CSLV1_ADDR_REG	0X28	//IIC从机1器件地址寄存器
-#define MPU_I2CSLV1_REG			0X29	//IIC从机1数据地址寄存器
-#define MPU_I2CSLV1_CTRL_REG	0X2A	//IIC从机1控制寄存器
-#define MPU_I2CSLV2_ADDR_REG	0X2B	//IIC从机2器件地址寄存器
-#define MPU_I2CSLV2_REG			0X2C	//IIC从机2数据地址寄存器
-#define MPU_I2CSLV2_CTRL_REG	0X2D	//IIC从机2控制寄存器
-#define MPU_I2CSLV3_ADDR_REG	0X2E	//IIC从机3器件地址寄存器
-#define MPU_I2CSLV3_REG			0X2F	//IIC从机3数据地址寄存器
-#define MPU_I2CSLV3_CTRL_REG	0X30	//IIC从机3控制寄存器
-#define MPU_I2CSLV4_ADDR_REG	0X31	//IIC从机4器件地址寄存器
-#define MPU_I2CSLV4_REG			0X32	//IIC从机4数据地址寄存器
-#define MPU_I2CSLV4_DO_REG		0X33	//IIC从机4写数据寄存器
-#define MPU_I2CSLV4_CTRL_REG	0X34	//IIC从机4控制寄存器
-#define MPU_I2CSLV4_DI_REG		0X35	//IIC从机4读数据寄存器
-
-#define MPU_I2CMST_STA_REG		0X36	//IIC主机状态寄存器
-#define MPU_INTBP_CFG_REG		0X37	//中断/旁路设置寄存器
-#define MPU_INT_EN_REG			0X38	//中断使能寄存器
-#define MPU_INT_STA_REG			0X3A	//中断状态寄存器
-
-#define MPU_ACCEL_XOUTH_REG		0X3B	//加速度值,X轴高8位寄存器
-#define MPU_ACCEL_XOUTL_REG		0X3C	//加速度值,X轴低8位寄存器
-#define MPU_ACCEL_YOUTH_REG		0X3D	//加速度值,Y轴高8位寄存器
-#define MPU_ACCEL_YOUTL_REG		0X3E	//加速度值,Y轴低8位寄存器
-#define MPU_ACCEL_ZOUTH_REG		0X3F	//加速度值,Z轴高8位寄存器
-#define MPU_ACCEL_ZOUTL_REG		0X40	//加速度值,Z轴低8位寄存器
-
-#define MPU_TEMP_OUTH_REG		0X41	//温度值高八位寄存器
-#define MPU_TEMP_OUTL_REG		0X42	//温度值低8位寄存器
-
-#define MPU_GYRO_XOUTH_REG		0X43	//陀螺仪值,X轴高8位寄存器
-#define MPU_GYRO_XOUTL_REG		0X44	//陀螺仪值,X轴低8位寄存器
-#define MPU_GYRO_YOUTH_REG		0X45	//陀螺仪值,Y轴高8位寄存器
-#define MPU_GYRO_YOUTL_REG		0X46	//陀螺仪值,Y轴低8位寄存器
-#define MPU_GYRO_ZOUTH_REG		0X47	//陀螺仪值,Z轴高8位寄存器
-#define MPU_GYRO_ZOUTL_REG		0X48	//陀螺仪值,Z轴低8位寄存器
-
-#define MPU_I2CSLV0_DO_REG		0X63	//IIC从机0数据寄存器
-#define MPU_I2CSLV1_DO_REG		0X64	//IIC从机1数据寄存器
-#define MPU_I2CSLV2_DO_REG		0X65	//IIC从机2数据寄存器
-#define MPU_I2CSLV3_DO_REG		0X66	//IIC从机3数据寄存器
-
-#define MPU_I2CMST_DELAY_REG	0X67	//IIC主机延时管理寄存器
-#define MPU_SIGPATH_RST_REG		0X68	//信号通道复位寄存器
-#define MPU_MDETECT_CTRL_REG	0X69	//运动检测控制寄存器
-#define MPU_USER_CTRL_REG		0X6A	//用户控制寄存器
-#define MPU_PWR_MGMT1_REG		0X6B	//电源管理寄存器1
-#define MPU_PWR_MGMT2_REG		0X6C	//电源管理寄存器2
-#define MPU_FIFO_CNTH_REG		0X72	//FIFO计数寄存器高八位
-#define MPU_FIFO_CNTL_REG		0X73	//FIFO计数寄存器低八位
-#define MPU_FIFO_RW_REG			0X74	//FIFO读写寄存器
-#define MPU_DEVICE_ID_REG		0X75	//器件ID寄存器
-
-//如果AD0脚接地,IIC地址为0X68(不包含最低位).
-//如果接V3.3,则IIC地址为0X69(不包含最低位).
-#define MPU_ADDR				0X68
-
-
-//因为模块AD0默认接GND,所以转为读写地址后,为0XD1和0XD0(如果接VCC,则为0XD3和0XD2)
-#define MPU_READ    0XD1
-#define MPU_WRITE   0XD0
-
-#define u8 uint8_t
-#define u16 uint16_t
-
-u8 MPU_Init(void); 								//初始化MPU6050
-u8 IIC_Write_Len(u8 addr,u8 reg,u8 len,u8 *buf);//IIC连续写
-u8 IIC_Read_Len(u8 addr,u8 reg,u8 len,u8 *buf); //IIC连续读
-u8 IIC_Write_Byte(u8 reg,u8 data);				//IIC写一个字节
-u8 IIC_Read_Byte(u8 reg);						//IIC读一个字节
-
-u8 MPU_Set_Gyro_Fsr(u8 fsr);
-u8 MPU_Set_Accel_Fsr(u8 fsr);
-u8 MPU_Set_LPF(u16 lpf);
-u8 MPU_Set_Rate(u16 rate);
-u8 MPU_Set_Fifo(u8 sens);
-
-
-short MPU_Get_Temperature(void);
-u8 MPU_Get_Gyroscope(short *gx,short *gy,short *gz);
-u8 MPU_Get_Accelerometer(short *ax,short *ay,short *az);
-
-//----------------------DMP-------------------------------
-void DMP_Init(void);
-uint8_t Read_DMP(float* Pitch,float* Roll,float* Yaw);
-int get_tick_count(unsigned long *count);
-
-#endif /* INC_MPU6050_H_ */

Core备份3/imu5/dmpKey5.h

@@ -1,494 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-#ifndef DMPKEY_H__
-#define DMPKEY_H__
-
-#define KEY_CFG_25                  (0)
-#define KEY_CFG_24                  (KEY_CFG_25 + 1)
-#define KEY_CFG_26                  (KEY_CFG_24 + 1)
-#define KEY_CFG_27                  (KEY_CFG_26 + 1)
-#define KEY_CFG_21                  (KEY_CFG_27 + 1)
-#define KEY_CFG_20                  (KEY_CFG_21 + 1)
-#define KEY_CFG_TAP4                (KEY_CFG_20 + 1)
-#define KEY_CFG_TAP5                (KEY_CFG_TAP4 + 1)
-#define KEY_CFG_TAP6                (KEY_CFG_TAP5 + 1)
-#define KEY_CFG_TAP7                (KEY_CFG_TAP6 + 1)
-#define KEY_CFG_TAP0                (KEY_CFG_TAP7 + 1)
-#define KEY_CFG_TAP1                (KEY_CFG_TAP0 + 1)
-#define KEY_CFG_TAP2                (KEY_CFG_TAP1 + 1)
-#define KEY_CFG_TAP3                (KEY_CFG_TAP2 + 1)
-#define KEY_CFG_TAP_QUANTIZE        (KEY_CFG_TAP3 + 1)
-#define KEY_CFG_TAP_JERK            (KEY_CFG_TAP_QUANTIZE + 1)
-#define KEY_CFG_DR_INT              (KEY_CFG_TAP_JERK + 1)
-#define KEY_CFG_AUTH                (KEY_CFG_DR_INT + 1)
-#define KEY_CFG_TAP_SAVE_ACCB       (KEY_CFG_AUTH + 1)
-#define KEY_CFG_TAP_CLEAR_STICKY    (KEY_CFG_TAP_SAVE_ACCB + 1)
-#define KEY_CFG_FIFO_ON_EVENT       (KEY_CFG_TAP_CLEAR_STICKY + 1)
-#define KEY_FCFG_ACCEL_INPUT        (KEY_CFG_FIFO_ON_EVENT + 1)
-#define KEY_FCFG_ACCEL_INIT         (KEY_FCFG_ACCEL_INPUT + 1)
-#define KEY_CFG_23                  (KEY_FCFG_ACCEL_INIT + 1)
-#define KEY_FCFG_1                  (KEY_CFG_23 + 1)
-#define KEY_FCFG_3                  (KEY_FCFG_1 + 1)
-#define KEY_FCFG_2                  (KEY_FCFG_3 + 1)
-#define KEY_CFG_3D                  (KEY_FCFG_2 + 1)
-#define KEY_CFG_3B                  (KEY_CFG_3D + 1)
-#define KEY_CFG_3C                  (KEY_CFG_3B + 1)
-#define KEY_FCFG_5                  (KEY_CFG_3C + 1)
-#define KEY_FCFG_4                  (KEY_FCFG_5 + 1)
-#define KEY_FCFG_7                  (KEY_FCFG_4 + 1)
-#define KEY_FCFG_FSCALE             (KEY_FCFG_7 + 1)
-#define KEY_FCFG_AZ                 (KEY_FCFG_FSCALE + 1)
-#define KEY_FCFG_6                  (KEY_FCFG_AZ + 1)
-#define KEY_FCFG_LSB4               (KEY_FCFG_6 + 1)
-#define KEY_CFG_12                  (KEY_FCFG_LSB4 + 1)
-#define KEY_CFG_14                  (KEY_CFG_12 + 1)
-#define KEY_CFG_15                  (KEY_CFG_14 + 1)
-#define KEY_CFG_16                  (KEY_CFG_15 + 1)
-#define KEY_CFG_18                  (KEY_CFG_16 + 1)
-#define KEY_CFG_6                   (KEY_CFG_18 + 1)
-#define KEY_CFG_7                   (KEY_CFG_6 + 1)
-#define KEY_CFG_4                   (KEY_CFG_7 + 1)
-#define KEY_CFG_5                   (KEY_CFG_4 + 1)
-#define KEY_CFG_2                   (KEY_CFG_5 + 1)
-#define KEY_CFG_3                   (KEY_CFG_2 + 1)
-#define KEY_CFG_1                   (KEY_CFG_3 + 1)
-#define KEY_CFG_EXTERNAL            (KEY_CFG_1 + 1)
-#define KEY_CFG_8                   (KEY_CFG_EXTERNAL + 1)
-#define KEY_CFG_9                   (KEY_CFG_8 + 1)
-#define KEY_CFG_ORIENT_3            (KEY_CFG_9 + 1)
-#define KEY_CFG_ORIENT_2            (KEY_CFG_ORIENT_3 + 1)
-#define KEY_CFG_ORIENT_1            (KEY_CFG_ORIENT_2 + 1)
-#define KEY_CFG_GYRO_SOURCE         (KEY_CFG_ORIENT_1 + 1)
-#define KEY_CFG_ORIENT_IRQ_1        (KEY_CFG_GYRO_SOURCE + 1)
-#define KEY_CFG_ORIENT_IRQ_2        (KEY_CFG_ORIENT_IRQ_1 + 1)
-#define KEY_CFG_ORIENT_IRQ_3        (KEY_CFG_ORIENT_IRQ_2 + 1)
-#define KEY_FCFG_MAG_VAL            (KEY_CFG_ORIENT_IRQ_3 + 1)
-#define KEY_FCFG_MAG_MOV            (KEY_FCFG_MAG_VAL + 1)
-#define KEY_CFG_LP_QUAT             (KEY_FCFG_MAG_MOV + 1)
-
-/* MPU6050 keys */
-#define KEY_CFG_ACCEL_FILTER        (KEY_CFG_LP_QUAT + 1)
-#define KEY_CFG_MOTION_BIAS         (KEY_CFG_ACCEL_FILTER + 1)
-#define KEY_TEMPLABEL               (KEY_CFG_MOTION_BIAS + 1)
-
-#define KEY_D_0_22                  (KEY_TEMPLABEL + 1)
-#define KEY_D_0_24                  (KEY_D_0_22 + 1)
-#define KEY_D_0_36                  (KEY_D_0_24 + 1)
-#define KEY_D_0_52                  (KEY_D_0_36 + 1)
-#define KEY_D_0_96                  (KEY_D_0_52 + 1)
-#define KEY_D_0_104                 (KEY_D_0_96 + 1)
-#define KEY_D_0_108                 (KEY_D_0_104 + 1)
-#define KEY_D_0_163                 (KEY_D_0_108 + 1)
-#define KEY_D_0_188                 (KEY_D_0_163 + 1)
-#define KEY_D_0_192                 (KEY_D_0_188 + 1)
-#define KEY_D_0_224                 (KEY_D_0_192 + 1)
-#define KEY_D_0_228                 (KEY_D_0_224 + 1)
-#define KEY_D_0_232                 (KEY_D_0_228 + 1)
-#define KEY_D_0_236                 (KEY_D_0_232 + 1)
-
-#define KEY_DMP_PREVPTAT            (KEY_D_0_236 + 1)
-#define KEY_D_1_2                   (KEY_DMP_PREVPTAT + 1)
-#define KEY_D_1_4                   (KEY_D_1_2 + 1)
-#define KEY_D_1_8                   (KEY_D_1_4 + 1)
-#define KEY_D_1_10                  (KEY_D_1_8 + 1)
-#define KEY_D_1_24                  (KEY_D_1_10 + 1)
-#define KEY_D_1_28                  (KEY_D_1_24 + 1)
-#define KEY_D_1_36                  (KEY_D_1_28 + 1)
-#define KEY_D_1_40                  (KEY_D_1_36 + 1)
-#define KEY_D_1_44                  (KEY_D_1_40 + 1)
-#define KEY_D_1_72                  (KEY_D_1_44 + 1)
-#define KEY_D_1_74                  (KEY_D_1_72 + 1)
-#define KEY_D_1_79                  (KEY_D_1_74 + 1)
-#define KEY_D_1_88                  (KEY_D_1_79 + 1)
-#define KEY_D_1_90                  (KEY_D_1_88 + 1)
-#define KEY_D_1_92                  (KEY_D_1_90 + 1)
-#define KEY_D_1_96                  (KEY_D_1_92 + 1)
-#define KEY_D_1_98                  (KEY_D_1_96 + 1)
-#define KEY_D_1_100                 (KEY_D_1_98 + 1)
-#define KEY_D_1_106                 (KEY_D_1_100 + 1)
-#define KEY_D_1_108                 (KEY_D_1_106 + 1)
-#define KEY_D_1_112                 (KEY_D_1_108 + 1)
-#define KEY_D_1_128                 (KEY_D_1_112 + 1)
-#define KEY_D_1_152                 (KEY_D_1_128 + 1)
-#define KEY_D_1_160                 (KEY_D_1_152 + 1)
-#define KEY_D_1_168                 (KEY_D_1_160 + 1)
-#define KEY_D_1_175                 (KEY_D_1_168 + 1)
-#define KEY_D_1_176                 (KEY_D_1_175 + 1)
-#define KEY_D_1_178                 (KEY_D_1_176 + 1)
-#define KEY_D_1_179                 (KEY_D_1_178 + 1)
-#define KEY_D_1_218                 (KEY_D_1_179 + 1)
-#define KEY_D_1_232                 (KEY_D_1_218 + 1)
-#define KEY_D_1_236                 (KEY_D_1_232 + 1)
-#define KEY_D_1_240                 (KEY_D_1_236 + 1)
-#define KEY_D_1_244                 (KEY_D_1_240 + 1)
-#define KEY_D_1_250                 (KEY_D_1_244 + 1)
-#define KEY_D_1_252                 (KEY_D_1_250 + 1)
-#define KEY_D_2_12                  (KEY_D_1_252 + 1)
-#define KEY_D_2_96                  (KEY_D_2_12 + 1)
-#define KEY_D_2_108                 (KEY_D_2_96 + 1)
-#define KEY_D_2_208                 (KEY_D_2_108 + 1)
-#define KEY_FLICK_MSG               (KEY_D_2_208 + 1)
-#define KEY_FLICK_COUNTER           (KEY_FLICK_MSG + 1)
-#define KEY_FLICK_LOWER             (KEY_FLICK_COUNTER + 1)
-#define KEY_CFG_FLICK_IN            (KEY_FLICK_LOWER + 1)
-#define KEY_FLICK_UPPER             (KEY_CFG_FLICK_IN + 1)
-#define KEY_CGNOTICE_INTR           (KEY_FLICK_UPPER + 1)
-#define KEY_D_2_224                 (KEY_CGNOTICE_INTR + 1)
-#define KEY_D_2_244                 (KEY_D_2_224 + 1)
-#define KEY_D_2_248                 (KEY_D_2_244 + 1)
-#define KEY_D_2_252                 (KEY_D_2_248 + 1)
-
-#define KEY_D_GYRO_BIAS_X               (KEY_D_2_252 + 1)
-#define KEY_D_GYRO_BIAS_Y               (KEY_D_GYRO_BIAS_X + 1)
-#define KEY_D_GYRO_BIAS_Z               (KEY_D_GYRO_BIAS_Y + 1)
-#define KEY_D_ACC_BIAS_X                (KEY_D_GYRO_BIAS_Z + 1)
-#define KEY_D_ACC_BIAS_Y                (KEY_D_ACC_BIAS_X + 1)
-#define KEY_D_ACC_BIAS_Z                (KEY_D_ACC_BIAS_Y + 1)
-#define KEY_D_GYRO_ENABLE               (KEY_D_ACC_BIAS_Z + 1)
-#define KEY_D_ACCEL_ENABLE              (KEY_D_GYRO_ENABLE + 1)
-#define KEY_D_QUAT_ENABLE               (KEY_D_ACCEL_ENABLE +1)
-#define KEY_D_OUTPUT_ENABLE             (KEY_D_QUAT_ENABLE + 1)
-#define KEY_D_CR_TIME_G                 (KEY_D_OUTPUT_ENABLE + 1)
-#define KEY_D_CR_TIME_A                 (KEY_D_CR_TIME_G + 1)
-#define KEY_D_CR_TIME_Q                 (KEY_D_CR_TIME_A + 1)
-#define KEY_D_CS_TAX                    (KEY_D_CR_TIME_Q + 1)
-#define KEY_D_CS_TAY                    (KEY_D_CS_TAX + 1)
-#define KEY_D_CS_TAZ                    (KEY_D_CS_TAY + 1)
-#define KEY_D_CS_TGX                    (KEY_D_CS_TAZ + 1)
-#define KEY_D_CS_TGY                    (KEY_D_CS_TGX + 1)
-#define KEY_D_CS_TGZ                    (KEY_D_CS_TGY + 1)
-#define KEY_D_CS_TQ0                    (KEY_D_CS_TGZ + 1)
-#define KEY_D_CS_TQ1                    (KEY_D_CS_TQ0 + 1)
-#define KEY_D_CS_TQ2                    (KEY_D_CS_TQ1 + 1)
-#define KEY_D_CS_TQ3                    (KEY_D_CS_TQ2 + 1)
-
-/* Compass keys */
-#define KEY_CPASS_BIAS_X            (KEY_D_CS_TQ3 + 1)
-#define KEY_CPASS_BIAS_Y            (KEY_CPASS_BIAS_X + 1)
-#define KEY_CPASS_BIAS_Z            (KEY_CPASS_BIAS_Y + 1)
-#define KEY_CPASS_MTX_00            (KEY_CPASS_BIAS_Z + 1)
-#define KEY_CPASS_MTX_01            (KEY_CPASS_MTX_00 + 1)
-#define KEY_CPASS_MTX_02            (KEY_CPASS_MTX_01 + 1)
-#define KEY_CPASS_MTX_10            (KEY_CPASS_MTX_02 + 1)
-#define KEY_CPASS_MTX_11            (KEY_CPASS_MTX_10 + 1)
-#define KEY_CPASS_MTX_12            (KEY_CPASS_MTX_11 + 1)
-#define KEY_CPASS_MTX_20            (KEY_CPASS_MTX_12 + 1)
-#define KEY_CPASS_MTX_21            (KEY_CPASS_MTX_20 + 1)
-#define KEY_CPASS_MTX_22            (KEY_CPASS_MTX_21 + 1)
-
-/* Gesture Keys */
-#define KEY_DMP_TAPW_MIN            (KEY_CPASS_MTX_22 + 1)
-#define KEY_DMP_TAP_THR_X           (KEY_DMP_TAPW_MIN + 1)
-#define KEY_DMP_TAP_THR_Y           (KEY_DMP_TAP_THR_X + 1)
-#define KEY_DMP_TAP_THR_Z           (KEY_DMP_TAP_THR_Y + 1)
-#define KEY_DMP_SH_TH_Y             (KEY_DMP_TAP_THR_Z + 1)
-#define KEY_DMP_SH_TH_X             (KEY_DMP_SH_TH_Y + 1)
-#define KEY_DMP_SH_TH_Z             (KEY_DMP_SH_TH_X + 1)
-#define KEY_DMP_ORIENT              (KEY_DMP_SH_TH_Z + 1)
-#define KEY_D_ACT0                  (KEY_DMP_ORIENT + 1)
-#define KEY_D_ACSX                  (KEY_D_ACT0 + 1)
-#define KEY_D_ACSY                  (KEY_D_ACSX + 1)
-#define KEY_D_ACSZ                  (KEY_D_ACSY + 1)
-
-#define KEY_X_GRT_Y_TMP             (KEY_D_ACSZ + 1)
-#define KEY_SKIP_X_GRT_Y_TMP        (KEY_X_GRT_Y_TMP + 1)
-#define KEY_SKIP_END_COMPARE        (KEY_SKIP_X_GRT_Y_TMP + 1)
-#define KEY_END_COMPARE_Y_X_TMP2    (KEY_SKIP_END_COMPARE + 1)       
-#define KEY_CFG_ANDROID_ORIENT_INT  (KEY_END_COMPARE_Y_X_TMP2 + 1)
-#define KEY_NO_ORIENT_INTERRUPT     (KEY_CFG_ANDROID_ORIENT_INT + 1)
-#define KEY_END_COMPARE_Y_X_TMP     (KEY_NO_ORIENT_INTERRUPT + 1)
-#define KEY_END_ORIENT_1            (KEY_END_COMPARE_Y_X_TMP + 1)
-#define KEY_END_COMPARE_Y_X         (KEY_END_ORIENT_1 + 1) 
-#define KEY_END_ORIENT              (KEY_END_COMPARE_Y_X + 1)
-#define KEY_X_GRT_Y                 (KEY_END_ORIENT + 1)
-#define KEY_NOT_TIME_MINUS_1        (KEY_X_GRT_Y + 1)       
-#define KEY_END_COMPARE_Y_X_TMP3    (KEY_NOT_TIME_MINUS_1 + 1) 
-#define KEY_X_GRT_Y_TMP2            (KEY_END_COMPARE_Y_X_TMP3 + 1)
-
-/* Authenticate Keys */
-#define KEY_D_AUTH_OUT              (KEY_X_GRT_Y_TMP2 + 1)
-#define KEY_D_AUTH_IN               (KEY_D_AUTH_OUT + 1)
-#define KEY_D_AUTH_A                (KEY_D_AUTH_IN + 1)
-#define KEY_D_AUTH_B                (KEY_D_AUTH_A + 1)
-
-/* Pedometer standalone only keys */
-#define KEY_D_PEDSTD_BP_B           (KEY_D_AUTH_B + 1)
-#define KEY_D_PEDSTD_HP_A           (KEY_D_PEDSTD_BP_B + 1)
-#define KEY_D_PEDSTD_HP_B           (KEY_D_PEDSTD_HP_A + 1)
-#define KEY_D_PEDSTD_BP_A4          (KEY_D_PEDSTD_HP_B + 1)
-#define KEY_D_PEDSTD_BP_A3          (KEY_D_PEDSTD_BP_A4 + 1)
-#define KEY_D_PEDSTD_BP_A2          (KEY_D_PEDSTD_BP_A3 + 1)
-#define KEY_D_PEDSTD_BP_A1          (KEY_D_PEDSTD_BP_A2 + 1)
-#define KEY_D_PEDSTD_INT_THRSH      (KEY_D_PEDSTD_BP_A1 + 1)
-#define KEY_D_PEDSTD_CLIP           (KEY_D_PEDSTD_INT_THRSH + 1)
-#define KEY_D_PEDSTD_SB             (KEY_D_PEDSTD_CLIP + 1)
-#define KEY_D_PEDSTD_SB_TIME        (KEY_D_PEDSTD_SB + 1)
-#define KEY_D_PEDSTD_PEAKTHRSH      (KEY_D_PEDSTD_SB_TIME + 1)
-#define KEY_D_PEDSTD_TIML           (KEY_D_PEDSTD_PEAKTHRSH + 1)
-#define KEY_D_PEDSTD_TIMH           (KEY_D_PEDSTD_TIML + 1)
-#define KEY_D_PEDSTD_PEAK           (KEY_D_PEDSTD_TIMH + 1)
-#define KEY_D_PEDSTD_TIMECTR        (KEY_D_PEDSTD_PEAK + 1)
-#define KEY_D_PEDSTD_STEPCTR        (KEY_D_PEDSTD_TIMECTR + 1)
-#define KEY_D_PEDSTD_WALKTIME       (KEY_D_PEDSTD_STEPCTR + 1)
-#define KEY_D_PEDSTD_DECI           (KEY_D_PEDSTD_WALKTIME + 1)
-
-/*Host Based No Motion*/
-#define KEY_D_HOST_NO_MOT           (KEY_D_PEDSTD_DECI + 1)
-
-/* EIS keys */
-#define KEY_P_EIS_FIFO_FOOTER       (KEY_D_HOST_NO_MOT + 1)
-#define KEY_P_EIS_FIFO_YSHIFT       (KEY_P_EIS_FIFO_FOOTER + 1)
-#define KEY_P_EIS_DATA_RATE         (KEY_P_EIS_FIFO_YSHIFT + 1)
-#define KEY_P_EIS_FIFO_XSHIFT       (KEY_P_EIS_DATA_RATE + 1)
-#define KEY_P_EIS_FIFO_SYNC         (KEY_P_EIS_FIFO_XSHIFT + 1)
-#define KEY_P_EIS_FIFO_ZSHIFT       (KEY_P_EIS_FIFO_SYNC + 1)
-#define KEY_P_EIS_FIFO_READY        (KEY_P_EIS_FIFO_ZSHIFT + 1)
-#define KEY_DMP_FOOTER              (KEY_P_EIS_FIFO_READY + 1)
-#define KEY_DMP_INTX_HC             (KEY_DMP_FOOTER + 1)
-#define KEY_DMP_INTX_PH             (KEY_DMP_INTX_HC + 1)
-#define KEY_DMP_INTX_SH             (KEY_DMP_INTX_PH + 1)
-#define KEY_DMP_AINV_SH             (KEY_DMP_INTX_SH + 1)
-#define KEY_DMP_A_INV_XH            (KEY_DMP_AINV_SH + 1)
-#define KEY_DMP_AINV_PH             (KEY_DMP_A_INV_XH + 1)
-#define KEY_DMP_CTHX_H              (KEY_DMP_AINV_PH + 1)
-#define KEY_DMP_CTHY_H              (KEY_DMP_CTHX_H + 1)
-#define KEY_DMP_CTHZ_H              (KEY_DMP_CTHY_H + 1)
-#define KEY_DMP_NCTHX_H             (KEY_DMP_CTHZ_H + 1)
-#define KEY_DMP_NCTHY_H             (KEY_DMP_NCTHX_H + 1)
-#define KEY_DMP_NCTHZ_H             (KEY_DMP_NCTHY_H + 1)
-#define KEY_DMP_CTSQ_XH             (KEY_DMP_NCTHZ_H + 1)
-#define KEY_DMP_CTSQ_YH             (KEY_DMP_CTSQ_XH + 1)
-#define KEY_DMP_CTSQ_ZH             (KEY_DMP_CTSQ_YH + 1)
-#define KEY_DMP_INTX_H              (KEY_DMP_CTSQ_ZH + 1)
-#define KEY_DMP_INTY_H              (KEY_DMP_INTX_H + 1)
-#define KEY_DMP_INTZ_H              (KEY_DMP_INTY_H + 1)
-//#define KEY_DMP_HPX_H               (KEY_DMP_INTZ_H + 1)
-//#define KEY_DMP_HPY_H               (KEY_DMP_HPX_H + 1)
-//#define KEY_DMP_HPZ_H               (KEY_DMP_HPY_H + 1)
-
-/* Stream keys */
-#define KEY_STREAM_P_GYRO_Z         (KEY_DMP_INTZ_H + 1)
-#define KEY_STREAM_P_GYRO_Y         (KEY_STREAM_P_GYRO_Z + 1)
-#define KEY_STREAM_P_GYRO_X         (KEY_STREAM_P_GYRO_Y + 1)
-#define KEY_STREAM_P_TEMP           (KEY_STREAM_P_GYRO_X + 1)
-#define KEY_STREAM_P_AUX_Y          (KEY_STREAM_P_TEMP + 1)
-#define KEY_STREAM_P_AUX_X          (KEY_STREAM_P_AUX_Y + 1)
-#define KEY_STREAM_P_AUX_Z          (KEY_STREAM_P_AUX_X + 1)
-#define KEY_STREAM_P_ACCEL_Y        (KEY_STREAM_P_AUX_Z + 1)
-#define KEY_STREAM_P_ACCEL_X        (KEY_STREAM_P_ACCEL_Y + 1)
-#define KEY_STREAM_P_FOOTER         (KEY_STREAM_P_ACCEL_X + 1)
-#define KEY_STREAM_P_ACCEL_Z        (KEY_STREAM_P_FOOTER + 1)
-
-#define NUM_KEYS                    (KEY_STREAM_P_ACCEL_Z + 1)
-
-typedef struct {
-    unsigned short key;
-    unsigned short addr;
-} tKeyLabel;
-
-#define DINA0A 0x0a
-#define DINA22 0x22
-#define DINA42 0x42
-#define DINA5A 0x5a
-
-#define DINA06 0x06
-#define DINA0E 0x0e
-#define DINA16 0x16
-#define DINA1E 0x1e
-#define DINA26 0x26
-#define DINA2E 0x2e
-#define DINA36 0x36
-#define DINA3E 0x3e
-#define DINA46 0x46
-#define DINA4E 0x4e
-#define DINA56 0x56
-#define DINA5E 0x5e
-#define DINA66 0x66
-#define DINA6E 0x6e
-#define DINA76 0x76
-#define DINA7E 0x7e
-
-#define DINA00 0x00
-#define DINA08 0x08
-#define DINA10 0x10
-#define DINA18 0x18
-#define DINA20 0x20
-#define DINA28 0x28
-#define DINA30 0x30
-#define DINA38 0x38
-#define DINA40 0x40
-#define DINA48 0x48
-#define DINA50 0x50
-#define DINA58 0x58
-#define DINA60 0x60
-#define DINA68 0x68
-#define DINA70 0x70
-#define DINA78 0x78
-
-#define DINA04 0x04
-#define DINA0C 0x0c
-#define DINA14 0x14
-#define DINA1C 0x1C
-#define DINA24 0x24
-#define DINA2C 0x2c
-#define DINA34 0x34
-#define DINA3C 0x3c
-#define DINA44 0x44
-#define DINA4C 0x4c
-#define DINA54 0x54
-#define DINA5C 0x5c
-#define DINA64 0x64
-#define DINA6C 0x6c
-#define DINA74 0x74
-#define DINA7C 0x7c
-
-#define DINA01 0x01
-#define DINA09 0x09
-#define DINA11 0x11
-#define DINA19 0x19
-#define DINA21 0x21
-#define DINA29 0x29
-#define DINA31 0x31
-#define DINA39 0x39
-#define DINA41 0x41
-#define DINA49 0x49
-#define DINA51 0x51
-#define DINA59 0x59
-#define DINA61 0x61
-#define DINA69 0x69
-#define DINA71 0x71
-#define DINA79 0x79
-
-#define DINA25 0x25
-#define DINA2D 0x2d
-#define DINA35 0x35
-#define DINA3D 0x3d
-#define DINA4D 0x4d
-#define DINA55 0x55
-#define DINA5D 0x5D
-#define DINA6D 0x6d
-#define DINA75 0x75
-#define DINA7D 0x7d
-
-#define DINADC 0xdc
-#define DINAF2 0xf2
-#define DINAAB 0xab
-#define DINAAA 0xaa
-#define DINAF1 0xf1
-#define DINADF 0xdf
-#define DINADA 0xda
-#define DINAB1 0xb1
-#define DINAB9 0xb9
-#define DINAF3 0xf3
-#define DINA8B 0x8b
-#define DINAA3 0xa3
-#define DINA91 0x91
-#define DINAB6 0xb6
-#define DINAB4 0xb4
-
-
-#define DINC00 0x00
-#define DINC01 0x01
-#define DINC02 0x02
-#define DINC03 0x03
-#define DINC08 0x08
-#define DINC09 0x09
-#define DINC0A 0x0a
-#define DINC0B 0x0b
-#define DINC10 0x10
-#define DINC11 0x11
-#define DINC12 0x12
-#define DINC13 0x13
-#define DINC18 0x18
-#define DINC19 0x19
-#define DINC1A 0x1a
-#define DINC1B 0x1b
-
-#define DINC20 0x20
-#define DINC21 0x21
-#define DINC22 0x22
-#define DINC23 0x23
-#define DINC28 0x28
-#define DINC29 0x29
-#define DINC2A 0x2a
-#define DINC2B 0x2b
-#define DINC30 0x30
-#define DINC31 0x31
-#define DINC32 0x32
-#define DINC33 0x33
-#define DINC38 0x38
-#define DINC39 0x39
-#define DINC3A 0x3a
-#define DINC3B 0x3b
-
-#define DINC40 0x40
-#define DINC41 0x41
-#define DINC42 0x42
-#define DINC43 0x43
-#define DINC48 0x48
-#define DINC49 0x49
-#define DINC4A 0x4a
-#define DINC4B 0x4b
-#define DINC50 0x50
-#define DINC51 0x51
-#define DINC52 0x52
-#define DINC53 0x53
-#define DINC58 0x58
-#define DINC59 0x59
-#define DINC5A 0x5a
-#define DINC5B 0x5b
-
-#define DINC60 0x60
-#define DINC61 0x61
-#define DINC62 0x62
-#define DINC63 0x63
-#define DINC68 0x68
-#define DINC69 0x69
-#define DINC6A 0x6a
-#define DINC6B 0x6b
-#define DINC70 0x70
-#define DINC71 0x71
-#define DINC72 0x72
-#define DINC73 0x73
-#define DINC78 0x78
-#define DINC79 0x79
-#define DINC7A 0x7a
-#define DINC7B 0x7b
-
-#define DIND40 0x40
-
-
-#define DINA80 0x80
-#define DINA90 0x90
-#define DINAA0 0xa0
-#define DINAC9 0xc9
-#define DINACB 0xcb
-#define DINACD 0xcd
-#define DINACF 0xcf
-#define DINAC8 0xc8
-#define DINACA 0xca
-#define DINACC 0xcc
-#define DINACE 0xce
-#define DINAD8 0xd8
-#define DINADD 0xdd
-#define DINAF8 0xf0
-#define DINAFE 0xfe
-
-#define DINBF8 0xf8
-#define DINAC0 0xb0
-#define DINAC1 0xb1
-#define DINAC2 0xb4
-#define DINAC3 0xb5
-#define DINAC4 0xb8
-#define DINAC5 0xb9
-#define DINBC0 0xc0
-#define DINBC2 0xc2
-#define DINBC4 0xc4
-#define DINBC6 0xc6
-
-
-
-#endif // DMPKEY_H__

Core备份3/imu5/dmpmap5.h

@@ -1,264 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-#ifndef DMPMAP_H
-#define DMPMAP_H
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#define DMP_PTAT    0
-#define DMP_XGYR    2
-#define DMP_YGYR    4
-#define DMP_ZGYR    6
-#define DMP_XACC    8
-#define DMP_YACC    10
-#define DMP_ZACC    12
-#define DMP_ADC1    14
-#define DMP_ADC2    16
-#define DMP_ADC3    18
-#define DMP_BIASUNC    20
-#define DMP_FIFORT    22
-#define DMP_INVGSFH    24
-#define DMP_INVGSFL    26
-#define DMP_1H    28
-#define DMP_1L    30
-#define DMP_BLPFSTCH    32
-#define DMP_BLPFSTCL    34
-#define DMP_BLPFSXH    36
-#define DMP_BLPFSXL    38
-#define DMP_BLPFSYH    40
-#define DMP_BLPFSYL    42
-#define DMP_BLPFSZH    44
-#define DMP_BLPFSZL    46
-#define DMP_BLPFMTC    48
-#define DMP_SMC    50
-#define DMP_BLPFMXH    52
-#define DMP_BLPFMXL    54
-#define DMP_BLPFMYH    56
-#define DMP_BLPFMYL    58
-#define DMP_BLPFMZH    60
-#define DMP_BLPFMZL    62
-#define DMP_BLPFC    64
-#define DMP_SMCTH    66
-#define DMP_0H2    68
-#define DMP_0L2    70
-#define DMP_BERR2H    72
-#define DMP_BERR2L    74
-#define DMP_BERR2NH    76
-#define DMP_SMCINC    78
-#define DMP_ANGVBXH    80
-#define DMP_ANGVBXL    82
-#define DMP_ANGVBYH    84
-#define DMP_ANGVBYL    86
-#define DMP_ANGVBZH    88
-#define DMP_ANGVBZL    90
-#define DMP_BERR1H    92
-#define DMP_BERR1L    94
-#define DMP_ATCH    96
-#define DMP_BIASUNCSF    98
-#define DMP_ACT2H    100
-#define DMP_ACT2L    102
-#define DMP_GSFH    104
-#define DMP_GSFL    106
-#define DMP_GH    108
-#define DMP_GL    110
-#define DMP_0_5H    112
-#define DMP_0_5L    114
-#define DMP_0_0H    116
-#define DMP_0_0L    118
-#define DMP_1_0H    120
-#define DMP_1_0L    122
-#define DMP_1_5H    124
-#define DMP_1_5L    126
-#define DMP_TMP1AH    128
-#define DMP_TMP1AL    130
-#define DMP_TMP2AH    132
-#define DMP_TMP2AL    134
-#define DMP_TMP3AH    136
-#define DMP_TMP3AL    138
-#define DMP_TMP4AH    140
-#define DMP_TMP4AL    142
-#define DMP_XACCW    144
-#define DMP_TMP5    146
-#define DMP_XACCB    148
-#define DMP_TMP8    150
-#define DMP_YACCB    152
-#define DMP_TMP9    154
-#define DMP_ZACCB    156
-#define DMP_TMP10    158
-#define DMP_DZH    160
-#define DMP_DZL    162
-#define DMP_XGCH    164
-#define DMP_XGCL    166
-#define DMP_YGCH    168
-#define DMP_YGCL    170
-#define DMP_ZGCH    172
-#define DMP_ZGCL    174
-#define DMP_YACCW    176
-#define DMP_TMP7    178
-#define DMP_AFB1H    180
-#define DMP_AFB1L    182
-#define DMP_AFB2H    184
-#define DMP_AFB2L    186
-#define DMP_MAGFBH    188
-#define DMP_MAGFBL    190
-#define DMP_QT1H    192
-#define DMP_QT1L    194
-#define DMP_QT2H    196
-#define DMP_QT2L    198
-#define DMP_QT3H    200
-#define DMP_QT3L    202
-#define DMP_QT4H    204
-#define DMP_QT4L    206
-#define DMP_CTRL1H    208
-#define DMP_CTRL1L    210
-#define DMP_CTRL2H    212
-#define DMP_CTRL2L    214
-#define DMP_CTRL3H    216
-#define DMP_CTRL3L    218
-#define DMP_CTRL4H    220
-#define DMP_CTRL4L    222
-#define DMP_CTRLS1    224
-#define DMP_CTRLSF1    226
-#define DMP_CTRLS2    228
-#define DMP_CTRLSF2    230
-#define DMP_CTRLS3    232
-#define DMP_CTRLSFNLL    234
-#define DMP_CTRLS4    236
-#define DMP_CTRLSFNL2    238
-#define DMP_CTRLSFNL    240
-#define DMP_TMP30    242
-#define DMP_CTRLSFJT    244
-#define DMP_TMP31    246
-#define DMP_TMP11    248
-#define DMP_CTRLSF2_2    250
-#define DMP_TMP12    252
-#define DMP_CTRLSF1_2    254
-#define DMP_PREVPTAT    256
-#define DMP_ACCZB    258
-#define DMP_ACCXB    264
-#define DMP_ACCYB    266
-#define DMP_1HB    272
-#define DMP_1LB    274
-#define DMP_0H    276
-#define DMP_0L    278
-#define DMP_ASR22H    280
-#define DMP_ASR22L    282
-#define DMP_ASR6H    284
-#define DMP_ASR6L    286
-#define DMP_TMP13    288
-#define DMP_TMP14    290
-#define DMP_FINTXH    292
-#define DMP_FINTXL    294
-#define DMP_FINTYH    296
-#define DMP_FINTYL    298
-#define DMP_FINTZH    300
-#define DMP_FINTZL    302
-#define DMP_TMP1BH    304
-#define DMP_TMP1BL    306
-#define DMP_TMP2BH    308
-#define DMP_TMP2BL    310
-#define DMP_TMP3BH    312
-#define DMP_TMP3BL    314
-#define DMP_TMP4BH    316
-#define DMP_TMP4BL    318
-#define DMP_STXG    320
-#define DMP_ZCTXG    322
-#define DMP_STYG    324
-#define DMP_ZCTYG    326
-#define DMP_STZG    328
-#define DMP_ZCTZG    330
-#define DMP_CTRLSFJT2    332
-#define DMP_CTRLSFJTCNT    334
-#define DMP_PVXG    336
-#define DMP_TMP15    338
-#define DMP_PVYG    340
-#define DMP_TMP16    342
-#define DMP_PVZG    344
-#define DMP_TMP17    346
-#define DMP_MNMFLAGH    352
-#define DMP_MNMFLAGL    354
-#define DMP_MNMTMH    356
-#define DMP_MNMTML    358
-#define DMP_MNMTMTHRH    360
-#define DMP_MNMTMTHRL    362
-#define DMP_MNMTHRH    364
-#define DMP_MNMTHRL    366
-#define DMP_ACCQD4H    368
-#define DMP_ACCQD4L    370
-#define DMP_ACCQD5H    372
-#define DMP_ACCQD5L    374
-#define DMP_ACCQD6H    376
-#define DMP_ACCQD6L    378
-#define DMP_ACCQD7H    380
-#define DMP_ACCQD7L    382
-#define DMP_ACCQD0H    384
-#define DMP_ACCQD0L    386
-#define DMP_ACCQD1H    388
-#define DMP_ACCQD1L    390
-#define DMP_ACCQD2H    392
-#define DMP_ACCQD2L    394
-#define DMP_ACCQD3H    396
-#define DMP_ACCQD3L    398
-#define DMP_XN2H    400
-#define DMP_XN2L    402
-#define DMP_XN1H    404
-#define DMP_XN1L    406
-#define DMP_YN2H    408
-#define DMP_YN2L    410
-#define DMP_YN1H    412
-#define DMP_YN1L    414
-#define DMP_YH    416
-#define DMP_YL    418
-#define DMP_B0H    420
-#define DMP_B0L    422
-#define DMP_A1H    424
-#define DMP_A1L    426
-#define DMP_A2H    428
-#define DMP_A2L    430
-#define DMP_SEM1    432
-#define DMP_FIFOCNT    434
-#define DMP_SH_TH_X    436
-#define DMP_PACKET    438
-#define DMP_SH_TH_Y    440
-#define DMP_FOOTER    442
-#define DMP_SH_TH_Z    444
-#define DMP_TEMP29    448
-#define DMP_TEMP30    450
-#define DMP_XACCB_PRE    452
-#define DMP_XACCB_PREL    454
-#define DMP_YACCB_PRE    456
-#define DMP_YACCB_PREL    458
-#define DMP_ZACCB_PRE    460
-#define DMP_ZACCB_PREL    462
-#define DMP_TMP22    464
-#define DMP_TAP_TIMER    466
-#define DMP_TAP_THX    468
-#define DMP_TAP_THY    472
-#define DMP_TAP_THZ    476
-#define DMP_TAPW_MIN    478
-#define DMP_TMP25    480
-#define DMP_TMP26    482
-#define DMP_TMP27    484
-#define DMP_TMP28    486
-#define DMP_ORIENT    488
-#define DMP_THRSH    490
-#define DMP_ENDIANH    492
-#define DMP_ENDIANL    494
-#define DMP_BLPFNMTCH    496
-#define DMP_BLPFNMTCL    498
-#define DMP_BLPFNMXH    500
-#define DMP_BLPFNMXL    502
-#define DMP_BLPFNMYH    504
-#define DMP_BLPFNMYL    506
-#define DMP_BLPFNMZH    508
-#define DMP_BLPFNMZL    510
-#ifdef __cplusplus
-}
-#endif
-#endif // DMPMAP_H

Core备份3/imu5/inv_mpu5.c

@@ -1,2774 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
-    See included License.txt for License information.
- $
- */
-/**
- *  @addtogroup  DRIVERS Sensor Driver Layer
- *  @brief       Hardware drivers to communicate with sensors via I2C.
- *
- *  @{
- *      @file       inv_mpu.c
- *      @brief      An I2C-based driver for Invensense gyroscopes.
- *      @details    This driver currently works for the following devices:
- *                  MPU6050
- *                  MPU6500
- *                  MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus)
- *                  MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus)
- */
-#include <stdio.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-#include "inv_mpu5.h"
-
-#include "MPU60505.h"
-
-
-/* The following functions must be defined for this platform:
- * i2c_write(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char const *data)
- * i2c_read(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char *data)
- * delay_ms(unsigned long num_ms)
- * get_ms(unsigned long *count)
- * reg_int_cb(void (*cb)(void), unsigned char port, unsigned char pin)
- * labs(long x)
- * fabsf(float x)
- * min(int a, int b)
- */
-#if defined MOTION_DRIVER_TARGET_MSP430
-#include "msp430.h"
-#include "msp430_i2c.h"
-#include "msp430_clock.h"
-#include "msp430_interrupt.h"
-#define i2c_write   msp430_i2c_write
-#define i2c_read    msp430_i2c_read
-#define delay_ms    msp430_delay_ms
-#define get_ms      msp430_get_clock_ms
-static inline int reg_int_cb(struct int_param_s *int_param)
-{
-    return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit,
-        int_param->active_low);
-}
-#define log_i(...)     do {} while (0)
-#define log_e(...)     do {} while (0)
-/* labs is already defined by TI's toolchain. */
-/* fabs is for doubles. fabsf is for floats. */
-#define fabs        fabsf
-#define min(a,b) ((a<b)?a:b)
-#elif defined EMPL_TARGET_MSP430
-#include "msp430.h"
-#include "msp430_i2c.h"
-#include "msp430_clock.h"
-#include "msp430_interrupt.h"
-#include "log.h"
-#define i2c_write   msp430_i2c_write
-#define i2c_read    msp430_i2c_read
-#define delay_ms    msp430_delay_ms
-#define get_ms      msp430_get_clock_ms
-static inline int reg_int_cb(struct int_param_s *int_param)
-{
-    return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit,
-        int_param->active_low);
-}
-#define log_i       MPL_LOGI
-#define log_e       MPL_LOGE
-/* labs is already defined by TI's toolchain. */
-/* fabs is for doubles. fabsf is for floats. */
-#define fabs        fabsf
-#define min(a,b) ((a<b)?a:b)
-#elif defined EMPL_TARGET_UC3L0
-/* Instead of using the standard TWI driver from the ASF library, we're using
- * a TWI driver that follows the slave address + register address convention.
- */
-#include "twi.h"
-#include "delay.h"
-#include "sysclk.h"
-#include "log.h"
-#include "sensors_xplained.h"
-#include "uc3l0_clock.h"
-#define i2c_write(a, b, c, d)   twi_write(a, b, d, c)
-#define i2c_read(a, b, c, d)    twi_read(a, b, d, c)
-/* delay_ms is a function already defined in ASF. */
-#define get_ms  uc3l0_get_clock_ms
-static inline int reg_int_cb(struct int_param_s *int_param)
-{
-    sensor_board_irq_connect(int_param->pin, int_param->cb, int_param->arg);
-    return 0;
-}
-#define log_i       MPL_LOGI
-#define log_e       MPL_LOGE
-/* UC3 is a 32-bit processor, so abs and labs are equivalent. */
-#define labs        abs
-#define fabs(x)     (((x)>0)?(x):-(x))
-#elif defined MOTION_DRIVER_TARGET_STM32
-
-/* The following functions must be defined for this platform:
- * i2c_write(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char const *data)
- * i2c_read(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char *data)
- * delay_ms(unsigned long num_ms)
- * get_ms(unsigned long *count)
- * reg_int_cb(void (*cb)(void), unsigned char port, unsigned char pin)
- * labs(long x)
- * fabsf(float x)
- * min(int a, int b)
- */
-
-#define i2c_write   IIC_Write_Len
-#define i2c_read    IIC_Read_Len
-#define delay_ms    HAL_Delay
-#define get_ms      get_tick_count
-//static inline int reg_int_cb(struct int_param_s *int_param)
-//{
-////    return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit,
-////        int_param->active_low);
-//}
-//#define log_i(...)     do {} while (0)
-//#define log_e(...)     do {} while (0)
-
-#define log_i     printf
-#define log_e     printf
-
-/* labs is already defined by TI's toolchain. */
-/* fabs is for doubles. fabsf is for floats. */
-#define fabs        fabsf
-#define min(a,b) ((a<b)?a:b)
-
-#else
-#error  Gyro driver is missing the system layer implementations.
-#endif
-
-#if !defined MPU6050 && !defined MPU9150 && !defined MPU6500 && !defined MPU9250
-#error  Which gyro are you using? Define MPUxxxx in your compiler options.
-#endif
-
-/* Time for some messy macro work. =]
- * #define MPU9150
- * is equivalent to..
- * #define MPU6050
- * #define AK8975_SECONDARY
- *
- * #define MPU9250
- * is equivalent to..
- * #define MPU6500
- * #define AK8963_SECONDARY
- */
-#if defined MPU9150
-#ifndef MPU6050
-#define MPU6050
-#endif                          /* #ifndef MPU6050 */
-#if defined AK8963_SECONDARY
-#error "MPU9150 and AK8963_SECONDARY cannot both be defined."
-#elif !defined AK8975_SECONDARY /* #if defined AK8963_SECONDARY */
-#define AK8975_SECONDARY
-#endif                          /* #if defined AK8963_SECONDARY */
-#elif defined MPU9250           /* #if defined MPU9150 */
-#ifndef MPU6500
-#define MPU6500
-#endif                          /* #ifndef MPU6500 */
-#if defined AK8975_SECONDARY
-#error "MPU9250 and AK8975_SECONDARY cannot both be defined."
-#elif !defined AK8963_SECONDARY /* #if defined AK8975_SECONDARY */
-#define AK8963_SECONDARY
-#endif                          /* #if defined AK8975_SECONDARY */
-#endif                          /* #if defined MPU9150 */
-
-#if defined AK8975_SECONDARY || defined AK8963_SECONDARY
-#define AK89xx_SECONDARY
-#else
-/* #warning "No compass = less profit for Invensense. Lame." */
-#endif
-
-static int set_int_enable(unsigned char enable);
-
-/* Hardware registers needed by driver. */
-struct gyro_reg_s {
-    unsigned char who_am_i;
-    unsigned char rate_div;
-    unsigned char lpf;
-    unsigned char prod_id;
-    unsigned char user_ctrl;
-    unsigned char fifo_en;
-    unsigned char gyro_cfg;
-    unsigned char accel_cfg;
-    unsigned char accel_cfg2;
-    unsigned char lp_accel_odr;
-    unsigned char motion_thr;
-    unsigned char motion_dur;
-    unsigned char fifo_count_h;
-    unsigned char fifo_r_w;
-    unsigned char raw_gyro;
-    unsigned char raw_accel;
-    unsigned char temp;
-    unsigned char int_enable;
-    unsigned char dmp_int_status;
-    unsigned char int_status;
-    unsigned char accel_intel;
-    unsigned char pwr_mgmt_1;
-    unsigned char pwr_mgmt_2;
-    unsigned char int_pin_cfg;
-    unsigned char mem_r_w;
-    unsigned char accel_offs;
-    unsigned char i2c_mst;
-    unsigned char bank_sel;
-    unsigned char mem_start_addr;
-    unsigned char prgm_start_h;
-#if defined AK89xx_SECONDARY
-    unsigned char s0_addr;
-    unsigned char s0_reg;
-    unsigned char s0_ctrl;
-    unsigned char s1_addr;
-    unsigned char s1_reg;
-    unsigned char s1_ctrl;
-    unsigned char s4_ctrl;
-    unsigned char s0_do;
-    unsigned char s1_do;
-    unsigned char i2c_delay_ctrl;
-    unsigned char raw_compass;
-    /* The I2C_MST_VDDIO bit is in this register. */
-    unsigned char yg_offs_tc;
-#endif
-};
-
-/* Information specific to a particular device. */
-struct hw_s {
-    unsigned char addr;
-    unsigned short max_fifo;
-    unsigned char num_reg;
-    unsigned short temp_sens;
-    short temp_offset;
-    unsigned short bank_size;
-#if defined AK89xx_SECONDARY
-    unsigned short compass_fsr;
-#endif
-};
-
-/* When entering motion interrupt mode, the driver keeps track of the
- * previous state so that it can be restored at a later time.
- * TODO: This is tacky. Fix it.
- */
-struct motion_int_cache_s {
-    unsigned short gyro_fsr;
-    unsigned char accel_fsr;
-    unsigned short lpf;
-    unsigned short sample_rate;
-    unsigned char sensors_on;
-    unsigned char fifo_sensors;
-    unsigned char dmp_on;
-};
-
-/* Cached chip configuration data.
- * TODO: A lot of these can be handled with a bitmask.
- */
-struct chip_cfg_s {
-    /* Matches gyro_cfg >> 3 & 0x03 */
-    unsigned char gyro_fsr;
-    /* Matches accel_cfg >> 3 & 0x03 */
-    unsigned char accel_fsr;
-    /* Enabled sensors. Uses same masks as fifo_en, NOT pwr_mgmt_2. */
-    unsigned char sensors;
-    /* Matches config register. */
-    unsigned char lpf;
-    unsigned char clk_src;
-    /* Sample rate, NOT rate divider. */
-    unsigned short sample_rate;
-    /* Matches fifo_en register. */
-    unsigned char fifo_enable;
-    /* Matches int enable register. */
-    unsigned char int_enable;
-    /* 1 if devices on auxiliary I2C bus appear on the primary. */
-    unsigned char bypass_mode;
-    /* 1 if half-sensitivity.
-     * NOTE: This doesn't belong here, but everything else in hw_s is const,
-     * and this allows us to save some precious RAM.
-     */
-    unsigned char accel_half;
-    /* 1 if device in low-power accel-only mode. */
-    unsigned char lp_accel_mode;
-    /* 1 if interrupts are only triggered on motion events. */
-    unsigned char int_motion_only;
-    struct motion_int_cache_s cache;
-    /* 1 for active low interrupts. */
-    unsigned char active_low_int;
-    /* 1 for latched interrupts. */
-    unsigned char latched_int;
-    /* 1 if DMP is enabled. */
-    unsigned char dmp_on;
-    /* Ensures that DMP will only be loaded once. */
-    unsigned char dmp_loaded;
-    /* Sampling rate used when DMP is enabled. */
-    unsigned short dmp_sample_rate;
-#ifdef AK89xx_SECONDARY
-    /* Compass sample rate. */
-    unsigned short compass_sample_rate;
-    unsigned char compass_addr;
-    short mag_sens_adj[3];
-#endif
-};
-
-/* Information for self-test. */
-struct test_s {
-    unsigned long gyro_sens;
-    unsigned long accel_sens;
-    unsigned char reg_rate_div;
-    unsigned char reg_lpf;
-    unsigned char reg_gyro_fsr;
-    unsigned char reg_accel_fsr;
-    unsigned short wait_ms;
-    unsigned char packet_thresh;
-    float min_dps;
-    float max_dps;
-    float max_gyro_var;
-    float min_g;
-    float max_g;
-    float max_accel_var;
-};
-
-/* Gyro driver state variables. */
-struct gyro_state_s {
-    const struct gyro_reg_s *reg;
-    const struct hw_s *hw;
-    struct chip_cfg_s chip_cfg;
-    const struct test_s *test;
-};
-
-/* Filter configurations. */
-enum lpf_e {
-    INV_FILTER_256HZ_NOLPF2 = 0,
-    INV_FILTER_188HZ,
-    INV_FILTER_98HZ,
-    INV_FILTER_42HZ,
-    INV_FILTER_20HZ,
-    INV_FILTER_10HZ,
-    INV_FILTER_5HZ,
-    INV_FILTER_2100HZ_NOLPF,
-    NUM_FILTER
-};
-
-/* Full scale ranges. */
-enum gyro_fsr_e {
-    INV_FSR_250DPS = 0,
-    INV_FSR_500DPS,
-    INV_FSR_1000DPS,
-    INV_FSR_2000DPS,
-    NUM_GYRO_FSR
-};
-
-/* Full scale ranges. */
-enum accel_fsr_e {
-    INV_FSR_2G = 0,
-    INV_FSR_4G,
-    INV_FSR_8G,
-    INV_FSR_16G,
-    NUM_ACCEL_FSR
-};
-
-/* Clock sources. */
-enum clock_sel_e {
-    INV_CLK_INTERNAL = 0,
-    INV_CLK_PLL,
-    NUM_CLK
-};
-
-/* Low-power accel wakeup rates. */
-enum lp_accel_rate_e {
-#if defined MPU6050
-    INV_LPA_1_25HZ,
-    INV_LPA_5HZ,
-    INV_LPA_20HZ,
-    INV_LPA_40HZ
-#elif defined MPU6500
-    INV_LPA_0_3125HZ,
-    INV_LPA_0_625HZ,
-    INV_LPA_1_25HZ,
-    INV_LPA_2_5HZ,
-    INV_LPA_5HZ,
-    INV_LPA_10HZ,
-    INV_LPA_20HZ,
-    INV_LPA_40HZ,
-    INV_LPA_80HZ,
-    INV_LPA_160HZ,
-    INV_LPA_320HZ,
-    INV_LPA_640HZ
-#endif
-};
-
-#define BIT_I2C_MST_VDDIO   (0x80)
-#define BIT_FIFO_EN         (0x40)
-#define BIT_DMP_EN          (0x80)
-#define BIT_FIFO_RST        (0x04)
-#define BIT_DMP_RST         (0x08)
-#define BIT_FIFO_OVERFLOW   (0x10)
-#define BIT_DATA_RDY_EN     (0x01)
-#define BIT_DMP_INT_EN      (0x02)
-#define BIT_MOT_INT_EN      (0x40)
-#define BITS_FSR            (0x18)
-#define BITS_LPF            (0x07)
-#define BITS_HPF            (0x07)
-#define BITS_CLK            (0x07)
-#define BIT_FIFO_SIZE_1024  (0x40)
-#define BIT_FIFO_SIZE_2048  (0x80)
-#define BIT_FIFO_SIZE_4096  (0xC0)
-#define BIT_RESET           (0x80)
-#define BIT_SLEEP           (0x40)
-#define BIT_S0_DELAY_EN     (0x01)
-#define BIT_S2_DELAY_EN     (0x04)
-#define BITS_SLAVE_LENGTH   (0x0F)
-#define BIT_SLAVE_BYTE_SW   (0x40)
-#define BIT_SLAVE_GROUP     (0x10)
-#define BIT_SLAVE_EN        (0x80)
-#define BIT_I2C_READ        (0x80)
-#define BITS_I2C_MASTER_DLY (0x1F)
-#define BIT_AUX_IF_EN       (0x20)
-#define BIT_ACTL            (0x80)
-#define BIT_LATCH_EN        (0x20)
-#define BIT_ANY_RD_CLR      (0x10)
-#define BIT_BYPASS_EN       (0x02)
-#define BITS_WOM_EN         (0xC0)
-#define BIT_LPA_CYCLE       (0x20)
-#define BIT_STBY_XA         (0x20)
-#define BIT_STBY_YA         (0x10)
-#define BIT_STBY_ZA         (0x08)
-#define BIT_STBY_XG         (0x04)
-#define BIT_STBY_YG         (0x02)
-#define BIT_STBY_ZG         (0x01)
-#define BIT_STBY_XYZA       (BIT_STBY_XA | BIT_STBY_YA | BIT_STBY_ZA)
-#define BIT_STBY_XYZG       (BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG)
-
-#if defined AK8975_SECONDARY
-#define SUPPORTS_AK89xx_HIGH_SENS   (0x00)
-#define AK89xx_FSR                  (9830)
-#elif defined AK8963_SECONDARY
-#define SUPPORTS_AK89xx_HIGH_SENS   (0x10)
-#define AK89xx_FSR                  (4915)
-#endif
-
-#ifdef AK89xx_SECONDARY
-#define AKM_REG_WHOAMI      (0x00)
-
-#define AKM_REG_ST1         (0x02)
-#define AKM_REG_HXL         (0x03)
-#define AKM_REG_ST2         (0x09)
-
-#define AKM_REG_CNTL        (0x0A)
-#define AKM_REG_ASTC        (0x0C)
-#define AKM_REG_ASAX        (0x10)
-#define AKM_REG_ASAY        (0x11)
-#define AKM_REG_ASAZ        (0x12)
-
-#define AKM_DATA_READY      (0x01)
-#define AKM_DATA_OVERRUN    (0x02)
-#define AKM_OVERFLOW        (0x80)
-#define AKM_DATA_ERROR      (0x40)
-
-#define AKM_BIT_SELF_TEST   (0x40)
-
-#define AKM_POWER_DOWN          (0x00 | SUPPORTS_AK89xx_HIGH_SENS)
-#define AKM_SINGLE_MEASUREMENT  (0x01 | SUPPORTS_AK89xx_HIGH_SENS)
-#define AKM_FUSE_ROM_ACCESS     (0x0F | SUPPORTS_AK89xx_HIGH_SENS)
-#define AKM_MODE_SELF_TEST      (0x08 | SUPPORTS_AK89xx_HIGH_SENS)
-
-#define AKM_WHOAMI      (0x48)
-#endif
-
-#if defined MPU6050
-const struct gyro_reg_s reg = {
-    .who_am_i       = 0x75,
-    .rate_div       = 0x19,
-    .lpf            = 0x1A,
-    .prod_id        = 0x0C,
-    .user_ctrl      = 0x6A,
-    .fifo_en        = 0x23,
-    .gyro_cfg       = 0x1B,
-    .accel_cfg      = 0x1C,
-    .motion_thr     = 0x1F,
-    .motion_dur     = 0x20,
-    .fifo_count_h   = 0x72,
-    .fifo_r_w       = 0x74,
-    .raw_gyro       = 0x43,
-    .raw_accel      = 0x3B,
-    .temp           = 0x41,
-    .int_enable     = 0x38,
-    .dmp_int_status = 0x39,
-    .int_status     = 0x3A,
-    .pwr_mgmt_1     = 0x6B,
-    .pwr_mgmt_2     = 0x6C,
-    .int_pin_cfg    = 0x37,
-    .mem_r_w        = 0x6F,
-    .accel_offs     = 0x06,
-    .i2c_mst        = 0x24,
-    .bank_sel       = 0x6D,
-    .mem_start_addr = 0x6E,
-    .prgm_start_h   = 0x70
-#ifdef AK89xx_SECONDARY
-    ,.raw_compass   = 0x49,
-    .yg_offs_tc     = 0x01,
-    .s0_addr        = 0x25,
-    .s0_reg         = 0x26,
-    .s0_ctrl        = 0x27,
-    .s1_addr        = 0x28,
-    .s1_reg         = 0x29,
-    .s1_ctrl        = 0x2A,
-    .s4_ctrl        = 0x34,
-    .s0_do          = 0x63,
-    .s1_do          = 0x64,
-    .i2c_delay_ctrl = 0x67
-#endif
-};
-const struct hw_s hw = {
-    .addr           = 0x68,
-    .max_fifo       = 1024,
-    .num_reg        = 118,
-    .temp_sens      = 340,
-    .temp_offset    = -521,
-    .bank_size      = 256
-#if defined AK89xx_SECONDARY
-    ,.compass_fsr    = AK89xx_FSR
-#endif
-};
-
-const struct test_s test = {
-    .gyro_sens      = 32768/250,
-    .accel_sens     = 32768/16,
-    .reg_rate_div   = 0,    /* 1kHz. */
-    .reg_lpf        = 1,    /* 188Hz. */
-    .reg_gyro_fsr   = 0,    /* 250dps. */
-    .reg_accel_fsr  = 0x18, /* 16g. */
-    .wait_ms        = 50,
-    .packet_thresh  = 5,    /* 5% */
-    .min_dps        = 10.f,
-    .max_dps        = 105.f,
-    .max_gyro_var   = 0.14f,
-    .min_g          = 0.3f,
-    .max_g          = 0.95f,
-    .max_accel_var  = 0.14f
-};
-
-static struct gyro_state_s st = {
-    .reg = &reg,
-    .hw = &hw,
-    .test = &test
-};
-#elif defined MPU6500
-const struct gyro_reg_s reg = {
-    .who_am_i       = 0x75,
-    .rate_div       = 0x19,
-    .lpf            = 0x1A,
-    .prod_id        = 0x0C,
-    .user_ctrl      = 0x6A,
-    .fifo_en        = 0x23,
-    .gyro_cfg       = 0x1B,
-    .accel_cfg      = 0x1C,
-    .accel_cfg2     = 0x1D,
-    .lp_accel_odr   = 0x1E,
-    .motion_thr     = 0x1F,
-    .motion_dur     = 0x20,
-    .fifo_count_h   = 0x72,
-    .fifo_r_w       = 0x74,
-    .raw_gyro       = 0x43,
-    .raw_accel      = 0x3B,
-    .temp           = 0x41,
-    .int_enable     = 0x38,
-    .dmp_int_status = 0x39,
-    .int_status     = 0x3A,
-    .accel_intel    = 0x69,
-    .pwr_mgmt_1     = 0x6B,
-    .pwr_mgmt_2     = 0x6C,
-    .int_pin_cfg    = 0x37,
-    .mem_r_w        = 0x6F,
-    .accel_offs     = 0x77,
-    .i2c_mst        = 0x24,
-    .bank_sel       = 0x6D,
-    .mem_start_addr = 0x6E,
-    .prgm_start_h   = 0x70
-#ifdef AK89xx_SECONDARY
-    ,.raw_compass   = 0x49,
-    .s0_addr        = 0x25,
-    .s0_reg         = 0x26,
-    .s0_ctrl        = 0x27,
-    .s1_addr        = 0x28,
-    .s1_reg         = 0x29,
-    .s1_ctrl        = 0x2A,
-    .s4_ctrl        = 0x34,
-    .s0_do          = 0x63,
-    .s1_do          = 0x64,
-    .i2c_delay_ctrl = 0x67
-#endif
-};
-const struct hw_s hw = {
-    .addr           = 0x68,
-    .max_fifo       = 1024,
-    .num_reg        = 128,
-    .temp_sens      = 321,
-    .temp_offset    = 0,
-    .bank_size      = 256
-#if defined AK89xx_SECONDARY
-    ,.compass_fsr    = AK89xx_FSR
-#endif
-};
-
-const struct test_s test = {
-    .gyro_sens      = 32768/250,
-    .accel_sens     = 32768/16,
-    .reg_rate_div   = 0,    /* 1kHz. */
-    .reg_lpf        = 1,    /* 188Hz. */
-    .reg_gyro_fsr   = 0,    /* 250dps. */
-    .reg_accel_fsr  = 0x18, /* 16g. */
-    .wait_ms        = 50,
-    .packet_thresh  = 5,    /* 5% */
-    .min_dps        = 10.f,
-    .max_dps        = 105.f,
-    .max_gyro_var   = 0.14f,
-    .min_g          = 0.3f,
-    .max_g          = 0.95f,
-    .max_accel_var  = 0.14f
-};
-
-static struct gyro_state_s st = {
-    .reg = &reg,
-    .hw = &hw,
-    .test = &test
-};
-#endif
-
-#define MAX_PACKET_LENGTH (12)
-
-#ifdef AK89xx_SECONDARY
-static int setup_compass(void);
-#define MAX_COMPASS_SAMPLE_RATE (100)
-#endif
-
-/**
- *  @brief      Enable/disable data ready interrupt.
- *  If the DMP is on, the DMP interrupt is enabled. Otherwise, the data ready
- *  interrupt is used.
- *  @param[in]  enable      1 to enable interrupt.
- *  @return     0 if successful.
- */
-static int set_int_enable(unsigned char enable)
-{
-    unsigned char tmp;
-
-    if (st.chip_cfg.dmp_on) {
-        if (enable)
-            tmp = BIT_DMP_INT_EN;
-        else
-            tmp = 0x00;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp))
-            return -1;
-        st.chip_cfg.int_enable = tmp;
-    } else {
-        if (!st.chip_cfg.sensors)
-            return -1;
-        if (enable && st.chip_cfg.int_enable)
-            return 0;
-        if (enable)
-            tmp = BIT_DATA_RDY_EN;
-        else
-            tmp = 0x00;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp))
-            return -1;
-        st.chip_cfg.int_enable = tmp;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Register dump for testing.
- *  @return     0 if successful.
- */
-int mpu_reg_dump(void)
-{
-    unsigned char ii;
-    unsigned char data;
-
-    for (ii = 0; ii < st.hw->num_reg; ii++) {
-        if (ii == st.reg->fifo_r_w || ii == st.reg->mem_r_w)
-            continue;
-        if (i2c_read(st.hw->addr, ii, 1, &data))
-            return -1;
-        log_i("%#5x: %#5x\r\n", ii, data);
-    }
-    return 0;
-}
-
-/**
- *  @brief      Read from a single register.
- *  NOTE: The memory and FIFO read/write registers cannot be accessed.
- *  @param[in]  reg     Register address.
- *  @param[out] data    Register data.
- *  @return     0 if successful.
- */
-int mpu_read_reg(unsigned char reg, unsigned char *data)
-{
-    if (reg == st.reg->fifo_r_w || reg == st.reg->mem_r_w)
-        return -1;
-    if (reg >= st.hw->num_reg)
-        return -1;
-    return i2c_read(st.hw->addr, reg, 1, data);
-}
-
-/**
- *  @brief      Initialize hardware.
- *  Initial configuration:\n
- *  Gyro FSR: +/- 2000DPS\n
- *  Accel FSR +/- 2G\n
- *  DLPF: 42Hz\n
- *  FIFO rate: 50Hz\n
- *  Clock source: Gyro PLL\n
- *  FIFO: Disabled.\n
- *  Data ready interrupt: Disabled, active low, unlatched.
- *  @param[in]  int_param   Platform-specific parameters to interrupt API.
- *  @return     0 if successful.
- */
-int mpu_init(struct int_param_s *int_param)
-{
-    unsigned char data[6], rev;
-
-    /* Reset device. */
-    data[0] = BIT_RESET;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
-        return -1;
-    delay_ms(100);
-
-    /* Wake up chip. */
-    data[0] = 0x00;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
-        return -1;
-
-#if defined MPU6050
-    /* Check product revision. */
-    if (i2c_read(st.hw->addr, st.reg->accel_offs, 6, data))
-        return -1;
-    rev = ((data[5] & 0x01) << 2) | ((data[3] & 0x01) << 1) |
-        (data[1] & 0x01);
-
-    if (rev) {
-        /* Congrats, these parts are better. */
-        if (rev == 1)
-            st.chip_cfg.accel_half = 1;
-        else if (rev == 2)
-            st.chip_cfg.accel_half = 0;
-        else {
-            log_e("Unsupported software product rev %d.\n", rev);
-            return -1;
-        }
-    } else {
-        if (i2c_read(st.hw->addr, st.reg->prod_id, 1, data))
-            return -1;
-        rev = data[0] & 0x0F;
-        if (!rev) {
-            log_e("Product ID read as 0 indicates device is either "
-                "incompatible or an MPU3050.\n");
-            return -1;
-        } else if (rev == 4) {
-            log_i("Half sensitivity part found.\n");
-            st.chip_cfg.accel_half = 1;
-        } else
-            st.chip_cfg.accel_half = 0;
-    }
-#elif defined MPU6500
-#define MPU6500_MEM_REV_ADDR    (0x17)
-    if (mpu_read_mem(MPU6500_MEM_REV_ADDR, 1, &rev))
-        return -1;
-    if (rev == 0x1)
-        st.chip_cfg.accel_half = 0;
-    else {
-        log_e("Unsupported software product rev %d.\n", rev);
-        return -1;
-    }
-
-    /* MPU6500 shares 4kB of memory between the DMP and the FIFO. Since the
-     * first 3kB are needed by the DMP, we'll use the last 1kB for the FIFO.
-     */
-    data[0] = BIT_FIFO_SIZE_1024 | 0x8;
-    if (i2c_write(st.hw->addr, st.reg->accel_cfg2, 1, data))
-        return -1;
-#endif
-
-    /* Set to invalid values to ensure no I2C writes are skipped. */
-    st.chip_cfg.sensors = 0xFF;
-    st.chip_cfg.gyro_fsr = 0xFF;
-    st.chip_cfg.accel_fsr = 0xFF;
-    st.chip_cfg.lpf = 0xFF;
-    st.chip_cfg.sample_rate = 0xFFFF;
-    st.chip_cfg.fifo_enable = 0xFF;
-    st.chip_cfg.bypass_mode = 0xFF;
-#ifdef AK89xx_SECONDARY
-    st.chip_cfg.compass_sample_rate = 0xFFFF;
-#endif
-    /* mpu_set_sensors always preserves this setting. */
-    st.chip_cfg.clk_src = INV_CLK_PLL;
-    /* Handled in next call to mpu_set_bypass. */
-    st.chip_cfg.active_low_int = 1;
-    st.chip_cfg.latched_int = 0;
-    st.chip_cfg.int_motion_only = 0;
-    st.chip_cfg.lp_accel_mode = 0;
-    memset(&st.chip_cfg.cache, 0, sizeof(st.chip_cfg.cache));
-    st.chip_cfg.dmp_on = 0;
-    st.chip_cfg.dmp_loaded = 0;
-    st.chip_cfg.dmp_sample_rate = 0;
-
-    if (mpu_set_gyro_fsr(2000))
-        return -1;
-    if (mpu_set_accel_fsr(2))
-        return -1;
-    if (mpu_set_lpf(42))
-        return -1;
-    if (mpu_set_sample_rate(50))
-        return -1;
-    if (mpu_configure_fifo(0))
-        return -1;
-
-#ifndef MOTION_DRIVER_TARGET_STM32
-    if (int_param)
-        reg_int_cb(int_param);
-#endif
-
-#ifdef AK89xx_SECONDARY
-    setup_compass();
-    if (mpu_set_compass_sample_rate(10))
-        return -1;
-#else
-    /* Already disabled by setup_compass. */
-    if (mpu_set_bypass(0))
-        return -1;
-#endif
-
-    mpu_set_sensors(0);
-    return 0;
-}
-
-/**
- *  @brief      Enter low-power accel-only mode.
- *  In low-power accel mode, the chip goes to sleep and only wakes up to sample
- *  the accelerometer at one of the following frequencies:
- *  \n MPU6050: 1.25Hz, 5Hz, 20Hz, 40Hz
- *  \n MPU6500: 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz
- *  \n If the requested rate is not one listed above, the device will be set to
- *  the next highest rate. Requesting a rate above the maximum supported
- *  frequency will result in an error.
- *  \n To select a fractional wake-up frequency, round down the value passed to
- *  @e rate.
- *  @param[in]  rate        Minimum sampling rate, or zero to disable LP
- *                          accel mode.
- *  @return     0 if successful.
- */
-int mpu_lp_accel_mode(unsigned char rate)
-{
-    unsigned char tmp[2];
-
-    if (rate > 40)
-        return -1;
-
-    if (!rate) {
-        mpu_set_int_latched(0);
-        tmp[0] = 0;
-        tmp[1] = BIT_STBY_XYZG;
-        if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp))
-            return -1;
-        st.chip_cfg.lp_accel_mode = 0;
-        return 0;
-    }
-    /* For LP accel, we automatically configure the hardware to produce latched
-     * interrupts. In LP accel mode, the hardware cycles into sleep mode before
-     * it gets a chance to deassert the interrupt pin; therefore, we shift this
-     * responsibility over to the MCU.
-     *
-     * Any register read will clear the interrupt.
-     */
-    mpu_set_int_latched(1);
-#if defined MPU6050
-    tmp[0] = BIT_LPA_CYCLE;
-    if (rate == 1) {
-        tmp[1] = INV_LPA_1_25HZ;
-        mpu_set_lpf(5);
-    } else if (rate <= 5) {
-        tmp[1] = INV_LPA_5HZ;
-        mpu_set_lpf(5);
-    } else if (rate <= 20) {
-        tmp[1] = INV_LPA_20HZ;
-        mpu_set_lpf(10);
-    } else {
-        tmp[1] = INV_LPA_40HZ;
-        mpu_set_lpf(20);
-    }
-    tmp[1] = (tmp[1] << 6) | BIT_STBY_XYZG;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp))
-        return -1;
-#elif defined MPU6500
-    /* Set wake frequency. */
-    if (rate == 1)
-        tmp[0] = INV_LPA_1_25HZ;
-    else if (rate == 2)
-        tmp[0] = INV_LPA_2_5HZ;
-    else if (rate <= 5)
-        tmp[0] = INV_LPA_5HZ;
-    else if (rate <= 10)
-        tmp[0] = INV_LPA_10HZ;
-    else if (rate <= 20)
-        tmp[0] = INV_LPA_20HZ;
-    else if (rate <= 40)
-        tmp[0] = INV_LPA_40HZ;
-    else if (rate <= 80)
-        tmp[0] = INV_LPA_80HZ;
-    else if (rate <= 160)
-        tmp[0] = INV_LPA_160HZ;
-    else if (rate <= 320)
-        tmp[0] = INV_LPA_320HZ;
-    else
-        tmp[0] = INV_LPA_640HZ;
-    if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, tmp))
-        return -1;
-    tmp[0] = BIT_LPA_CYCLE;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, tmp))
-        return -1;
-#endif
-    st.chip_cfg.sensors = INV_XYZ_ACCEL;
-    st.chip_cfg.clk_src = 0;
-    st.chip_cfg.lp_accel_mode = 1;
-    mpu_configure_fifo(0);
-
-    return 0;
-}
-
-/**
- *  @brief      Read raw gyro data directly from the registers.
- *  @param[out] data        Raw data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds. Null if not needed.
- *  @return     0 if successful.
- */
-int mpu_get_gyro_reg(short *data, unsigned long *timestamp)
-{
-    unsigned char tmp[6];
-
-    if (!(st.chip_cfg.sensors & INV_XYZ_GYRO))
-        return -1;
-
-    if (i2c_read(st.hw->addr, st.reg->raw_gyro, 6, tmp))
-        return -1;
-    data[0] = (tmp[0] << 8) | tmp[1];
-    data[1] = (tmp[2] << 8) | tmp[3];
-    data[2] = (tmp[4] << 8) | tmp[5];
-    if (timestamp)
-        get_ms(timestamp);
-    return 0;
-}
-
-/**
- *  @brief      Read raw accel data directly from the registers.
- *  @param[out] data        Raw data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds. Null if not needed.
- *  @return     0 if successful.
- */
-int mpu_get_accel_reg(short *data, unsigned long *timestamp)
-{
-    unsigned char tmp[6];
-
-    if (!(st.chip_cfg.sensors & INV_XYZ_ACCEL))
-        return -1;
-
-    if (i2c_read(st.hw->addr, st.reg->raw_accel, 6, tmp))
-        return -1;
-    data[0] = (tmp[0] << 8) | tmp[1];
-    data[1] = (tmp[2] << 8) | tmp[3];
-    data[2] = (tmp[4] << 8) | tmp[5];
-    if (timestamp)
-        get_ms(timestamp);
-    return 0;
-}
-
-/**
- *  @brief      Read temperature data directly from the registers.
- *  @param[out] data        Data in q16 format.
- *  @param[out] timestamp   Timestamp in milliseconds. Null if not needed.
- *  @return     0 if successful.
- */
-int mpu_get_temperature(long *data, unsigned long *timestamp)
-{
-    unsigned char tmp[2];
-    short raw;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    if (i2c_read(st.hw->addr, st.reg->temp, 2, tmp))
-        return -1;
-    raw = (tmp[0] << 8) | tmp[1];
-    if (timestamp)
-        get_ms(timestamp);
-
-    data[0] = (long)((35 + ((raw - (float)st.hw->temp_offset) / st.hw->temp_sens)) * 65536L);
-    return 0;
-}
-
-/**
- *  @brief      Push biases to the accel bias registers.
- *  This function expects biases relative to the current sensor output, and
- *  these biases will be added to the factory-supplied values.
- *  @param[in]  accel_bias  New biases.
- *  @return     0 if successful.
- */
-int mpu_set_accel_bias(const long *accel_bias)
-{
-    unsigned char data[6];
-    short accel_hw[3];
-    short got_accel[3];
-    short fg[3];
-
-    if (!accel_bias)
-        return -1;
-    if (!accel_bias[0] && !accel_bias[1] && !accel_bias[2])
-        return 0;
-
-    if (i2c_read(st.hw->addr, 3, 3, data))
-        return -1;
-    fg[0] = ((data[0] >> 4) + 8) & 0xf;
-    fg[1] = ((data[1] >> 4) + 8) & 0xf;
-    fg[2] = ((data[2] >> 4) + 8) & 0xf;
-
-    accel_hw[0] = (short)(accel_bias[0] * 2 / (64 + fg[0]));
-    accel_hw[1] = (short)(accel_bias[1] * 2 / (64 + fg[1]));
-    accel_hw[2] = (short)(accel_bias[2] * 2 / (64 + fg[2]));
-
-    if (i2c_read(st.hw->addr, 0x06, 6, data))
-        return -1;
-
-    got_accel[0] = ((short)data[0] << 8) | data[1];
-    got_accel[1] = ((short)data[2] << 8) | data[3];
-    got_accel[2] = ((short)data[4] << 8) | data[5];
-
-    accel_hw[0] += got_accel[0];
-    accel_hw[1] += got_accel[1];
-    accel_hw[2] += got_accel[2];
-
-    data[0] = (accel_hw[0] >> 8) & 0xff;
-    data[1] = (accel_hw[0]) & 0xff;
-    data[2] = (accel_hw[1] >> 8) & 0xff;
-    data[3] = (accel_hw[1]) & 0xff;
-    data[4] = (accel_hw[2] >> 8) & 0xff;
-    data[5] = (accel_hw[2]) & 0xff;
-
-    if (i2c_write(st.hw->addr, 0x06, 6, data))
-        return -1;
-    return 0;
-}
-
-/**
- *  @brief  Reset FIFO read/write pointers.
- *  @return 0 if successful.
- */
-int mpu_reset_fifo(void)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    data = 0;
-    if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-        return -1;
-
-    if (st.chip_cfg.dmp_on) {
-        data = BIT_FIFO_RST | BIT_DMP_RST;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-            return -1;
-        delay_ms(50);
-        data = BIT_DMP_EN | BIT_FIFO_EN;
-        if (st.chip_cfg.sensors & INV_XYZ_COMPASS)
-            data |= BIT_AUX_IF_EN;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-            return -1;
-        if (st.chip_cfg.int_enable)
-            data = BIT_DMP_INT_EN;
-        else
-            data = 0;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data))
-            return -1;
-        data = 0;
-        if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &data))
-            return -1;
-    } else {
-        data = BIT_FIFO_RST;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-            return -1;
-        if (st.chip_cfg.bypass_mode || !(st.chip_cfg.sensors & INV_XYZ_COMPASS))
-            data = BIT_FIFO_EN;
-        else
-            data = BIT_FIFO_EN | BIT_AUX_IF_EN;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-            return -1;
-        delay_ms(50);
-        if (st.chip_cfg.int_enable)
-            data = BIT_DATA_RDY_EN;
-        else
-            data = 0;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data))
-            return -1;
-        if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &st.chip_cfg.fifo_enable))
-            return -1;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Get the gyro full-scale range.
- *  @param[out] fsr Current full-scale range.
- *  @return     0 if successful.
- */
-int mpu_get_gyro_fsr(unsigned short *fsr)
-{
-    switch (st.chip_cfg.gyro_fsr) {
-    case INV_FSR_250DPS:
-        fsr[0] = 250;
-        break;
-    case INV_FSR_500DPS:
-        fsr[0] = 500;
-        break;
-    case INV_FSR_1000DPS:
-        fsr[0] = 1000;
-        break;
-    case INV_FSR_2000DPS:
-        fsr[0] = 2000;
-        break;
-    default:
-        fsr[0] = 0;
-        break;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Set the gyro full-scale range.
- *  @param[in]  fsr Desired full-scale range.
- *  @return     0 if successful.
- */
-int mpu_set_gyro_fsr(unsigned short fsr)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    switch (fsr) {
-    case 250:
-        data = INV_FSR_250DPS << 3;
-        break;
-    case 500:
-        data = INV_FSR_500DPS << 3;
-        break;
-    case 1000:
-        data = INV_FSR_1000DPS << 3;
-        break;
-    case 2000:
-        data = INV_FSR_2000DPS << 3;
-        break;
-    default:
-        return -1;
-    }
-
-    if (st.chip_cfg.gyro_fsr == (data >> 3))
-        return 0;
-    if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, &data))
-        return -1;
-    st.chip_cfg.gyro_fsr = data >> 3;
-    return 0;
-}
-
-/**
- *  @brief      Get the accel full-scale range.
- *  @param[out] fsr Current full-scale range.
- *  @return     0 if successful.
- */
-int mpu_get_accel_fsr(unsigned char *fsr)
-{
-    switch (st.chip_cfg.accel_fsr) {
-    case INV_FSR_2G:
-        fsr[0] = 2;
-        break;
-    case INV_FSR_4G:
-        fsr[0] = 4;
-        break;
-    case INV_FSR_8G:
-        fsr[0] = 8;
-        break;
-    case INV_FSR_16G:
-        fsr[0] = 16;
-        break;
-    default:
-        return -1;
-    }
-    if (st.chip_cfg.accel_half)
-        fsr[0] <<= 1;
-    return 0;
-}
-
-/**
- *  @brief      Set the accel full-scale range.
- *  @param[in]  fsr Desired full-scale range.
- *  @return     0 if successful.
- */
-int mpu_set_accel_fsr(unsigned char fsr)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    switch (fsr) {
-    case 2:
-        data = INV_FSR_2G << 3;
-        break;
-    case 4:
-        data = INV_FSR_4G << 3;
-        break;
-    case 8:
-        data = INV_FSR_8G << 3;
-        break;
-    case 16:
-        data = INV_FSR_16G << 3;
-        break;
-    default:
-        return -1;
-    }
-
-    if (st.chip_cfg.accel_fsr == (data >> 3))
-        return 0;
-    if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, &data))
-        return -1;
-    st.chip_cfg.accel_fsr = data >> 3;
-    return 0;
-}
-
-/**
- *  @brief      Get the current DLPF setting.
- *  @param[out] lpf Current LPF setting.
- *  0 if successful.
- */
-int mpu_get_lpf(unsigned short *lpf)
-{
-    switch (st.chip_cfg.lpf) {
-    case INV_FILTER_188HZ:
-        lpf[0] = 188;
-        break;
-    case INV_FILTER_98HZ:
-        lpf[0] = 98;
-        break;
-    case INV_FILTER_42HZ:
-        lpf[0] = 42;
-        break;
-    case INV_FILTER_20HZ:
-        lpf[0] = 20;
-        break;
-    case INV_FILTER_10HZ:
-        lpf[0] = 10;
-        break;
-    case INV_FILTER_5HZ:
-        lpf[0] = 5;
-        break;
-    case INV_FILTER_256HZ_NOLPF2:
-    case INV_FILTER_2100HZ_NOLPF:
-    default:
-        lpf[0] = 0;
-        break;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Set digital low pass filter.
- *  The following LPF settings are supported: 188, 98, 42, 20, 10, 5.
- *  @param[in]  lpf Desired LPF setting.
- *  @return     0 if successful.
- */
-int mpu_set_lpf(unsigned short lpf)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    if (lpf >= 188)
-        data = INV_FILTER_188HZ;
-    else if (lpf >= 98)
-        data = INV_FILTER_98HZ;
-    else if (lpf >= 42)
-        data = INV_FILTER_42HZ;
-    else if (lpf >= 20)
-        data = INV_FILTER_20HZ;
-    else if (lpf >= 10)
-        data = INV_FILTER_10HZ;
-    else
-        data = INV_FILTER_5HZ;
-
-    if (st.chip_cfg.lpf == data)
-        return 0;
-    if (i2c_write(st.hw->addr, st.reg->lpf, 1, &data))
-        return -1;
-    st.chip_cfg.lpf = data;
-    return 0;
-}
-
-/**
- *  @brief      Get sampling rate.
- *  @param[out] rate    Current sampling rate (Hz).
- *  @return     0 if successful.
- */
-int mpu_get_sample_rate(unsigned short *rate)
-{
-    if (st.chip_cfg.dmp_on)
-        return -1;
-    else
-        rate[0] = st.chip_cfg.sample_rate;
-
-    return 0;
-}
-
-/**
- *  @brief      Set sampling rate.
- *  Sampling rate must be between 4Hz and 1kHz.
- *  @param[in]  rate    Desired sampling rate (Hz).
- *  @return     0 if successful.
- */
-int mpu_set_sample_rate(unsigned short rate)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    if (st.chip_cfg.dmp_on)
-        return -1;
-    else {
-        if (st.chip_cfg.lp_accel_mode) {
-            if (rate && (rate <= 40)) {
-                /* Just stay in low-power accel mode. */
-                mpu_lp_accel_mode(rate);
-                return 0;
-            }
-            /* Requested rate exceeds the allowed frequencies in LP accel mode,
-             * switch back to full-power mode.
-             */
-            mpu_lp_accel_mode(0);
-        }
-        if (rate < 4)
-            rate = 4;
-        else if (rate > 1000)
-            rate = 1000;
-
-        data = 1000 / rate - 1;
-        if (i2c_write(st.hw->addr, st.reg->rate_div, 1, &data))
-            return -1;
-
-        st.chip_cfg.sample_rate = 1000 / (1 + data);
-
-#ifdef AK89xx_SECONDARY
-        mpu_set_compass_sample_rate(min(st.chip_cfg.compass_sample_rate, MAX_COMPASS_SAMPLE_RATE));
-#endif
-
-        /* Automatically set LPF to 1/2 sampling rate. */
-        mpu_set_lpf(st.chip_cfg.sample_rate >> 1);
-        return 0;
-    }
-}
-
-/**
- *  @brief      Get compass sampling rate.
- *  @param[out] rate    Current compass sampling rate (Hz).
- *  @return     0 if successful.
- */
-int mpu_get_compass_sample_rate(unsigned short *rate)
-{
-#ifdef AK89xx_SECONDARY
-    rate[0] = st.chip_cfg.compass_sample_rate;
-    return 0;
-#else
-    rate[0] = 0;
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Set compass sampling rate.
- *  The compass on the auxiliary I2C bus is read by the MPU hardware at a
- *  maximum of 100Hz. The actual rate can be set to a fraction of the gyro
- *  sampling rate.
- *
- *  \n WARNING: The new rate may be different than what was requested. Call
- *  mpu_get_compass_sample_rate to check the actual setting.
- *  @param[in]  rate    Desired compass sampling rate (Hz).
- *  @return     0 if successful.
- */
-int mpu_set_compass_sample_rate(unsigned short rate)
-{
-#ifdef AK89xx_SECONDARY
-    unsigned char div;
-    if (!rate || rate > st.chip_cfg.sample_rate || rate > MAX_COMPASS_SAMPLE_RATE)
-        return -1;
-
-    div = st.chip_cfg.sample_rate / rate - 1;
-    if (i2c_write(st.hw->addr, st.reg->s4_ctrl, 1, &div))
-        return -1;
-    st.chip_cfg.compass_sample_rate = st.chip_cfg.sample_rate / (div + 1);
-    return 0;
-#else
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Get gyro sensitivity scale factor.
- *  @param[out] sens    Conversion from hardware units to dps.
- *  @return     0 if successful.
- */
-int mpu_get_gyro_sens(float *sens)
-{
-    switch (st.chip_cfg.gyro_fsr) {
-    case INV_FSR_250DPS:
-        sens[0] = 131.f;
-        break;
-    case INV_FSR_500DPS:
-        sens[0] = 65.5f;
-        break;
-    case INV_FSR_1000DPS:
-        sens[0] = 32.8f;
-        break;
-    case INV_FSR_2000DPS:
-        sens[0] = 16.4f;
-        break;
-    default:
-        return -1;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Get accel sensitivity scale factor.
- *  @param[out] sens    Conversion from hardware units to g's.
- *  @return     0 if successful.
- */
-int mpu_get_accel_sens(unsigned short *sens)
-{
-    switch (st.chip_cfg.accel_fsr) {
-    case INV_FSR_2G:
-        sens[0] = 16384;
-        break;
-    case INV_FSR_4G:
-        sens[0] = 8092;
-        break;
-    case INV_FSR_8G:
-        sens[0] = 4096;
-        break;
-    case INV_FSR_16G:
-        sens[0] = 2048;
-        break;
-    default:
-        return -1;
-    }
-    if (st.chip_cfg.accel_half)
-        sens[0] >>= 1;
-    return 0;
-}
-
-/**
- *  @brief      Get current FIFO configuration.
- *  @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  @param[out] sensors Mask of sensors in FIFO.
- *  @return     0 if successful.
- */
-int mpu_get_fifo_config(unsigned char *sensors)
-{
-    sensors[0] = st.chip_cfg.fifo_enable;
-    return 0;
-}
-
-/**
- *  @brief      Select which sensors are pushed to FIFO.
- *  @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  @param[in]  sensors Mask of sensors to push to FIFO.
- *  @return     0 if successful.
- */
-int mpu_configure_fifo(unsigned char sensors)
-{
-    unsigned char prev;
-    int result = 0;
-
-    /* Compass data isn't going into the FIFO. Stop trying. */
-    sensors &= ~INV_XYZ_COMPASS;
-
-    if (st.chip_cfg.dmp_on)
-        return 0;
-    else {
-        if (!(st.chip_cfg.sensors))
-            return -1;
-        prev = st.chip_cfg.fifo_enable;
-        st.chip_cfg.fifo_enable = sensors & st.chip_cfg.sensors;
-        if (st.chip_cfg.fifo_enable != sensors)
-            /* You're not getting what you asked for. Some sensors are
-             * asleep.
-             */
-            result = -1;
-        else
-            result = 0;
-        if (sensors || st.chip_cfg.lp_accel_mode)
-            set_int_enable(1);
-        else
-            set_int_enable(0);
-        if (sensors) {
-            if (mpu_reset_fifo()) {
-                st.chip_cfg.fifo_enable = prev;
-                return -1;
-            }
-        }
-    }
-
-    return result;
-}
-
-/**
- *  @brief      Get current power state.
- *  @param[in]  power_on    1 if turned on, 0 if suspended.
- *  @return     0 if successful.
- */
-int mpu_get_power_state(unsigned char *power_on)
-{
-    if (st.chip_cfg.sensors)
-        power_on[0] = 1;
-    else
-        power_on[0] = 0;
-    return 0;
-}
-
-/**
- *  @brief      Turn specific sensors on/off.
- *  @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  \n INV_XYZ_COMPASS
- *  @param[in]  sensors    Mask of sensors to wake.
- *  @return     0 if successful.
- */
-int mpu_set_sensors(unsigned char sensors)
-{
-    unsigned char data;
-#ifdef AK89xx_SECONDARY
-    unsigned char user_ctrl;
-#endif
-
-    if (sensors & INV_XYZ_GYRO)
-        data = INV_CLK_PLL;
-    else if (sensors)
-        data = 0;
-    else
-        data = BIT_SLEEP;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, &data)) {
-        st.chip_cfg.sensors = 0;
-        return -1;
-    }
-    st.chip_cfg.clk_src = data & ~BIT_SLEEP;
-
-    data = 0;
-    if (!(sensors & INV_X_GYRO))
-        data |= BIT_STBY_XG;
-    if (!(sensors & INV_Y_GYRO))
-        data |= BIT_STBY_YG;
-    if (!(sensors & INV_Z_GYRO))
-        data |= BIT_STBY_ZG;
-    if (!(sensors & INV_XYZ_ACCEL))
-        data |= BIT_STBY_XYZA;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_2, 1, &data)) {
-        st.chip_cfg.sensors = 0;
-        return -1;
-    }
-
-    if (sensors && (sensors != INV_XYZ_ACCEL))
-        /* Latched interrupts only used in LP accel mode. */
-        mpu_set_int_latched(0);
-
-#ifdef AK89xx_SECONDARY
-#ifdef AK89xx_BYPASS
-    if (sensors & INV_XYZ_COMPASS)
-        mpu_set_bypass(1);
-    else
-        mpu_set_bypass(0);
-#else
-    if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &user_ctrl))
-        return -1;
-    /* Handle AKM power management. */
-    if (sensors & INV_XYZ_COMPASS) {
-        data = AKM_SINGLE_MEASUREMENT;
-        user_ctrl |= BIT_AUX_IF_EN;
-    } else {
-        data = AKM_POWER_DOWN;
-        user_ctrl &= ~BIT_AUX_IF_EN;
-    }
-    if (st.chip_cfg.dmp_on)
-        user_ctrl |= BIT_DMP_EN;
-    else
-        user_ctrl &= ~BIT_DMP_EN;
-    if (i2c_write(st.hw->addr, st.reg->s1_do, 1, &data))
-        return -1;
-    /* Enable/disable I2C master mode. */
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &user_ctrl))
-        return -1;
-#endif
-#endif
-
-    st.chip_cfg.sensors = sensors;
-    st.chip_cfg.lp_accel_mode = 0;
-    delay_ms(50);
-    return 0;
-}
-
-/**
- *  @brief      Read the MPU interrupt status registers.
- *  @param[out] status  Mask of interrupt bits.
- *  @return     0 if successful.
- */
-int mpu_get_int_status(short *status)
-{
-    unsigned char tmp[2];
-    if (!st.chip_cfg.sensors)
-        return -1;
-    if (i2c_read(st.hw->addr, st.reg->dmp_int_status, 2, tmp))
-        return -1;
-    status[0] = (tmp[0] << 8) | tmp[1];
-    return 0;
-}
-
-/**
- *  @brief      Get one packet from the FIFO.
- *  If @e sensors does not contain a particular sensor, disregard the data
- *  returned to that pointer.
- *  \n @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  \n If the FIFO has no new data, @e sensors will be zero.
- *  \n If the FIFO is disabled, @e sensors will be zero and this function will
- *  return a non-zero error code.
- *  @param[out] gyro        Gyro data in hardware units.
- *  @param[out] accel       Accel data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds.
- *  @param[out] sensors     Mask of sensors read from FIFO.
- *  @param[out] more        Number of remaining packets.
- *  @return     0 if successful.
- */
-int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
-        unsigned char *sensors, unsigned char *more)
-{
-    /* Assumes maximum packet size is gyro (6) + accel (6). */
-    unsigned char data[MAX_PACKET_LENGTH];
-    unsigned char packet_size = 0;
-    unsigned short fifo_count, index = 0;
-
-    if (st.chip_cfg.dmp_on)
-        return -1;
-
-    sensors[0] = 0;
-    if (!st.chip_cfg.sensors)
-        return -1;
-    if (!st.chip_cfg.fifo_enable)
-        return -1;
-
-    if (st.chip_cfg.fifo_enable & INV_X_GYRO)
-        packet_size += 2;
-    if (st.chip_cfg.fifo_enable & INV_Y_GYRO)
-        packet_size += 2;
-    if (st.chip_cfg.fifo_enable & INV_Z_GYRO)
-        packet_size += 2;
-    if (st.chip_cfg.fifo_enable & INV_XYZ_ACCEL)
-        packet_size += 6;
-
-    if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data))
-        return -1;
-    fifo_count = (data[0] << 8) | data[1];
-    if (fifo_count < packet_size)
-        return 0;
-//    log_i("FIFO count: %hd\n", fifo_count);
-    if (fifo_count > (st.hw->max_fifo >> 1)) {
-        /* FIFO is 50% full, better check overflow bit. */
-        if (i2c_read(st.hw->addr, st.reg->int_status, 1, data))
-            return -1;
-        if (data[0] & BIT_FIFO_OVERFLOW) {
-            mpu_reset_fifo();
-            return -2;
-        }
-    }
-    get_ms((unsigned long*)timestamp);
-
-    if (i2c_read(st.hw->addr, st.reg->fifo_r_w, packet_size, data))
-        return -1;
-    more[0] = fifo_count / packet_size - 1;
-    sensors[0] = 0;
-
-    if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_XYZ_ACCEL) {
-        accel[0] = (data[index+0] << 8) | data[index+1];
-        accel[1] = (data[index+2] << 8) | data[index+3];
-        accel[2] = (data[index+4] << 8) | data[index+5];
-        sensors[0] |= INV_XYZ_ACCEL;
-        index += 6;
-    }
-    if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_X_GYRO) {
-        gyro[0] = (data[index+0] << 8) | data[index+1];
-        sensors[0] |= INV_X_GYRO;
-        index += 2;
-    }
-    if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_Y_GYRO) {
-        gyro[1] = (data[index+0] << 8) | data[index+1];
-        sensors[0] |= INV_Y_GYRO;
-        index += 2;
-    }
-    if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_Z_GYRO) {
-        gyro[2] = (data[index+0] << 8) | data[index+1];
-        sensors[0] |= INV_Z_GYRO;
-        index += 2;
-    }
-
-    return 0;
-}
-
-/**
- *  @brief      Get one unparsed packet from the FIFO.
- *  This function should be used if the packet is to be parsed elsewhere.
- *  @param[in]  length  Length of one FIFO packet.
- *  @param[in]  data    FIFO packet.
- *  @param[in]  more    Number of remaining packets.
- */
-int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
-    unsigned char *more)
-{
-    unsigned char tmp[2];
-    unsigned short fifo_count;
-
-//    printf("addr %d, dmp_on %d, sensors %d\r\n", st.hw->addr, st.chip_cfg.dmp_on, st.chip_cfg.sensors);
-
-    if (!st.chip_cfg.dmp_on)
-        return -1;
-    if (!st.chip_cfg.sensors)
-        return -1;
-
-//    printf("----1\r\n");
-
-    if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, tmp))
-        return -1;
-
-//    printf("----2\r\n");
-
-    fifo_count = (tmp[0] << 8) | tmp[1];
-    if (fifo_count < length) {
-        more[0] = 0;
-        return -1;
-    }
-
-//    printf("----3\r\n");
-    if (fifo_count > (st.hw->max_fifo >> 1)) {
-
-//        printf("----3.1\r\n");
-        /* FIFO is 50% full, better check overflow bit. */
-        if (i2c_read(st.hw->addr, st.reg->int_status, 1, tmp))
-            return -1;
-
-//        printf("----3.2\r\n");
-        if (tmp[0] & BIT_FIFO_OVERFLOW) {
-            mpu_reset_fifo();
-            return -2;
-        }
-    }
-
-//    printf("----4\r\n");
-    if (i2c_read(st.hw->addr, st.reg->fifo_r_w, length, data))
-        return -1;
-
-    more[0] = fifo_count / length - 1;
-    return 0;
-}
-
-/**
- *  @brief      Set device to bypass mode.
- *  @param[in]  bypass_on   1 to enable bypass mode.
- *  @return     0 if successful.
- */
-int mpu_set_bypass(unsigned char bypass_on)
-{
-    unsigned char tmp;
-
-    if (st.chip_cfg.bypass_mode == bypass_on)
-        return 0;
-
-    if (bypass_on) {
-        if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
-            return -1;
-        tmp &= ~BIT_AUX_IF_EN;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
-            return -1;
-        delay_ms(3);
-        tmp = BIT_BYPASS_EN;
-        if (st.chip_cfg.active_low_int)
-            tmp |= BIT_ACTL;
-        if (st.chip_cfg.latched_int)
-            tmp |= BIT_LATCH_EN | BIT_ANY_RD_CLR;
-        if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp))
-            return -1;
-    } else {
-        /* Enable I2C master mode if compass is being used. */
-        if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
-            return -1;
-        if (st.chip_cfg.sensors & INV_XYZ_COMPASS)
-            tmp |= BIT_AUX_IF_EN;
-        else
-            tmp &= ~BIT_AUX_IF_EN;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
-            return -1;
-        delay_ms(3);
-        if (st.chip_cfg.active_low_int)
-            tmp = BIT_ACTL;
-        else
-            tmp = 0;
-        if (st.chip_cfg.latched_int)
-            tmp |= BIT_LATCH_EN | BIT_ANY_RD_CLR;
-        if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp))
-            return -1;
-    }
-    st.chip_cfg.bypass_mode = bypass_on;
-    return 0;
-}
-
-/**
- *  @brief      Set interrupt level.
- *  @param[in]  active_low  1 for active low, 0 for active high.
- *  @return     0 if successful.
- */
-int mpu_set_int_level(unsigned char active_low)
-{
-    st.chip_cfg.active_low_int = active_low;
-    return 0;
-}
-
-/**
- *  @brief      Enable latched interrupts.
- *  Any MPU register will clear the interrupt.
- *  @param[in]  enable  1 to enable, 0 to disable.
- *  @return     0 if successful.
- */
-int mpu_set_int_latched(unsigned char enable)
-{
-    unsigned char tmp;
-    if (st.chip_cfg.latched_int == enable)
-        return 0;
-
-    if (enable)
-        tmp = BIT_LATCH_EN | BIT_ANY_RD_CLR;
-    else
-        tmp = 0;
-    if (st.chip_cfg.bypass_mode)
-        tmp |= BIT_BYPASS_EN;
-    if (st.chip_cfg.active_low_int)
-        tmp |= BIT_ACTL;
-    if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp))
-        return -1;
-    st.chip_cfg.latched_int = enable;
-    return 0;
-}
-
-#ifdef MPU6050
-static int get_accel_prod_shift(float *st_shift)
-{
-    unsigned char tmp[4], shift_code[3], ii;
-
-    if (i2c_read(st.hw->addr, 0x0D, 4, tmp))
-        return 0x07;
-
-    shift_code[0] = ((tmp[0] & 0xE0) >> 3) | ((tmp[3] & 0x30) >> 4);
-    shift_code[1] = ((tmp[1] & 0xE0) >> 3) | ((tmp[3] & 0x0C) >> 2);
-    shift_code[2] = ((tmp[2] & 0xE0) >> 3) | (tmp[3] & 0x03);
-    for (ii = 0; ii < 3; ii++) {
-        if (!shift_code[ii]) {
-            st_shift[ii] = 0.f;
-            continue;
-        }
-        /* Equivalent to..
-         * st_shift[ii] = 0.34f * powf(0.92f/0.34f, (shift_code[ii]-1) / 30.f)
-         */
-        st_shift[ii] = 0.34f;
-        while (--shift_code[ii])
-            st_shift[ii] *= 1.034f;
-    }
-    return 0;
-}
-
-static int accel_self_test(long *bias_regular, long *bias_st)
-{
-    int jj, result = 0;
-    float st_shift[3], st_shift_cust, st_shift_var;
-
-    get_accel_prod_shift(st_shift);
-    for(jj = 0; jj < 3; jj++) {
-        st_shift_cust = labs(bias_regular[jj] - bias_st[jj]) / 65536.f;
-        if (st_shift[jj]) {
-            st_shift_var = st_shift_cust / st_shift[jj] - 1.f;
-            if (fabs(st_shift_var) > test.max_accel_var)
-                result |= 1 << jj;
-        } else if ((st_shift_cust < test.min_g) ||
-            (st_shift_cust > test.max_g))
-            result |= 1 << jj;
-    }
-
-    return result;
-}
-
-static int gyro_self_test(long *bias_regular, long *bias_st)
-{
-    int jj, result = 0;
-    unsigned char tmp[3];
-    float st_shift, st_shift_cust, st_shift_var;
-
-    if (i2c_read(st.hw->addr, 0x0D, 3, tmp))
-        return 0x07;
-
-    tmp[0] &= 0x1F;
-    tmp[1] &= 0x1F;
-    tmp[2] &= 0x1F;
-
-    for (jj = 0; jj < 3; jj++) {
-        st_shift_cust = labs(bias_regular[jj] - bias_st[jj]) / 65536.f;
-        if (tmp[jj]) {
-            st_shift = 3275.f / test.gyro_sens;
-            while (--tmp[jj])
-                st_shift *= 1.046f;
-            st_shift_var = st_shift_cust / st_shift - 1.f;
-            if (fabs(st_shift_var) > test.max_gyro_var)
-                result |= 1 << jj;
-        } else if ((st_shift_cust < test.min_dps) ||
-            (st_shift_cust > test.max_dps))
-            result |= 1 << jj;
-    }
-    return result;
-}
-
-#ifdef AK89xx_SECONDARY
-static int compass_self_test(void)
-{
-    unsigned char tmp[6];
-    unsigned char tries = 10;
-    int result = 0x07;
-    short data;
-
-    mpu_set_bypass(1);
-
-    tmp[0] = AKM_POWER_DOWN;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp))
-        return 0x07;
-    tmp[0] = AKM_BIT_SELF_TEST;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_ASTC, 1, tmp))
-        goto AKM_restore;
-    tmp[0] = AKM_MODE_SELF_TEST;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp))
-        goto AKM_restore;
-
-    do {
-        delay_ms(10);
-        if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ST1, 1, tmp))
-            goto AKM_restore;
-        if (tmp[0] & AKM_DATA_READY)
-            break;
-    } while (tries--);
-    if (!(tmp[0] & AKM_DATA_READY))
-        goto AKM_restore;
-
-    if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_HXL, 6, tmp))
-        goto AKM_restore;
-
-    result = 0;
-    data = (short)(tmp[1] << 8) | tmp[0];
-    if ((data > 100) || (data < -100))
-        result |= 0x01;
-    data = (short)(tmp[3] << 8) | tmp[2];
-    if ((data > 100) || (data < -100))
-        result |= 0x02;
-    data = (short)(tmp[5] << 8) | tmp[4];
-    if ((data > -300) || (data < -1000))
-        result |= 0x04;
-
-AKM_restore:
-    tmp[0] = 0 | SUPPORTS_AK89xx_HIGH_SENS;
-    i2c_write(st.chip_cfg.compass_addr, AKM_REG_ASTC, 1, tmp);
-    tmp[0] = SUPPORTS_AK89xx_HIGH_SENS;
-    i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp);
-    mpu_set_bypass(0);
-    return result;
-}
-#endif
-#endif
-
-static int get_st_biases(long *gyro, long *accel, unsigned char hw_test)
-{
-    unsigned char data[MAX_PACKET_LENGTH];
-    unsigned char packet_count, ii;
-    unsigned short fifo_count;
-
-    data[0] = 0x01;
-    data[1] = 0;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, data))
-        return -1;
-    delay_ms(200);
-    data[0] = 0;
-    if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
-        return -1;
-    data[0] = BIT_FIFO_RST | BIT_DMP_RST;
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
-        return -1;
-    delay_ms(15);
-    data[0] = st.test->reg_lpf;
-    if (i2c_write(st.hw->addr, st.reg->lpf, 1, data))
-        return -1;
-    data[0] = st.test->reg_rate_div;
-    if (i2c_write(st.hw->addr, st.reg->rate_div, 1, data))
-        return -1;
-    if (hw_test)
-        data[0] = st.test->reg_gyro_fsr | 0xE0;
-    else
-        data[0] = st.test->reg_gyro_fsr;
-    if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, data))
-        return -1;
-
-    if (hw_test)
-        data[0] = st.test->reg_accel_fsr | 0xE0;
-    else
-        data[0] = test.reg_accel_fsr;
-    if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, data))
-        return -1;
-    if (hw_test)
-        delay_ms(200);
-
-    /* Fill FIFO for test.wait_ms milliseconds. */
-    data[0] = BIT_FIFO_EN;
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
-        return -1;
-
-    data[0] = INV_XYZ_GYRO | INV_XYZ_ACCEL;
-    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
-        return -1;
-    delay_ms(test.wait_ms);
-    data[0] = 0;
-    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
-        return -1;
-
-    if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data))
-        return -1;
-
-    fifo_count = (data[0] << 8) | data[1];
-    packet_count = fifo_count / MAX_PACKET_LENGTH;
-    gyro[0] = gyro[1] = gyro[2] = 0;
-    accel[0] = accel[1] = accel[2] = 0;
-
-    for (ii = 0; ii < packet_count; ii++) {
-        short accel_cur[3], gyro_cur[3];
-        if (i2c_read(st.hw->addr, st.reg->fifo_r_w, MAX_PACKET_LENGTH, data))
-            return -1;
-        accel_cur[0] = ((short)data[0] << 8) | data[1];
-        accel_cur[1] = ((short)data[2] << 8) | data[3];
-        accel_cur[2] = ((short)data[4] << 8) | data[5];
-        accel[0] += (long)accel_cur[0];
-        accel[1] += (long)accel_cur[1];
-        accel[2] += (long)accel_cur[2];
-        gyro_cur[0] = (((short)data[6] << 8) | data[7]);
-        gyro_cur[1] = (((short)data[8] << 8) | data[9]);
-        gyro_cur[2] = (((short)data[10] << 8) | data[11]);
-        gyro[0] += (long)gyro_cur[0];
-        gyro[1] += (long)gyro_cur[1];
-        gyro[2] += (long)gyro_cur[2];
-    }
-#ifdef EMPL_NO_64BIT
-    gyro[0] = (long)(((float)gyro[0]*65536.f) / test.gyro_sens / packet_count);
-    gyro[1] = (long)(((float)gyro[1]*65536.f) / test.gyro_sens / packet_count);
-    gyro[2] = (long)(((float)gyro[2]*65536.f) / test.gyro_sens / packet_count);
-    if (has_accel) {
-        accel[0] = (long)(((float)accel[0]*65536.f) / test.accel_sens /
-            packet_count);
-        accel[1] = (long)(((float)accel[1]*65536.f) / test.accel_sens /
-            packet_count);
-        accel[2] = (long)(((float)accel[2]*65536.f) / test.accel_sens /
-            packet_count);
-        /* Don't remove gravity! */
-        accel[2] -= 65536L;
-    }
-#else
-    gyro[0] = (long)(((long long)gyro[0]<<16) / test.gyro_sens / packet_count);
-    gyro[1] = (long)(((long long)gyro[1]<<16) / test.gyro_sens / packet_count);
-    gyro[2] = (long)(((long long)gyro[2]<<16) / test.gyro_sens / packet_count);
-    accel[0] = (long)(((long long)accel[0]<<16) / test.accel_sens /
-        packet_count);
-    accel[1] = (long)(((long long)accel[1]<<16) / test.accel_sens /
-        packet_count);
-    accel[2] = (long)(((long long)accel[2]<<16) / test.accel_sens /
-        packet_count);
-    /* Don't remove gravity! */
-    if (accel[2] > 0L)
-        accel[2] -= 65536L;
-    else
-        accel[2] += 65536L;
-#endif
-
-    return 0;
-}
-
-/**
- *  @brief      Trigger gyro/accel/compass self-test.
- *  On success/error, the self-test returns a mask representing the sensor(s)
- *  that failed. For each bit, a one (1) represents a "pass" case; conversely,
- *  a zero (0) indicates a failure.
- *
- *  \n The mask is defined as follows:
- *  \n Bit 0:   Gyro.
- *  \n Bit 1:   Accel.
- *  \n Bit 2:   Compass.
- *
- *  \n Currently, the hardware self-test is unsupported for MPU6500. However,
- *  this function can still be used to obtain the accel and gyro biases.
- *
- *  \n This function must be called with the device either face-up or face-down
- *  (z-axis is parallel to gravity).
- *  @param[out] gyro        Gyro biases in q16 format.
- *  @param[out] accel       Accel biases (if applicable) in q16 format.
- *  @return     Result mask (see above).
- */
-int mpu_run_self_test(long *gyro, long *accel)
-{
-#ifdef MPU6050
-    const unsigned char tries = 2;
-    long gyro_st[3], accel_st[3];
-    unsigned char accel_result, gyro_result;
-#ifdef AK89xx_SECONDARY
-    unsigned char compass_result;
-#endif
-    int ii;
-#endif
-    int result;
-    unsigned char accel_fsr, fifo_sensors, sensors_on;
-    unsigned short gyro_fsr, sample_rate, lpf;
-    unsigned char dmp_was_on;
-
-    if (st.chip_cfg.dmp_on) {
-        mpu_set_dmp_state(0);
-        dmp_was_on = 1;
-    } else
-        dmp_was_on = 0;
-
-    /* Get initial settings. */
-    mpu_get_gyro_fsr(&gyro_fsr);
-    mpu_get_accel_fsr(&accel_fsr);
-    mpu_get_lpf(&lpf);
-    mpu_get_sample_rate(&sample_rate);
-    sensors_on = st.chip_cfg.sensors;
-    mpu_get_fifo_config(&fifo_sensors);
-
-    /* For older chips, the self-test will be different. */
-#if defined MPU6050
-    for (ii = 0; ii < tries; ii++)
-        if (!get_st_biases(gyro, accel, 0))
-            break;
-    if (ii == tries) {
-        /* If we reach this point, we most likely encountered an I2C error.
-         * We'll just report an error for all three sensors.
-         */
-        result = 0;
-        goto restore;
-    }
-    for (ii = 0; ii < tries; ii++)
-        if (!get_st_biases(gyro_st, accel_st, 1))
-            break;
-    if (ii == tries) {
-        /* Again, probably an I2C error. */
-        result = 0;
-        goto restore;
-    }
-    accel_result = accel_self_test(accel, accel_st);
-    gyro_result = gyro_self_test(gyro, gyro_st);
-
-    result = 0;
-    if (!gyro_result)
-        result |= 0x01;
-    if (!accel_result)
-        result |= 0x02;
-
-#ifdef AK89xx_SECONDARY
-    compass_result = compass_self_test();
-    if (!compass_result)
-        result |= 0x04;
-#endif
-restore:
-#elif defined MPU6500
-    /* For now, this function will return a "pass" result for all three sensors
-     * for compatibility with current test applications.
-     */
-    get_st_biases(gyro, accel, 0);
-    result = 0x7;
-#endif
-    /* Set to invalid values to ensure no I2C writes are skipped. */
-    st.chip_cfg.gyro_fsr = 0xFF;
-    st.chip_cfg.accel_fsr = 0xFF;
-    st.chip_cfg.lpf = 0xFF;
-    st.chip_cfg.sample_rate = 0xFFFF;
-    st.chip_cfg.sensors = 0xFF;
-    st.chip_cfg.fifo_enable = 0xFF;
-    st.chip_cfg.clk_src = INV_CLK_PLL;
-    mpu_set_gyro_fsr(gyro_fsr);
-    mpu_set_accel_fsr(accel_fsr);
-    mpu_set_lpf(lpf);
-    mpu_set_sample_rate(sample_rate);
-    mpu_set_sensors(sensors_on);
-    mpu_configure_fifo(fifo_sensors);
-
-    if (dmp_was_on)
-        mpu_set_dmp_state(1);
-
-    return result;
-}
-
-/**
- *  @brief      Write to the DMP memory.
- *  This function prevents I2C writes past the bank boundaries. The DMP memory
- *  is only accessible when the chip is awake.
- *  @param[in]  mem_addr    Memory location (bank << 8 | start address)
- *  @param[in]  length      Number of bytes to write.
- *  @param[in]  data        Bytes to write to memory.
- *  @return     0 if successful.
- */
-int mpu_write_mem(unsigned short mem_addr, unsigned short length,
-        unsigned char *data)
-{
-    unsigned char tmp[2];
-
-    if (!data)
-        return -1;
-    if (!st.chip_cfg.sensors)
-        return -1;
-
-    tmp[0] = (unsigned char)(mem_addr >> 8);
-    tmp[1] = (unsigned char)(mem_addr & 0xFF);
-
-    /* Check bank boundaries. */
-    if (tmp[1] + length > st.hw->bank_size)
-        return -1;
-
-    if (i2c_write(st.hw->addr, st.reg->bank_sel, 2, tmp))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->mem_r_w, length, data))
-        return -1;
-    return 0;
-}
-
-/**
- *  @brief      Read from the DMP memory.
- *  This function prevents I2C reads past the bank boundaries. The DMP memory
- *  is only accessible when the chip is awake.
- *  @param[in]  mem_addr    Memory location (bank << 8 | start address)
- *  @param[in]  length      Number of bytes to read.
- *  @param[out] data        Bytes read from memory.
- *  @return     0 if successful.
- */
-int mpu_read_mem(unsigned short mem_addr, unsigned short length,
-        unsigned char *data)
-{
-    unsigned char tmp[2];
-
-    if (!data)
-        return -1;
-    if (!st.chip_cfg.sensors)
-        return -1;
-
-    tmp[0] = (unsigned char)(mem_addr >> 8);
-    tmp[1] = (unsigned char)(mem_addr & 0xFF);
-
-    /* Check bank boundaries. */
-    if (tmp[1] + length > st.hw->bank_size)
-        return -1;
-
-    if (i2c_write(st.hw->addr, st.reg->bank_sel, 2, tmp))
-        return -1;
-    if (i2c_read(st.hw->addr, st.reg->mem_r_w, length, data))
-        return -1;
-    return 0;
-}
-
-/**
- *  @brief      Load and verify DMP image.
- *  @param[in]  length      Length of DMP image.
- *  @param[in]  firmware    DMP code.
- *  @param[in]  start_addr  Starting address of DMP code memory.
- *  @param[in]  sample_rate Fixed sampling rate used when DMP is enabled.
- *  @return     0 if successful.
- */
-int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
-    unsigned short start_addr, unsigned short sample_rate)
-{
-    unsigned short ii;
-    unsigned short this_write;
-    /* Must divide evenly into st.hw->bank_size to avoid bank crossings. */
-#define LOAD_CHUNK  (16)
-    unsigned char cur[LOAD_CHUNK], tmp[2];
-
-    if (st.chip_cfg.dmp_loaded)
-        /* DMP should only be loaded once. */
-        return -1;
-
-    if (!firmware)
-        return -1;
-    for (ii = 0; ii < length; ii += this_write) {
-        this_write = min(LOAD_CHUNK, length - ii);
-        if (mpu_write_mem(ii, this_write, (unsigned char*)&firmware[ii]))
-            return -1;
-        if (mpu_read_mem(ii, this_write, cur))
-            return -1;
-        if (memcmp(firmware+ii, cur, this_write))
-            return -2;
-    }
-
-    /* Set program start address. */
-    tmp[0] = start_addr >> 8;
-    tmp[1] = start_addr & 0xFF;
-    if (i2c_write(st.hw->addr, st.reg->prgm_start_h, 2, tmp))
-        return -1;
-
-    st.chip_cfg.dmp_loaded = 1;
-    st.chip_cfg.dmp_sample_rate = sample_rate;
-    return 0;
-}
-
-/**
- *  @brief      Enable/disable DMP support.
- *  @param[in]  enable  1 to turn on the DMP.
- *  @return     0 if successful.
- */
-int mpu_set_dmp_state(unsigned char enable)
-{
-    unsigned char tmp;
-    if (st.chip_cfg.dmp_on == enable)
-        return 0;
-
-    if (enable) {
-        if (!st.chip_cfg.dmp_loaded)
-            return -1;
-        /* Disable data ready interrupt. */
-        set_int_enable(0);
-        /* Disable bypass mode. */
-        mpu_set_bypass(0);
-        /* Keep constant sample rate, FIFO rate controlled by DMP. */
-        mpu_set_sample_rate(st.chip_cfg.dmp_sample_rate);
-        /* Remove FIFO elements. */
-        tmp = 0;
-        i2c_write(st.hw->addr, 0x23, 1, &tmp);
-        st.chip_cfg.dmp_on = 1;
-        /* Enable DMP interrupt. */
-        set_int_enable(1);
-        mpu_reset_fifo();
-    } else {
-        /* Disable DMP interrupt. */
-        set_int_enable(0);
-        /* Restore FIFO settings. */
-        tmp = st.chip_cfg.fifo_enable;
-        i2c_write(st.hw->addr, 0x23, 1, &tmp);
-        st.chip_cfg.dmp_on = 0;
-        mpu_reset_fifo();
-    }
-    return 0;
-}
-
-/**
- *  @brief      Get DMP state.
- *  @param[out] enabled 1 if enabled.
- *  @return     0 if successful.
- */
-int mpu_get_dmp_state(unsigned char *enabled)
-{
-    enabled[0] = st.chip_cfg.dmp_on;
-    return 0;
-}
-
-
-/* This initialization is similar to the one in ak8975.c. */
-static int setup_compass(void)
-{
-#ifdef AK89xx_SECONDARY
-    unsigned char data[4], akm_addr;
-
-    mpu_set_bypass(1);
-
-    /* Find compass. Possible addresses range from 0x0C to 0x0F. */
-    for (akm_addr = 0x0C; akm_addr <= 0x0F; akm_addr++) {
-        int result;
-        result = i2c_read(akm_addr, AKM_REG_WHOAMI, 1, data);
-        if (!result && (data[0] == AKM_WHOAMI))
-            break;
-    }
-
-    if (akm_addr > 0x0F) {
-        /* TODO: Handle this case in all compass-related functions. */
-        log_e("Compass not found.\n");
-        return -1;
-    }
-
-    st.chip_cfg.compass_addr = akm_addr;
-
-    data[0] = AKM_POWER_DOWN;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data))
-        return -1;
-    delay_ms(1);
-
-    data[0] = AKM_FUSE_ROM_ACCESS;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data))
-        return -1;
-    delay_ms(1);
-
-    /* Get sensitivity adjustment data from fuse ROM. */
-    if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ASAX, 3, data))
-        return -1;
-    st.chip_cfg.mag_sens_adj[0] = (long)data[0] + 128;
-    st.chip_cfg.mag_sens_adj[1] = (long)data[1] + 128;
-    st.chip_cfg.mag_sens_adj[2] = (long)data[2] + 128;
-
-    data[0] = AKM_POWER_DOWN;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data))
-        return -1;
-    delay_ms(1);
-
-    mpu_set_bypass(0);
-
-    /* Set up master mode, master clock, and ES bit. */
-    data[0] = 0x40;
-    if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data))
-        return -1;
-
-    /* Slave 0 reads from AKM data registers. */
-    data[0] = BIT_I2C_READ | st.chip_cfg.compass_addr;
-    if (i2c_write(st.hw->addr, st.reg->s0_addr, 1, data))
-        return -1;
-
-    /* Compass reads start at this register. */
-    data[0] = AKM_REG_ST1;
-    if (i2c_write(st.hw->addr, st.reg->s0_reg, 1, data))
-        return -1;
-
-    /* Enable slave 0, 8-byte reads. */
-    data[0] = BIT_SLAVE_EN | 8;
-    if (i2c_write(st.hw->addr, st.reg->s0_ctrl, 1, data))
-        return -1;
-
-    /* Slave 1 changes AKM measurement mode. */
-    data[0] = st.chip_cfg.compass_addr;
-    if (i2c_write(st.hw->addr, st.reg->s1_addr, 1, data))
-        return -1;
-
-    /* AKM measurement mode register. */
-    data[0] = AKM_REG_CNTL;
-    if (i2c_write(st.hw->addr, st.reg->s1_reg, 1, data))
-        return -1;
-
-    /* Enable slave 1, 1-byte writes. */
-    data[0] = BIT_SLAVE_EN | 1;
-    if (i2c_write(st.hw->addr, st.reg->s1_ctrl, 1, data))
-        return -1;
-
-    /* Set slave 1 data. */
-    data[0] = AKM_SINGLE_MEASUREMENT;
-    if (i2c_write(st.hw->addr, st.reg->s1_do, 1, data))
-        return -1;
-
-    /* Trigger slave 0 and slave 1 actions at each sample. */
-    data[0] = 0x03;
-    if (i2c_write(st.hw->addr, st.reg->i2c_delay_ctrl, 1, data))
-        return -1;
-
-#ifdef MPU9150
-    /* For the MPU9150, the auxiliary I2C bus needs to be set to VDD. */
-    data[0] = BIT_I2C_MST_VDDIO;
-    if (i2c_write(st.hw->addr, st.reg->yg_offs_tc, 1, data))
-        return -1;
-#endif
-
-    return 0;
-#else
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Read raw compass data.
- *  @param[out] data        Raw data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds. Null if not needed.
- *  @return     0 if successful.
- */
-int mpu_get_compass_reg(short *data, unsigned long *timestamp)
-{
-#ifdef AK89xx_SECONDARY
-    unsigned char tmp[9];
-
-    if (!(st.chip_cfg.sensors & INV_XYZ_COMPASS))
-        return -1;
-
-#ifdef AK89xx_BYPASS
-    if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ST1, 8, tmp))
-        return -1;
-    tmp[8] = AKM_SINGLE_MEASUREMENT;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp+8))
-        return -1;
-#else
-    if (i2c_read(st.hw->addr, st.reg->raw_compass, 8, tmp))
-        return -1;
-#endif
-
-#if defined AK8975_SECONDARY
-    /* AK8975 doesn't have the overrun error bit. */
-    if (!(tmp[0] & AKM_DATA_READY))
-        return -2;
-    if ((tmp[7] & AKM_OVERFLOW) || (tmp[7] & AKM_DATA_ERROR))
-        return -3;
-#elif defined AK8963_SECONDARY
-    /* AK8963 doesn't have the data read error bit. */
-    if (!(tmp[0] & AKM_DATA_READY) || (tmp[0] & AKM_DATA_OVERRUN))
-        return -2;
-    if (tmp[7] & AKM_OVERFLOW)
-        return -3;
-#endif
-    data[0] = (tmp[2] << 8) | tmp[1];
-    data[1] = (tmp[4] << 8) | tmp[3];
-    data[2] = (tmp[6] << 8) | tmp[5];
-
-    data[0] = ((long)data[0] * st.chip_cfg.mag_sens_adj[0]) >> 8;
-    data[1] = ((long)data[1] * st.chip_cfg.mag_sens_adj[1]) >> 8;
-    data[2] = ((long)data[2] * st.chip_cfg.mag_sens_adj[2]) >> 8;
-
-    if (timestamp)
-        get_ms(timestamp);
-    return 0;
-#else
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Get the compass full-scale range.
- *  @param[out] fsr Current full-scale range.
- *  @return     0 if successful.
- */
-int mpu_get_compass_fsr(unsigned short *fsr)
-{
-#ifdef AK89xx_SECONDARY
-    fsr[0] = st.hw->compass_fsr;
-    return 0;
-#else
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Enters LP accel motion interrupt mode.
- *  The behaviour of this feature is very different between the MPU6050 and the
- *  MPU6500. Each chip's version of this feature is explained below.
- *
- *  \n The hardware motion threshold can be between 32mg and 8160mg in 32mg
- *  increments.
- *
- *  \n Low-power accel mode supports the following frequencies:
- *  \n 1.25Hz, 5Hz, 20Hz, 40Hz
- *
- *  \n MPU6500:
- *  \n Unlike the MPU6050 version, the hardware does not "lock in" a reference
- *  sample. The hardware monitors the accel data and detects any large change
- *  over a short period of time.
- *
- *  \n The hardware motion threshold can be between 4mg and 1020mg in 4mg
- *  increments.
- *
- *  \n MPU6500 Low-power accel mode supports the following frequencies:
- *  \n 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz
- *
- *  \n\n NOTES:
- *  \n The driver will round down @e thresh to the nearest supported value if
- *  an unsupported threshold is selected.
- *  \n To select a fractional wake-up frequency, round down the value passed to
- *  @e lpa_freq.
- *  \n The MPU6500 does not support a delay parameter. If this function is used
- *  for the MPU6500, the value passed to @e time will be ignored.
- *  \n To disable this mode, set @e lpa_freq to zero. The driver will restore
- *  the previous configuration.
- *
- *  @param[in]  thresh      Motion threshold in mg.
- *  @param[in]  time        Duration in milliseconds that the accel data must
- *                          exceed @e thresh before motion is reported.
- *  @param[in]  lpa_freq    Minimum sampling rate, or zero to disable.
- *  @return     0 if successful.
- */
-int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time,
-    unsigned char lpa_freq)
-{
-    unsigned char data[3];
-
-    if (lpa_freq) {
-        unsigned char thresh_hw;
-
-#if defined MPU6500
-        /* 1LSb = 4mg. */
-        if (thresh > 1020)
-            thresh_hw = 255;
-        else if (thresh < 4)
-            thresh_hw = 1;
-        else
-            thresh_hw = thresh >> 2;
-#endif
-
-        if (!time)
-            /* Minimum duration must be 1ms. */
-            time = 1;
-
-#if defined MPU6500
-        if (lpa_freq > 640)
-#endif
-            /* At this point, the chip has not been re-configured, so the
-             * function can safely exit.
-             */
-            return -1;
-
-        if (!st.chip_cfg.int_motion_only) {
-            /* Store current settings for later. */
-            if (st.chip_cfg.dmp_on) {
-                mpu_set_dmp_state(0);
-                st.chip_cfg.cache.dmp_on = 1;
-            } else
-                st.chip_cfg.cache.dmp_on = 0;
-            mpu_get_gyro_fsr(&st.chip_cfg.cache.gyro_fsr);
-            mpu_get_accel_fsr(&st.chip_cfg.cache.accel_fsr);
-            mpu_get_lpf(&st.chip_cfg.cache.lpf);
-            mpu_get_sample_rate(&st.chip_cfg.cache.sample_rate);
-            st.chip_cfg.cache.sensors_on = st.chip_cfg.sensors;
-            mpu_get_fifo_config(&st.chip_cfg.cache.fifo_sensors);
-        }
-
-#if defined MPU6500
-        /* Disable hardware interrupts. */
-        set_int_enable(0);
-
-        /* Enter full-power accel-only mode, no FIFO/DMP. */
-        data[0] = 0;
-        data[1] = 0;
-        data[2] = BIT_STBY_XYZG;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 3, data))
-            goto lp_int_restore;
-
-        /* Set motion threshold. */
-        data[0] = thresh_hw;
-        if (i2c_write(st.hw->addr, st.reg->motion_thr, 1, data))
-            goto lp_int_restore;
-
-        /* Set wake frequency. */
-        if (lpa_freq == 1)
-            data[0] = INV_LPA_1_25HZ;
-        else if (lpa_freq == 2)
-            data[0] = INV_LPA_2_5HZ;
-        else if (lpa_freq <= 5)
-            data[0] = INV_LPA_5HZ;
-        else if (lpa_freq <= 10)
-            data[0] = INV_LPA_10HZ;
-        else if (lpa_freq <= 20)
-            data[0] = INV_LPA_20HZ;
-        else if (lpa_freq <= 40)
-            data[0] = INV_LPA_40HZ;
-        else if (lpa_freq <= 80)
-            data[0] = INV_LPA_80HZ;
-        else if (lpa_freq <= 160)
-            data[0] = INV_LPA_160HZ;
-        else if (lpa_freq <= 320)
-            data[0] = INV_LPA_320HZ;
-        else
-            data[0] = INV_LPA_640HZ;
-        if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, data))
-            goto lp_int_restore;
-
-        /* Enable motion interrupt (MPU6500 version). */
-        data[0] = BITS_WOM_EN;
-        if (i2c_write(st.hw->addr, st.reg->accel_intel, 1, data))
-            goto lp_int_restore;
-
-        /* Enable cycle mode. */
-        data[0] = BIT_LPA_CYCLE;
-        if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
-            goto lp_int_restore;
-
-        /* Enable interrupt. */
-        data[0] = BIT_MOT_INT_EN;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data))
-            goto lp_int_restore;
-
-        st.chip_cfg.int_motion_only = 1;
-        return 0;
-#endif
-    } else {
-        /* Don't "restore" the previous state if no state has been saved. */
-        int ii;
-        char *cache_ptr = (char*)&st.chip_cfg.cache;
-        for (ii = 0; ii < sizeof(st.chip_cfg.cache); ii++) {
-            if (cache_ptr[ii] != 0)
-                goto lp_int_restore;
-        }
-        /* If we reach this point, motion interrupt mode hasn't been used yet. */
-        return -1;
-    }
-lp_int_restore:
-    /* Set to invalid values to ensure no I2C writes are skipped. */
-    st.chip_cfg.gyro_fsr = 0xFF;
-    st.chip_cfg.accel_fsr = 0xFF;
-    st.chip_cfg.lpf = 0xFF;
-    st.chip_cfg.sample_rate = 0xFFFF;
-    st.chip_cfg.sensors = 0xFF;
-    st.chip_cfg.fifo_enable = 0xFF;
-    st.chip_cfg.clk_src = INV_CLK_PLL;
-    mpu_set_sensors(st.chip_cfg.cache.sensors_on);
-    mpu_set_gyro_fsr(st.chip_cfg.cache.gyro_fsr);
-    mpu_set_accel_fsr(st.chip_cfg.cache.accel_fsr);
-    mpu_set_lpf(st.chip_cfg.cache.lpf);
-    mpu_set_sample_rate(st.chip_cfg.cache.sample_rate);
-    mpu_configure_fifo(st.chip_cfg.cache.fifo_sensors);
-
-    if (st.chip_cfg.cache.dmp_on)
-        mpu_set_dmp_state(1);
-
-#ifdef MPU6500
-    /* Disable motion interrupt (MPU6500 version). */
-    data[0] = 0;
-    if (i2c_write(st.hw->addr, st.reg->accel_intel, 1, data))
-        goto lp_int_restore;
-#endif
-
-    st.chip_cfg.int_motion_only = 0;
-    return 0;
-}
-
-/**
- *  @}
- */
-

Core备份3/imu5/inv_mpu5.h

@@ -1,132 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
-    See included License.txt for License information.
- $
- */
-/**
- *  @addtogroup  DRIVERS Sensor Driver Layer
- *  @brief       Hardware drivers to communicate with sensors via I2C.
- *
- *  @{
- *      @file       inv_mpu.h
- *      @brief      An I2C-based driver for Invensense gyroscopes.
- *      @details    This driver currently works for the following devices:
- *                  MPU6050
- *                  MPU6500
- *                  MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus)
- *                  MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus)
- */
-
-#ifndef _INV_MPU_H_
-#define _INV_MPU_H_
-
-#define MOTION_DRIVER_TARGET_STM32
-#define MPU6050
-//#define EMPL
-//#define USE_DMP
-
-#define INV_X_GYRO      (0x40)
-#define INV_Y_GYRO      (0x20)
-#define INV_Z_GYRO      (0x10)
-#define INV_XYZ_GYRO    (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO)
-#define INV_XYZ_ACCEL   (0x08)
-#define INV_XYZ_COMPASS (0x01)
-
-struct int_param_s {
-#if defined EMPL_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_STM32
-    void (*cb)(void);
-    unsigned short pin;
-    unsigned char lp_exit;
-    unsigned char active_low;
-#elif defined EMPL_TARGET_UC3L0
-    unsigned long pin;
-    void (*cb)(volatile void*);
-    void *arg;
-#endif
-};
-
-#define MPU_INT_STATUS_DATA_READY       (0x0001)
-#define MPU_INT_STATUS_DMP              (0x0002)
-#define MPU_INT_STATUS_PLL_READY        (0x0004)
-#define MPU_INT_STATUS_I2C_MST          (0x0008)
-#define MPU_INT_STATUS_FIFO_OVERFLOW    (0x0010)
-#define MPU_INT_STATUS_ZMOT             (0x0020)
-#define MPU_INT_STATUS_MOT              (0x0040)
-#define MPU_INT_STATUS_FREE_FALL        (0x0080)
-#define MPU_INT_STATUS_DMP_0            (0x0100)
-#define MPU_INT_STATUS_DMP_1            (0x0200)
-#define MPU_INT_STATUS_DMP_2            (0x0400)
-#define MPU_INT_STATUS_DMP_3            (0x0800)
-#define MPU_INT_STATUS_DMP_4            (0x1000)
-#define MPU_INT_STATUS_DMP_5            (0x2000)
-
-/* Set up APIs */
-int mpu_init(struct int_param_s *int_param);
-int mpu_init_slave(void);
-int mpu_set_bypass(unsigned char bypass_on);
-
-/* Configuration APIs */
-int mpu_lp_accel_mode(unsigned char rate);
-int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time,
-    unsigned char lpa_freq);
-int mpu_set_int_level(unsigned char active_low);
-int mpu_set_int_latched(unsigned char enable);
-
-int mpu_set_dmp_state(unsigned char enable);
-int mpu_get_dmp_state(unsigned char *enabled);
-
-int mpu_get_lpf(unsigned short *lpf);
-int mpu_set_lpf(unsigned short lpf);
-
-int mpu_get_gyro_fsr(unsigned short *fsr);
-int mpu_set_gyro_fsr(unsigned short fsr);
-
-int mpu_get_accel_fsr(unsigned char *fsr);
-int mpu_set_accel_fsr(unsigned char fsr);
-
-int mpu_get_compass_fsr(unsigned short *fsr);
-
-int mpu_get_gyro_sens(float *sens);
-int mpu_get_accel_sens(unsigned short *sens);
-
-int mpu_get_sample_rate(unsigned short *rate);
-int mpu_set_sample_rate(unsigned short rate);
-int mpu_get_compass_sample_rate(unsigned short *rate);
-int mpu_set_compass_sample_rate(unsigned short rate);
-
-int mpu_get_fifo_config(unsigned char *sensors);
-int mpu_configure_fifo(unsigned char sensors);
-
-int mpu_get_power_state(unsigned char *power_on);
-int mpu_set_sensors(unsigned char sensors);
-
-int mpu_set_accel_bias(const long *accel_bias);
-
-/* Data getter/setter APIs */
-int mpu_get_gyro_reg(short *data, unsigned long *timestamp);
-int mpu_get_accel_reg(short *data, unsigned long *timestamp);
-int mpu_get_compass_reg(short *data, unsigned long *timestamp);
-int mpu_get_temperature(long *data, unsigned long *timestamp);
-
-int mpu_get_int_status(short *status);
-int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
-    unsigned char *sensors, unsigned char *more);
-int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
-    unsigned char *more);
-int mpu_reset_fifo(void);
-
-int mpu_write_mem(unsigned short mem_addr, unsigned short length,
-    unsigned char *data);
-int mpu_read_mem(unsigned short mem_addr, unsigned short length,
-    unsigned char *data);
-int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
-    unsigned short start_addr, unsigned short sample_rate);
-
-int mpu_reg_dump(void);
-int mpu_read_reg(unsigned char reg, unsigned char *data);
-int mpu_run_self_test(long *gyro, long *accel);
-int mpu_register_tap_cb(void (*func)(unsigned char, unsigned char));
-
-#endif  /* #ifndef _INV_MPU_H_ */
-

Core备份3/imu5/inv_mpu_dmp_motion_driver5.c

@@ -1,1380 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
-    See included License.txt for License information.
- $
- */
-/**
- *  @addtogroup  DRIVERS Sensor Driver Layer
- *  @brief       Hardware drivers to communicate with sensors via I2C.
- *
- *  @{
- *      @file       inv_mpu_dmp_motion_driver.c
- *      @brief      DMP image and interface functions.
- *      @details    All functions are preceded by the dmp_ prefix to
- *                  differentiate among MPL and general driver function calls.
- */
-#include <stdio.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-#include "inv_mpu5.h"
-#include "inv_mpu_dmp_motion_driver5.h"
-#include "dmpKey5.h"
-#include "dmpmap5.h"
-
-#include "MPU60505.h"
-
-/* The following functions must be defined for this platform:
- * i2c_write(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char const *data)
- * i2c_read(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char *data)
- * delay_ms(unsigned long num_ms)
- * get_ms(unsigned long *count)
- */
-#if defined MOTION_DRIVER_TARGET_MSP430
-#include "msp430.h"
-#include "msp430_clock.h"
-#define delay_ms    msp430_delay_ms
-#define get_ms      msp430_get_clock_ms
-#define log_i(...)     do {} while (0)
-#define log_e(...)     do {} while (0)
-
-#elif defined EMPL_TARGET_MSP430
-#include "msp430.h"
-#include "msp430_clock.h"
-#include "log.h"
-#define delay_ms    msp430_delay_ms
-#define get_ms      msp430_get_clock_ms
-#define log_i       MPL_LOGI
-#define log_e       MPL_LOGE
-
-#elif defined EMPL_TARGET_UC3L0
-/* Instead of using the standard TWI driver from the ASF library, we're using
- * a TWI driver that follows the slave address + register address convention.
- */
-#include "delay.h"
-#include "sysclk.h"
-#include "log.h"
-#include "uc3l0_clock.h"
-/* delay_ms is a function already defined in ASF. */
-#define get_ms  uc3l0_get_clock_ms
-#define log_i       MPL_LOGI
-#define log_e       MPL_LOGE
-
-#elif defined MOTION_DRIVER_TARGET_STM32
-
-#define delay_ms    HAL_Delay
-#define get_ms      get_tick_count
-
-#define log_i(...)     do {} while (0)
-#define log_e(...)     do {} while (0)
-
-#else
-#error  Gyro driver is missing the system layer implementations.
-#endif
-
-/* These defines are copied from dmpDefaultMPU6050.c in the general MPL
- * releases. These defines may change for each DMP image, so be sure to modify
- * these values when switching to a new image.
- */
-#define CFG_LP_QUAT             (2712)
-#define END_ORIENT_TEMP         (1866)
-#define CFG_27                  (2742)
-#define CFG_20                  (2224)
-#define CFG_23                  (2745)
-#define CFG_FIFO_ON_EVENT       (2690)
-#define END_PREDICTION_UPDATE   (1761)
-#define CGNOTICE_INTR           (2620)
-#define X_GRT_Y_TMP             (1358)
-#define CFG_DR_INT              (1029)
-#define CFG_AUTH                (1035)
-#define UPDATE_PROP_ROT         (1835)
-#define END_COMPARE_Y_X_TMP2    (1455)
-#define SKIP_X_GRT_Y_TMP        (1359)
-#define SKIP_END_COMPARE        (1435)
-#define FCFG_3                  (1088)
-#define FCFG_2                  (1066)
-#define FCFG_1                  (1062)
-#define END_COMPARE_Y_X_TMP3    (1434)
-#define FCFG_7                  (1073)
-#define FCFG_6                  (1106)
-#define FLAT_STATE_END          (1713)
-#define SWING_END_4             (1616)
-#define SWING_END_2             (1565)
-#define SWING_END_3             (1587)
-#define SWING_END_1             (1550)
-#define CFG_8                   (2718)
-#define CFG_15                  (2727)
-#define CFG_16                  (2746)
-#define CFG_EXT_GYRO_BIAS       (1189)
-#define END_COMPARE_Y_X_TMP     (1407)
-#define DO_NOT_UPDATE_PROP_ROT  (1839)
-#define CFG_7                   (1205)
-#define FLAT_STATE_END_TEMP     (1683)
-#define END_COMPARE_Y_X         (1484)
-#define SKIP_SWING_END_1        (1551)
-#define SKIP_SWING_END_3        (1588)
-#define SKIP_SWING_END_2        (1566)
-#define TILTG75_START           (1672)
-#define CFG_6                   (2753)
-#define TILTL75_END             (1669)
-#define END_ORIENT              (1884)
-#define CFG_FLICK_IN            (2573)
-#define TILTL75_START           (1643)
-#define CFG_MOTION_BIAS         (1208)
-#define X_GRT_Y                 (1408)
-#define TEMPLABEL               (2324)
-#define CFG_ANDROID_ORIENT_INT  (1853)
-#define CFG_GYRO_RAW_DATA       (2722)
-#define X_GRT_Y_TMP2            (1379)
-
-#define D_0_22                  (22+512)
-#define D_0_24                  (24+512)
-
-#define D_0_36                  (36)
-#define D_0_52                  (52)
-#define D_0_96                  (96)
-#define D_0_104                 (104)
-#define D_0_108                 (108)
-#define D_0_163                 (163)
-#define D_0_188                 (188)
-#define D_0_192                 (192)
-#define D_0_224                 (224)
-#define D_0_228                 (228)
-#define D_0_232                 (232)
-#define D_0_236                 (236)
-
-#define D_1_2                   (256 + 2)
-#define D_1_4                   (256 + 4)
-#define D_1_8                   (256 + 8)
-#define D_1_10                  (256 + 10)
-#define D_1_24                  (256 + 24)
-#define D_1_28                  (256 + 28)
-#define D_1_36                  (256 + 36)
-#define D_1_40                  (256 + 40)
-#define D_1_44                  (256 + 44)
-#define D_1_72                  (256 + 72)
-#define D_1_74                  (256 + 74)
-#define D_1_79                  (256 + 79)
-#define D_1_88                  (256 + 88)
-#define D_1_90                  (256 + 90)
-#define D_1_92                  (256 + 92)
-#define D_1_96                  (256 + 96)
-#define D_1_98                  (256 + 98)
-#define D_1_106                 (256 + 106)
-#define D_1_108                 (256 + 108)
-#define D_1_112                 (256 + 112)
-#define D_1_128                 (256 + 144)
-#define D_1_152                 (256 + 12)
-#define D_1_160                 (256 + 160)
-#define D_1_176                 (256 + 176)
-#define D_1_178                 (256 + 178)
-#define D_1_218                 (256 + 218)
-#define D_1_232                 (256 + 232)
-#define D_1_236                 (256 + 236)
-#define D_1_240                 (256 + 240)
-#define D_1_244                 (256 + 244)
-#define D_1_250                 (256 + 250)
-#define D_1_252                 (256 + 252)
-#define D_2_12                  (512 + 12)
-#define D_2_96                  (512 + 96)
-#define D_2_108                 (512 + 108)
-#define D_2_208                 (512 + 208)
-#define D_2_224                 (512 + 224)
-#define D_2_236                 (512 + 236)
-#define D_2_244                 (512 + 244)
-#define D_2_248                 (512 + 248)
-#define D_2_252                 (512 + 252)
-
-#define CPASS_BIAS_X            (35 * 16 + 4)
-#define CPASS_BIAS_Y            (35 * 16 + 8)
-#define CPASS_BIAS_Z            (35 * 16 + 12)
-#define CPASS_MTX_00            (36 * 16)
-#define CPASS_MTX_01            (36 * 16 + 4)
-#define CPASS_MTX_02            (36 * 16 + 8)
-#define CPASS_MTX_10            (36 * 16 + 12)
-#define CPASS_MTX_11            (37 * 16)
-#define CPASS_MTX_12            (37 * 16 + 4)
-#define CPASS_MTX_20            (37 * 16 + 8)
-#define CPASS_MTX_21            (37 * 16 + 12)
-#define CPASS_MTX_22            (43 * 16 + 12)
-#define D_EXT_GYRO_BIAS_X       (61 * 16)
-#define D_EXT_GYRO_BIAS_Y       (61 * 16) + 4
-#define D_EXT_GYRO_BIAS_Z       (61 * 16) + 8
-#define D_ACT0                  (40 * 16)
-#define D_ACSX                  (40 * 16 + 4)
-#define D_ACSY                  (40 * 16 + 8)
-#define D_ACSZ                  (40 * 16 + 12)
-
-#define FLICK_MSG               (45 * 16 + 4)
-#define FLICK_COUNTER           (45 * 16 + 8)
-#define FLICK_LOWER             (45 * 16 + 12)
-#define FLICK_UPPER             (46 * 16 + 12)
-
-#define D_AUTH_OUT              (992)
-#define D_AUTH_IN               (996)
-#define D_AUTH_A                (1000)
-#define D_AUTH_B                (1004)
-
-#define D_PEDSTD_BP_B           (768 + 0x1C)
-#define D_PEDSTD_HP_A           (768 + 0x78)
-#define D_PEDSTD_HP_B           (768 + 0x7C)
-#define D_PEDSTD_BP_A4          (768 + 0x40)
-#define D_PEDSTD_BP_A3          (768 + 0x44)
-#define D_PEDSTD_BP_A2          (768 + 0x48)
-#define D_PEDSTD_BP_A1          (768 + 0x4C)
-#define D_PEDSTD_INT_THRSH      (768 + 0x68)
-#define D_PEDSTD_CLIP           (768 + 0x6C)
-#define D_PEDSTD_SB             (768 + 0x28)
-#define D_PEDSTD_SB_TIME        (768 + 0x2C)
-#define D_PEDSTD_PEAKTHRSH      (768 + 0x98)
-#define D_PEDSTD_TIML           (768 + 0x2A)
-#define D_PEDSTD_TIMH           (768 + 0x2E)
-#define D_PEDSTD_PEAK           (768 + 0X94)
-#define D_PEDSTD_STEPCTR        (768 + 0x60)
-#define D_PEDSTD_TIMECTR        (964)
-#define D_PEDSTD_DECI           (768 + 0xA0)
-
-#define D_HOST_NO_MOT           (976)
-#define D_ACCEL_BIAS            (660)
-
-#define D_ORIENT_GAP            (76)
-
-#define D_TILT0_H               (48)
-#define D_TILT0_L               (50)
-#define D_TILT1_H               (52)
-#define D_TILT1_L               (54)
-#define D_TILT2_H               (56)
-#define D_TILT2_L               (58)
-#define D_TILT3_H               (60)
-#define D_TILT3_L               (62)
-
-#define DMP_CODE_SIZE           (3062)
-
-static const unsigned char dmp_memory[DMP_CODE_SIZE] = {
-    /* bank # 0 */
-    0x00, 0x00, 0x70, 0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,
-    0x00, 0x65, 0x00, 0x54, 0xff, 0xef, 0x00, 0x00, 0xfa, 0x80, 0x00, 0x0b, 0x12, 0x82, 0x00, 0x01,
-    0x03, 0x0c, 0x30, 0xc3, 0x0e, 0x8c, 0x8c, 0xe9, 0x14, 0xd5, 0x40, 0x02, 0x13, 0x71, 0x0f, 0x8e,
-    0x38, 0x83, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83, 0x25, 0x8e, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83,
-    0xff, 0xff, 0xff, 0xff, 0x0f, 0xfe, 0xa9, 0xd6, 0x24, 0x00, 0x04, 0x00, 0x1a, 0x82, 0x79, 0xa1,
-    0x00, 0x00, 0x00, 0x3c, 0xff, 0xff, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x38, 0x83, 0x6f, 0xa2,
-    0x00, 0x3e, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xca, 0xe3, 0x09, 0x3e, 0x80, 0x00, 0x00,
-    0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,
-    0x00, 0x0c, 0x00, 0x00, 0x00, 0x0c, 0x18, 0x6e, 0x00, 0x00, 0x06, 0x92, 0x0a, 0x16, 0xc0, 0xdf,
-    0xff, 0xff, 0x02, 0x56, 0xfd, 0x8c, 0xd3, 0x77, 0xff, 0xe1, 0xc4, 0x96, 0xe0, 0xc5, 0xbe, 0xaa,
-    0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0x0b, 0x2b, 0x00, 0x00, 0x16, 0x57, 0x00, 0x00, 0x03, 0x59,
-    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1d, 0xfa, 0x00, 0x02, 0x6c, 0x1d, 0x00, 0x00, 0x00, 0x00,
-    0x3f, 0xff, 0xdf, 0xeb, 0x00, 0x3e, 0xb3, 0xb6, 0x00, 0x0d, 0x22, 0x78, 0x00, 0x00, 0x2f, 0x3c,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x19, 0x42, 0xb5, 0x00, 0x00, 0x39, 0xa2, 0x00, 0x00, 0xb3, 0x65,
-    0xd9, 0x0e, 0x9f, 0xc9, 0x1d, 0xcf, 0x4c, 0x34, 0x30, 0x00, 0x00, 0x00, 0x50, 0x00, 0x00, 0x00,
-    0x3b, 0xb6, 0x7a, 0xe8, 0x00, 0x64, 0x00, 0x00, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    /* bank # 1 */
-    0x10, 0x00, 0x00, 0x00, 0x10, 0x00, 0xfa, 0x92, 0x10, 0x00, 0x22, 0x5e, 0x00, 0x0d, 0x22, 0x9f,
-    0x00, 0x01, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00, 0xff, 0x46, 0x00, 0x00, 0x63, 0xd4, 0x00, 0x00,
-    0x10, 0x00, 0x00, 0x00, 0x04, 0xd6, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00,
-    0x00, 0x00, 0x10, 0x72, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x06, 0x00, 0x02, 0x00, 0x05, 0x00, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x05, 0x00, 0x64, 0x00, 0x20, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x03, 0x00,
-    0x00, 0x00, 0x00, 0x32, 0xf8, 0x98, 0x00, 0x00, 0xff, 0x65, 0x00, 0x00, 0x83, 0x0f, 0x00, 0x00,
-    0xff, 0x9b, 0xfc, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00,
-    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0xb2, 0x6a, 0x00, 0x02, 0x00, 0x00,
-    0x00, 0x01, 0xfb, 0x83, 0x00, 0x68, 0x00, 0x00, 0x00, 0xd9, 0xfc, 0x00, 0x7c, 0xf1, 0xff, 0x83,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x64, 0x03, 0xe8, 0x00, 0x64, 0x00, 0x28,
-    0x00, 0x00, 0x00, 0x25, 0x00, 0x00, 0x00, 0x00, 0x16, 0xa0, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00,
-    0x00, 0x00, 0x10, 0x00, 0x00, 0x2f, 0x00, 0x00, 0x00, 0x00, 0x01, 0xf4, 0x00, 0x00, 0x10, 0x00,
-    /* bank # 2 */
-    0x00, 0x28, 0x00, 0x00, 0xff, 0xff, 0x45, 0x81, 0xff, 0xff, 0xfa, 0x72, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x44, 0x00, 0x05, 0x00, 0x05, 0xba, 0xc6, 0x00, 0x47, 0x78, 0xa2,
-    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
-    0x00, 0x00, 0x25, 0x4d, 0x00, 0x2f, 0x70, 0x6d, 0x00, 0x00, 0x05, 0xae, 0x00, 0x0c, 0x02, 0xd0,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x64, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0e, 0x00, 0x0e,
-    0x00, 0x00, 0x0a, 0xc7, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x32, 0xff, 0xff, 0xff, 0x9c,
-    0x00, 0x00, 0x0b, 0x2b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x64,
-    0xff, 0xe5, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    /* bank # 3 */
-    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x24, 0x26, 0xd3,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x10, 0x00, 0x96, 0x00, 0x3c,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x0c, 0x0a, 0x4e, 0x68, 0xcd, 0xcf, 0x77, 0x09, 0x50, 0x16, 0x67, 0x59, 0xc6, 0x19, 0xce, 0x82,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0xd7, 0x84, 0x00, 0x03, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xc7, 0x93, 0x8f, 0x9d, 0x1e, 0x1b, 0x1c, 0x19,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0x18, 0x85, 0x00, 0x00, 0x40, 0x00,
-    0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x67, 0x7d, 0xdf, 0x7e, 0x72, 0x90, 0x2e, 0x55, 0x4c, 0xf6, 0xe6, 0x88,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-
-    /* bank # 4 */
-    0xd8, 0xdc, 0xb4, 0xb8, 0xb0, 0xd8, 0xb9, 0xab, 0xf3, 0xf8, 0xfa, 0xb3, 0xb7, 0xbb, 0x8e, 0x9e,
-    0xae, 0xf1, 0x32, 0xf5, 0x1b, 0xf1, 0xb4, 0xb8, 0xb0, 0x80, 0x97, 0xf1, 0xa9, 0xdf, 0xdf, 0xdf,
-    0xaa, 0xdf, 0xdf, 0xdf, 0xf2, 0xaa, 0xc5, 0xcd, 0xc7, 0xa9, 0x0c, 0xc9, 0x2c, 0x97, 0xf1, 0xa9,
-    0x89, 0x26, 0x46, 0x66, 0xb2, 0x89, 0x99, 0xa9, 0x2d, 0x55, 0x7d, 0xb0, 0xb0, 0x8a, 0xa8, 0x96,
-    0x36, 0x56, 0x76, 0xf1, 0xba, 0xa3, 0xb4, 0xb2, 0x80, 0xc0, 0xb8, 0xa8, 0x97, 0x11, 0xb2, 0x83,
-    0x98, 0xba, 0xa3, 0xf0, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xb2, 0xb9, 0xb4, 0x98, 0x83, 0xf1,
-    0xa3, 0x29, 0x55, 0x7d, 0xba, 0xb5, 0xb1, 0xa3, 0x83, 0x93, 0xf0, 0x00, 0x28, 0x50, 0xf5, 0xb2,
-    0xb6, 0xaa, 0x83, 0x93, 0x28, 0x54, 0x7c, 0xf1, 0xb9, 0xa3, 0x82, 0x93, 0x61, 0xba, 0xa2, 0xda,
-    0xde, 0xdf, 0xdb, 0x81, 0x9a, 0xb9, 0xae, 0xf5, 0x60, 0x68, 0x70, 0xf1, 0xda, 0xba, 0xa2, 0xdf,
-    0xd9, 0xba, 0xa2, 0xfa, 0xb9, 0xa3, 0x82, 0x92, 0xdb, 0x31, 0xba, 0xa2, 0xd9, 0xba, 0xa2, 0xf8,
-    0xdf, 0x85, 0xa4, 0xd0, 0xc1, 0xbb, 0xad, 0x83, 0xc2, 0xc5, 0xc7, 0xb8, 0xa2, 0xdf, 0xdf, 0xdf,
-    0xba, 0xa0, 0xdf, 0xdf, 0xdf, 0xd8, 0xd8, 0xf1, 0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35,
-    0x5d, 0xb2, 0xb6, 0xba, 0xaf, 0x8c, 0x96, 0x19, 0x8f, 0x9f, 0xa7, 0x0e, 0x16, 0x1e, 0xb4, 0x9a,
-    0xb8, 0xaa, 0x87, 0x2c, 0x54, 0x7c, 0xba, 0xa4, 0xb0, 0x8a, 0xb6, 0x91, 0x32, 0x56, 0x76, 0xb2,
-    0x84, 0x94, 0xa4, 0xc8, 0x08, 0xcd, 0xd8, 0xb8, 0xb4, 0xb0, 0xf1, 0x99, 0x82, 0xa8, 0x2d, 0x55,
-    0x7d, 0x98, 0xa8, 0x0e, 0x16, 0x1e, 0xa2, 0x2c, 0x54, 0x7c, 0x92, 0xa4, 0xf0, 0x2c, 0x50, 0x78,
-    /* bank # 5 */
-    0xf1, 0x84, 0xa8, 0x98, 0xc4, 0xcd, 0xfc, 0xd8, 0x0d, 0xdb, 0xa8, 0xfc, 0x2d, 0xf3, 0xd9, 0xba,
-    0xa6, 0xf8, 0xda, 0xba, 0xa6, 0xde, 0xd8, 0xba, 0xb2, 0xb6, 0x86, 0x96, 0xa6, 0xd0, 0xf3, 0xc8,
-    0x41, 0xda, 0xa6, 0xc8, 0xf8, 0xd8, 0xb0, 0xb4, 0xb8, 0x82, 0xa8, 0x92, 0xf5, 0x2c, 0x54, 0x88,
-    0x98, 0xf1, 0x35, 0xd9, 0xf4, 0x18, 0xd8, 0xf1, 0xa2, 0xd0, 0xf8, 0xf9, 0xa8, 0x84, 0xd9, 0xc7,
-    0xdf, 0xf8, 0xf8, 0x83, 0xc5, 0xda, 0xdf, 0x69, 0xdf, 0x83, 0xc1, 0xd8, 0xf4, 0x01, 0x14, 0xf1,
-    0xa8, 0x82, 0x4e, 0xa8, 0x84, 0xf3, 0x11, 0xd1, 0x82, 0xf5, 0xd9, 0x92, 0x28, 0x97, 0x88, 0xf1,
-    0x09, 0xf4, 0x1c, 0x1c, 0xd8, 0x84, 0xa8, 0xf3, 0xc0, 0xf9, 0xd1, 0xd9, 0x97, 0x82, 0xf1, 0x29,
-    0xf4, 0x0d, 0xd8, 0xf3, 0xf9, 0xf9, 0xd1, 0xd9, 0x82, 0xf4, 0xc2, 0x03, 0xd8, 0xde, 0xdf, 0x1a,
-    0xd8, 0xf1, 0xa2, 0xfa, 0xf9, 0xa8, 0x84, 0x98, 0xd9, 0xc7, 0xdf, 0xf8, 0xf8, 0xf8, 0x83, 0xc7,
-    0xda, 0xdf, 0x69, 0xdf, 0xf8, 0x83, 0xc3, 0xd8, 0xf4, 0x01, 0x14, 0xf1, 0x98, 0xa8, 0x82, 0x2e,
-    0xa8, 0x84, 0xf3, 0x11, 0xd1, 0x82, 0xf5, 0xd9, 0x92, 0x50, 0x97, 0x88, 0xf1, 0x09, 0xf4, 0x1c,
-    0xd8, 0x84, 0xa8, 0xf3, 0xc0, 0xf8, 0xf9, 0xd1, 0xd9, 0x97, 0x82, 0xf1, 0x49, 0xf4, 0x0d, 0xd8,
-    0xf3, 0xf9, 0xf9, 0xd1, 0xd9, 0x82, 0xf4, 0xc4, 0x03, 0xd8, 0xde, 0xdf, 0xd8, 0xf1, 0xad, 0x88,
-    0x98, 0xcc, 0xa8, 0x09, 0xf9, 0xd9, 0x82, 0x92, 0xa8, 0xf5, 0x7c, 0xf1, 0x88, 0x3a, 0xcf, 0x94,
-    0x4a, 0x6e, 0x98, 0xdb, 0x69, 0x31, 0xda, 0xad, 0xf2, 0xde, 0xf9, 0xd8, 0x87, 0x95, 0xa8, 0xf2,
-    0x21, 0xd1, 0xda, 0xa5, 0xf9, 0xf4, 0x17, 0xd9, 0xf1, 0xae, 0x8e, 0xd0, 0xc0, 0xc3, 0xae, 0x82,
-    /* bank # 6 */
-    0xc6, 0x84, 0xc3, 0xa8, 0x85, 0x95, 0xc8, 0xa5, 0x88, 0xf2, 0xc0, 0xf1, 0xf4, 0x01, 0x0e, 0xf1,
-    0x8e, 0x9e, 0xa8, 0xc6, 0x3e, 0x56, 0xf5, 0x54, 0xf1, 0x88, 0x72, 0xf4, 0x01, 0x15, 0xf1, 0x98,
-    0x45, 0x85, 0x6e, 0xf5, 0x8e, 0x9e, 0x04, 0x88, 0xf1, 0x42, 0x98, 0x5a, 0x8e, 0x9e, 0x06, 0x88,
-    0x69, 0xf4, 0x01, 0x1c, 0xf1, 0x98, 0x1e, 0x11, 0x08, 0xd0, 0xf5, 0x04, 0xf1, 0x1e, 0x97, 0x02,
-    0x02, 0x98, 0x36, 0x25, 0xdb, 0xf9, 0xd9, 0x85, 0xa5, 0xf3, 0xc1, 0xda, 0x85, 0xa5, 0xf3, 0xdf,
-    0xd8, 0x85, 0x95, 0xa8, 0xf3, 0x09, 0xda, 0xa5, 0xfa, 0xd8, 0x82, 0x92, 0xa8, 0xf5, 0x78, 0xf1,
-    0x88, 0x1a, 0x84, 0x9f, 0x26, 0x88, 0x98, 0x21, 0xda, 0xf4, 0x1d, 0xf3, 0xd8, 0x87, 0x9f, 0x39,
-    0xd1, 0xaf, 0xd9, 0xdf, 0xdf, 0xfb, 0xf9, 0xf4, 0x0c, 0xf3, 0xd8, 0xfa, 0xd0, 0xf8, 0xda, 0xf9,
-    0xf9, 0xd0, 0xdf, 0xd9, 0xf9, 0xd8, 0xf4, 0x0b, 0xd8, 0xf3, 0x87, 0x9f, 0x39, 0xd1, 0xaf, 0xd9,
-    0xdf, 0xdf, 0xf4, 0x1d, 0xf3, 0xd8, 0xfa, 0xfc, 0xa8, 0x69, 0xf9, 0xf9, 0xaf, 0xd0, 0xda, 0xde,
-    0xfa, 0xd9, 0xf8, 0x8f, 0x9f, 0xa8, 0xf1, 0xcc, 0xf3, 0x98, 0xdb, 0x45, 0xd9, 0xaf, 0xdf, 0xd0,
-    0xf8, 0xd8, 0xf1, 0x8f, 0x9f, 0xa8, 0xca, 0xf3, 0x88, 0x09, 0xda, 0xaf, 0x8f, 0xcb, 0xf8, 0xd8,
-    0xf2, 0xad, 0x97, 0x8d, 0x0c, 0xd9, 0xa5, 0xdf, 0xf9, 0xba, 0xa6, 0xf3, 0xfa, 0xf4, 0x12, 0xf2,
-    0xd8, 0x95, 0x0d, 0xd1, 0xd9, 0xba, 0xa6, 0xf3, 0xfa, 0xda, 0xa5, 0xf2, 0xc1, 0xba, 0xa6, 0xf3,
-    0xdf, 0xd8, 0xf1, 0xba, 0xb2, 0xb6, 0x86, 0x96, 0xa6, 0xd0, 0xca, 0xf3, 0x49, 0xda, 0xa6, 0xcb,
-    0xf8, 0xd8, 0xb0, 0xb4, 0xb8, 0xd8, 0xad, 0x84, 0xf2, 0xc0, 0xdf, 0xf1, 0x8f, 0xcb, 0xc3, 0xa8,
-    /* bank # 7 */
-    0xb2, 0xb6, 0x86, 0x96, 0xc8, 0xc1, 0xcb, 0xc3, 0xf3, 0xb0, 0xb4, 0x88, 0x98, 0xa8, 0x21, 0xdb,
-    0x71, 0x8d, 0x9d, 0x71, 0x85, 0x95, 0x21, 0xd9, 0xad, 0xf2, 0xfa, 0xd8, 0x85, 0x97, 0xa8, 0x28,
-    0xd9, 0xf4, 0x08, 0xd8, 0xf2, 0x8d, 0x29, 0xda, 0xf4, 0x05, 0xd9, 0xf2, 0x85, 0xa4, 0xc2, 0xf2,
-    0xd8, 0xa8, 0x8d, 0x94, 0x01, 0xd1, 0xd9, 0xf4, 0x11, 0xf2, 0xd8, 0x87, 0x21, 0xd8, 0xf4, 0x0a,
-    0xd8, 0xf2, 0x84, 0x98, 0xa8, 0xc8, 0x01, 0xd1, 0xd9, 0xf4, 0x11, 0xd8, 0xf3, 0xa4, 0xc8, 0xbb,
-    0xaf, 0xd0, 0xf2, 0xde, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xd8, 0xf1, 0xb8, 0xf6,
-    0xb5, 0xb9, 0xb0, 0x8a, 0x95, 0xa3, 0xde, 0x3c, 0xa3, 0xd9, 0xf8, 0xd8, 0x5c, 0xa3, 0xd9, 0xf8,
-    0xd8, 0x7c, 0xa3, 0xd9, 0xf8, 0xd8, 0xf8, 0xf9, 0xd1, 0xa5, 0xd9, 0xdf, 0xda, 0xfa, 0xd8, 0xb1,
-    0x85, 0x30, 0xf7, 0xd9, 0xde, 0xd8, 0xf8, 0x30, 0xad, 0xda, 0xde, 0xd8, 0xf2, 0xb4, 0x8c, 0x99,
-    0xa3, 0x2d, 0x55, 0x7d, 0xa0, 0x83, 0xdf, 0xdf, 0xdf, 0xb5, 0x91, 0xa0, 0xf6, 0x29, 0xd9, 0xfb,
-    0xd8, 0xa0, 0xfc, 0x29, 0xd9, 0xfa, 0xd8, 0xa0, 0xd0, 0x51, 0xd9, 0xf8, 0xd8, 0xfc, 0x51, 0xd9,
-    0xf9, 0xd8, 0x79, 0xd9, 0xfb, 0xd8, 0xa0, 0xd0, 0xfc, 0x79, 0xd9, 0xfa, 0xd8, 0xa1, 0xf9, 0xf9,
-    0xf9, 0xf9, 0xf9, 0xa0, 0xda, 0xdf, 0xdf, 0xdf, 0xd8, 0xa1, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xac,
-    0xde, 0xf8, 0xad, 0xde, 0x83, 0x93, 0xac, 0x2c, 0x54, 0x7c, 0xf1, 0xa8, 0xdf, 0xdf, 0xdf, 0xf6,
-    0x9d, 0x2c, 0xda, 0xa0, 0xdf, 0xd9, 0xfa, 0xdb, 0x2d, 0xf8, 0xd8, 0xa8, 0x50, 0xda, 0xa0, 0xd0,
-    0xde, 0xd9, 0xd0, 0xf8, 0xf8, 0xf8, 0xdb, 0x55, 0xf8, 0xd8, 0xa8, 0x78, 0xda, 0xa0, 0xd0, 0xdf,
-    /* bank # 8 */
-    0xd9, 0xd0, 0xfa, 0xf8, 0xf8, 0xf8, 0xf8, 0xdb, 0x7d, 0xf8, 0xd8, 0x9c, 0xa8, 0x8c, 0xf5, 0x30,
-    0xdb, 0x38, 0xd9, 0xd0, 0xde, 0xdf, 0xa0, 0xd0, 0xde, 0xdf, 0xd8, 0xa8, 0x48, 0xdb, 0x58, 0xd9,
-    0xdf, 0xd0, 0xde, 0xa0, 0xdf, 0xd0, 0xde, 0xd8, 0xa8, 0x68, 0xdb, 0x70, 0xd9, 0xdf, 0xdf, 0xa0,
-    0xdf, 0xdf, 0xd8, 0xf1, 0xa8, 0x88, 0x90, 0x2c, 0x54, 0x7c, 0x98, 0xa8, 0xd0, 0x5c, 0x38, 0xd1,
-    0xda, 0xf2, 0xae, 0x8c, 0xdf, 0xf9, 0xd8, 0xb0, 0x87, 0xa8, 0xc1, 0xc1, 0xb1, 0x88, 0xa8, 0xc6,
-    0xf9, 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xa8,
-    0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xf7, 0x8d, 0x9d, 0xad, 0xf8, 0x18, 0xda,
-    0xf2, 0xae, 0xdf, 0xd8, 0xf7, 0xad, 0xfa, 0x30, 0xd9, 0xa4, 0xde, 0xf9, 0xd8, 0xf2, 0xae, 0xde,
-    0xfa, 0xf9, 0x83, 0xa7, 0xd9, 0xc3, 0xc5, 0xc7, 0xf1, 0x88, 0x9b, 0xa7, 0x7a, 0xad, 0xf7, 0xde,
-    0xdf, 0xa4, 0xf8, 0x84, 0x94, 0x08, 0xa7, 0x97, 0xf3, 0x00, 0xae, 0xf2, 0x98, 0x19, 0xa4, 0x88,
-    0xc6, 0xa3, 0x94, 0x88, 0xf6, 0x32, 0xdf, 0xf2, 0x83, 0x93, 0xdb, 0x09, 0xd9, 0xf2, 0xaa, 0xdf,
-    0xd8, 0xd8, 0xae, 0xf8, 0xf9, 0xd1, 0xda, 0xf3, 0xa4, 0xde, 0xa7, 0xf1, 0x88, 0x9b, 0x7a, 0xd8,
-    0xf3, 0x84, 0x94, 0xae, 0x19, 0xf9, 0xda, 0xaa, 0xf1, 0xdf, 0xd8, 0xa8, 0x81, 0xc0, 0xc3, 0xc5,
-    0xc7, 0xa3, 0x92, 0x83, 0xf6, 0x28, 0xad, 0xde, 0xd9, 0xf8, 0xd8, 0xa3, 0x50, 0xad, 0xd9, 0xf8,
-    0xd8, 0xa3, 0x78, 0xad, 0xd9, 0xf8, 0xd8, 0xf8, 0xf9, 0xd1, 0xa1, 0xda, 0xde, 0xc3, 0xc5, 0xc7,
-    0xd8, 0xa1, 0x81, 0x94, 0xf8, 0x18, 0xf2, 0xb0, 0x89, 0xac, 0xc3, 0xc5, 0xc7, 0xf1, 0xd8, 0xb8,
-    /* bank # 9 */
-    0xb4, 0xb0, 0x97, 0x86, 0xa8, 0x31, 0x9b, 0x06, 0x99, 0x07, 0xab, 0x97, 0x28, 0x88, 0x9b, 0xf0,
-    0x0c, 0x20, 0x14, 0x40, 0xb0, 0xb4, 0xb8, 0xf0, 0xa8, 0x8a, 0x9a, 0x28, 0x50, 0x78, 0xb7, 0x9b,
-    0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xf1, 0xbb, 0xab,
-    0x88, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0xb3, 0x8b, 0xb8, 0xa8, 0x04, 0x28, 0x50, 0x78, 0xf1, 0xb0,
-    0x88, 0xb4, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xbb, 0xab, 0xb3, 0x8b, 0x02, 0x26, 0x46, 0x66, 0xb0,
-    0xb8, 0xf0, 0x8a, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x8b, 0x29, 0x51, 0x79, 0x8a, 0x24, 0x70, 0x59,
-    0x8b, 0x20, 0x58, 0x71, 0x8a, 0x44, 0x69, 0x38, 0x8b, 0x39, 0x40, 0x68, 0x8a, 0x64, 0x48, 0x31,
-    0x8b, 0x30, 0x49, 0x60, 0x88, 0xf1, 0xac, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0x8c, 0xa8, 0x04, 0x28,
-    0x50, 0x78, 0xf1, 0x88, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xac, 0x8c, 0x02, 0x26, 0x46, 0x66, 0xf0,
-    0x89, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xa9,
-    0x88, 0x09, 0x20, 0x59, 0x70, 0xab, 0x11, 0x38, 0x40, 0x69, 0xa8, 0x19, 0x31, 0x48, 0x60, 0x8c,
-    0xa8, 0x3c, 0x41, 0x5c, 0x20, 0x7c, 0x00, 0xf1, 0x87, 0x98, 0x19, 0x86, 0xa8, 0x6e, 0x76, 0x7e,
-    0xa9, 0x99, 0x88, 0x2d, 0x55, 0x7d, 0xd8, 0xb1, 0xb5, 0xb9, 0xa3, 0xdf, 0xdf, 0xdf, 0xae, 0xd0,
-    0xdf, 0xaa, 0xd0, 0xde, 0xf2, 0xab, 0xf8, 0xf9, 0xd9, 0xb0, 0x87, 0xc4, 0xaa, 0xf1, 0xdf, 0xdf,
-    0xbb, 0xaf, 0xdf, 0xdf, 0xb9, 0xd8, 0xb1, 0xf1, 0xa3, 0x97, 0x8e, 0x60, 0xdf, 0xb0, 0x84, 0xf2,
-    0xc8, 0xf8, 0xf9, 0xd9, 0xde, 0xd8, 0x93, 0x85, 0xf1, 0x4a, 0xb1, 0x83, 0xa3, 0x08, 0xb5, 0x83,
-    /* bank # 10 */
-    0x9a, 0x08, 0x10, 0xb7, 0x9f, 0x10, 0xd8, 0xf1, 0xb0, 0xba, 0xae, 0xb0, 0x8a, 0xc2, 0xb2, 0xb6,
-    0x8e, 0x9e, 0xf1, 0xfb, 0xd9, 0xf4, 0x1d, 0xd8, 0xf9, 0xd9, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad,
-    0x61, 0xd9, 0xae, 0xfb, 0xd8, 0xf4, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad, 0x19, 0xd9, 0xae, 0xfb,
-    0xdf, 0xd8, 0xf4, 0x16, 0xf1, 0xd8, 0xf8, 0xad, 0x8d, 0x61, 0xd9, 0xf4, 0xf4, 0xac, 0xf5, 0x9c,
-    0x9c, 0x8d, 0xdf, 0x2b, 0xba, 0xb6, 0xae, 0xfa, 0xf8, 0xf4, 0x0b, 0xd8, 0xf1, 0xae, 0xd0, 0xf8,
-    0xad, 0x51, 0xda, 0xae, 0xfa, 0xf8, 0xf1, 0xd8, 0xb9, 0xb1, 0xb6, 0xa3, 0x83, 0x9c, 0x08, 0xb9,
-    0xb1, 0x83, 0x9a, 0xb5, 0xaa, 0xc0, 0xfd, 0x30, 0x83, 0xb7, 0x9f, 0x10, 0xb5, 0x8b, 0x93, 0xf2,
-    0x02, 0x02, 0xd1, 0xab, 0xda, 0xde, 0xd8, 0xf1, 0xb0, 0x80, 0xba, 0xab, 0xc0, 0xc3, 0xb2, 0x84,
-    0xc1, 0xc3, 0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9, 0xab, 0xde, 0xb0,
-    0x87, 0x9c, 0xb9, 0xa3, 0xdd, 0xf1, 0xb3, 0x8b, 0x8b, 0x8b, 0x8b, 0x8b, 0xb0, 0x87, 0xa3, 0xa3,
-    0xa3, 0xa3, 0xb2, 0x8b, 0xb6, 0x9b, 0xf2, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3,
-    0xa3, 0xf1, 0xb0, 0x87, 0xb5, 0x9a, 0xa3, 0xf3, 0x9b, 0xa3, 0xa3, 0xdc, 0xba, 0xac, 0xdf, 0xb9,
-    0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3,
-    0xd8, 0xd8, 0xd8, 0xbb, 0xb3, 0xb7, 0xf1, 0xaa, 0xf9, 0xda, 0xff, 0xd9, 0x80, 0x9a, 0xaa, 0x28,
-    0xb4, 0x80, 0x98, 0xa7, 0x20, 0xb7, 0x97, 0x87, 0xa8, 0x66, 0x88, 0xf0, 0x79, 0x51, 0xf1, 0x90,
-    0x2c, 0x87, 0x0c, 0xa7, 0x81, 0x97, 0x62, 0x93, 0xf0, 0x71, 0x71, 0x60, 0x85, 0x94, 0x01, 0x29,
-    /* bank # 11 */
-    0x51, 0x79, 0x90, 0xa5, 0xf1, 0x28, 0x4c, 0x6c, 0x87, 0x0c, 0x95, 0x18, 0x85, 0x78, 0xa3, 0x83,
-    0x90, 0x28, 0x4c, 0x6c, 0x88, 0x6c, 0xd8, 0xf3, 0xa2, 0x82, 0x00, 0xf2, 0x10, 0xa8, 0x92, 0x19,
-    0x80, 0xa2, 0xf2, 0xd9, 0x26, 0xd8, 0xf1, 0x88, 0xa8, 0x4d, 0xd9, 0x48, 0xd8, 0x96, 0xa8, 0x39,
-    0x80, 0xd9, 0x3c, 0xd8, 0x95, 0x80, 0xa8, 0x39, 0xa6, 0x86, 0x98, 0xd9, 0x2c, 0xda, 0x87, 0xa7,
-    0x2c, 0xd8, 0xa8, 0x89, 0x95, 0x19, 0xa9, 0x80, 0xd9, 0x38, 0xd8, 0xa8, 0x89, 0x39, 0xa9, 0x80,
-    0xda, 0x3c, 0xd8, 0xa8, 0x2e, 0xa8, 0x39, 0x90, 0xd9, 0x0c, 0xd8, 0xa8, 0x95, 0x31, 0x98, 0xd9,
-    0x0c, 0xd8, 0xa8, 0x09, 0xd9, 0xff, 0xd8, 0x01, 0xda, 0xff, 0xd8, 0x95, 0x39, 0xa9, 0xda, 0x26,
-    0xff, 0xd8, 0x90, 0xa8, 0x0d, 0x89, 0x99, 0xa8, 0x10, 0x80, 0x98, 0x21, 0xda, 0x2e, 0xd8, 0x89,
-    0x99, 0xa8, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x86, 0x96, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8,
-    0x87, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x82, 0x92, 0xf3, 0x41, 0x80, 0xf1, 0xd9, 0x2e, 0xd8,
-    0xa8, 0x82, 0xf3, 0x19, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, 0x82, 0xac, 0xf3, 0xc0, 0xa2, 0x80, 0x22,
-    0xf1, 0xa6, 0x2e, 0xa7, 0x2e, 0xa9, 0x22, 0x98, 0xa8, 0x29, 0xda, 0xac, 0xde, 0xff, 0xd8, 0xa2,
-    0xf2, 0x2a, 0xf1, 0xa9, 0x2e, 0x82, 0x92, 0xa8, 0xf2, 0x31, 0x80, 0xa6, 0x96, 0xf1, 0xd9, 0x00,
-    0xac, 0x8c, 0x9c, 0x0c, 0x30, 0xac, 0xde, 0xd0, 0xde, 0xff, 0xd8, 0x8c, 0x9c, 0xac, 0xd0, 0x10,
-    0xac, 0xde, 0x80, 0x92, 0xa2, 0xf2, 0x4c, 0x82, 0xa8, 0xf1, 0xca, 0xf2, 0x35, 0xf1, 0x96, 0x88,
-    0xa6, 0xd9, 0x00, 0xd8, 0xf1, 0xff
-};
-
-static const unsigned short sStartAddress = 0x0400;
-
-/* END OF SECTION COPIED FROM dmpDefaultMPU6050.c */
-
-#define INT_SRC_TAP             (0x01)
-#define INT_SRC_ANDROID_ORIENT  (0x08)
-
-#define DMP_FEATURE_SEND_ANY_GYRO   (DMP_FEATURE_SEND_RAW_GYRO | \
-                                     DMP_FEATURE_SEND_CAL_GYRO)
-
-#define MAX_PACKET_LENGTH   (32)
-
-#define DMP_SAMPLE_RATE     (200)
-#define GYRO_SF             (46850825LL * 200 / DMP_SAMPLE_RATE)
-
-#define FIFO_CORRUPTION_CHECK
-#ifdef FIFO_CORRUPTION_CHECK
-#define QUAT_ERROR_THRESH       (1L<<24)
-#define QUAT_MAG_SQ_NORMALIZED  (1L<<28)
-#define QUAT_MAG_SQ_MIN         (QUAT_MAG_SQ_NORMALIZED - QUAT_ERROR_THRESH)
-#define QUAT_MAG_SQ_MAX         (QUAT_MAG_SQ_NORMALIZED + QUAT_ERROR_THRESH)
-#endif
-
-struct dmp_s {
-    void (*tap_cb)(unsigned char count, unsigned char direction);
-    void (*android_orient_cb)(unsigned char orientation);
-    unsigned short orient;
-    unsigned short feature_mask;
-    unsigned short fifo_rate;
-    unsigned char packet_length;
-};
-
-static struct dmp_s dmp = {
-    .tap_cb = NULL,
-    .android_orient_cb = NULL,
-    .orient = 0,
-    .feature_mask = 0,
-    .fifo_rate = 0,
-    .packet_length = 0
-};
-
-/**
- *  @brief  Load the DMP with this image.
- *  @return 0 if successful.
- */
-int dmp_load_motion_driver_firmware(void)
-{
-    return mpu_load_firmware(DMP_CODE_SIZE, dmp_memory, sStartAddress,
-        DMP_SAMPLE_RATE);
-}
-
-/**
- *  @brief      Push gyro and accel orientation to the DMP.
- *  The orientation is represented here as the output of
- *  @e inv_orientation_matrix_to_scalar.
- *  @param[in]  orient  Gyro and accel orientation in body frame.
- *  @return     0 if successful.
- */
-int dmp_set_orientation(unsigned short orient)
-{
-    unsigned char gyro_regs[3], accel_regs[3];
-    const unsigned char gyro_axes[3] = {DINA4C, DINACD, DINA6C};
-    const unsigned char accel_axes[3] = {DINA0C, DINAC9, DINA2C};
-    const unsigned char gyro_sign[3] = {DINA36, DINA56, DINA76};
-    const unsigned char accel_sign[3] = {DINA26, DINA46, DINA66};
-
-    gyro_regs[0] = gyro_axes[orient & 3];
-    gyro_regs[1] = gyro_axes[(orient >> 3) & 3];
-    gyro_regs[2] = gyro_axes[(orient >> 6) & 3];
-    accel_regs[0] = accel_axes[orient & 3];
-    accel_regs[1] = accel_axes[(orient >> 3) & 3];
-    accel_regs[2] = accel_axes[(orient >> 6) & 3];
-
-    /* Chip-to-body, axes only. */
-    if (mpu_write_mem(FCFG_1, 3, gyro_regs))
-        return -1;
-    if (mpu_write_mem(FCFG_2, 3, accel_regs))
-        return -1;
-
-    memcpy(gyro_regs, gyro_sign, 3);
-    memcpy(accel_regs, accel_sign, 3);
-    if (orient & 4) {
-        gyro_regs[0] |= 1;
-        accel_regs[0] |= 1;
-    }
-    if (orient & 0x20) {
-        gyro_regs[1] |= 1;
-        accel_regs[1] |= 1;
-    }
-    if (orient & 0x100) {
-        gyro_regs[2] |= 1;
-        accel_regs[2] |= 1;
-    }
-
-    /* Chip-to-body, sign only. */
-    if (mpu_write_mem(FCFG_3, 3, gyro_regs))
-        return -1;
-    if (mpu_write_mem(FCFG_7, 3, accel_regs))
-        return -1;
-    dmp.orient = orient;
-    return 0;
-}
-
-/**
- *  @brief      Push gyro biases to the DMP.
- *  Because the gyro integration is handled in the DMP, any gyro biases
- *  calculated by the MPL should be pushed down to DMP memory to remove
- *  3-axis quaternion drift.
- *  \n NOTE: If the DMP-based gyro calibration is enabled, the DMP will
- *  overwrite the biases written to this location once a new one is computed.
- *  @param[in]  bias    Gyro biases in q16.
- *  @return     0 if successful.
- */
-int dmp_set_gyro_bias(long *bias)
-{
-    long gyro_bias_body[3];
-    unsigned char regs[4];
-
-    gyro_bias_body[0] = bias[dmp.orient & 3];
-    if (dmp.orient & 4)
-        gyro_bias_body[0] *= -1;
-    gyro_bias_body[1] = bias[(dmp.orient >> 3) & 3];
-    if (dmp.orient & 0x20)
-        gyro_bias_body[1] *= -1;
-    gyro_bias_body[2] = bias[(dmp.orient >> 6) & 3];
-    if (dmp.orient & 0x100)
-        gyro_bias_body[2] *= -1;
-
-#ifdef EMPL_NO_64BIT
-    gyro_bias_body[0] = (long)(((float)gyro_bias_body[0] * GYRO_SF) / 1073741824.f);
-    gyro_bias_body[1] = (long)(((float)gyro_bias_body[1] * GYRO_SF) / 1073741824.f);
-    gyro_bias_body[2] = (long)(((float)gyro_bias_body[2] * GYRO_SF) / 1073741824.f);
-#else
-    gyro_bias_body[0] = (long)(((long long)gyro_bias_body[0] * GYRO_SF) >> 30);
-    gyro_bias_body[1] = (long)(((long long)gyro_bias_body[1] * GYRO_SF) >> 30);
-    gyro_bias_body[2] = (long)(((long long)gyro_bias_body[2] * GYRO_SF) >> 30);
-#endif
-
-    regs[0] = (unsigned char)((gyro_bias_body[0] >> 24) & 0xFF);
-    regs[1] = (unsigned char)((gyro_bias_body[0] >> 16) & 0xFF);
-    regs[2] = (unsigned char)((gyro_bias_body[0] >> 8) & 0xFF);
-    regs[3] = (unsigned char)(gyro_bias_body[0] & 0xFF);
-    if (mpu_write_mem(D_EXT_GYRO_BIAS_X, 4, regs))
-        return -1;
-
-    regs[0] = (unsigned char)((gyro_bias_body[1] >> 24) & 0xFF);
-    regs[1] = (unsigned char)((gyro_bias_body[1] >> 16) & 0xFF);
-    regs[2] = (unsigned char)((gyro_bias_body[1] >> 8) & 0xFF);
-    regs[3] = (unsigned char)(gyro_bias_body[1] & 0xFF);
-    if (mpu_write_mem(D_EXT_GYRO_BIAS_Y, 4, regs))
-        return -1;
-
-    regs[0] = (unsigned char)((gyro_bias_body[2] >> 24) & 0xFF);
-    regs[1] = (unsigned char)((gyro_bias_body[2] >> 16) & 0xFF);
-    regs[2] = (unsigned char)((gyro_bias_body[2] >> 8) & 0xFF);
-    regs[3] = (unsigned char)(gyro_bias_body[2] & 0xFF);
-    return mpu_write_mem(D_EXT_GYRO_BIAS_Z, 4, regs);
-}
-
-/**
- *  @brief      Push accel biases to the DMP.
- *  These biases will be removed from the DMP 6-axis quaternion.
- *  @param[in]  bias    Accel biases in q16.
- *  @return     0 if successful.
- */
-int dmp_set_accel_bias(long *bias)
-{
-    long accel_bias_body[3];
-    unsigned char regs[12];
-    long long accel_sf;
-    unsigned short accel_sens;
-
-    mpu_get_accel_sens(&accel_sens);
-    accel_sf = (long long)accel_sens << 15;
-//    __no_operation();
-    __NOP();
-
-    accel_bias_body[0] = bias[dmp.orient & 3];
-    if (dmp.orient & 4)
-        accel_bias_body[0] *= -1;
-    accel_bias_body[1] = bias[(dmp.orient >> 3) & 3];
-    if (dmp.orient & 0x20)
-        accel_bias_body[1] *= -1;
-    accel_bias_body[2] = bias[(dmp.orient >> 6) & 3];
-    if (dmp.orient & 0x100)
-        accel_bias_body[2] *= -1;
-
-#ifdef EMPL_NO_64BIT
-    accel_bias_body[0] = (long)(((float)accel_bias_body[0] * accel_sf) / 1073741824.f);
-    accel_bias_body[1] = (long)(((float)accel_bias_body[1] * accel_sf) / 1073741824.f);
-    accel_bias_body[2] = (long)(((float)accel_bias_body[2] * accel_sf) / 1073741824.f);
-#else
-    accel_bias_body[0] = (long)(((long long)accel_bias_body[0] * accel_sf) >> 30);
-    accel_bias_body[1] = (long)(((long long)accel_bias_body[1] * accel_sf) >> 30);
-    accel_bias_body[2] = (long)(((long long)accel_bias_body[2] * accel_sf) >> 30);
-#endif
-
-    regs[0] = (unsigned char)((accel_bias_body[0] >> 24) & 0xFF);
-    regs[1] = (unsigned char)((accel_bias_body[0] >> 16) & 0xFF);
-    regs[2] = (unsigned char)((accel_bias_body[0] >> 8) & 0xFF);
-    regs[3] = (unsigned char)(accel_bias_body[0] & 0xFF);
-    regs[4] = (unsigned char)((accel_bias_body[1] >> 24) & 0xFF);
-    regs[5] = (unsigned char)((accel_bias_body[1] >> 16) & 0xFF);
-    regs[6] = (unsigned char)((accel_bias_body[1] >> 8) & 0xFF);
-    regs[7] = (unsigned char)(accel_bias_body[1] & 0xFF);
-    regs[8] = (unsigned char)((accel_bias_body[2] >> 24) & 0xFF);
-    regs[9] = (unsigned char)((accel_bias_body[2] >> 16) & 0xFF);
-    regs[10] = (unsigned char)((accel_bias_body[2] >> 8) & 0xFF);
-    regs[11] = (unsigned char)(accel_bias_body[2] & 0xFF);
-    return mpu_write_mem(D_ACCEL_BIAS, 12, regs);
-}
-
-/**
- *  @brief      Set DMP output rate.
- *  Only used when DMP is on.
- *  @param[in]  rate    Desired fifo rate (Hz).
- *  @return     0 if successful.
- */
-int dmp_set_fifo_rate(unsigned short rate)
-{
-    const unsigned char regs_end[12] = {DINAFE, DINAF2, DINAAB,
-        0xc4, DINAAA, DINAF1, DINADF, DINADF, 0xBB, 0xAF, DINADF, DINADF};
-    unsigned short div;
-    unsigned char tmp[8];
-
-    if (rate > DMP_SAMPLE_RATE)
-        return -1;
-    div = DMP_SAMPLE_RATE / rate - 1;
-    tmp[0] = (unsigned char)((div >> 8) & 0xFF);
-    tmp[1] = (unsigned char)(div & 0xFF);
-    if (mpu_write_mem(D_0_22, 2, tmp))
-        return -1;
-    if (mpu_write_mem(CFG_6, 12, (unsigned char*)regs_end))
-        return -1;
-
-    dmp.fifo_rate = rate;
-    return 0;
-}
-
-/**
- *  @brief      Get DMP output rate.
- *  @param[out] rate    Current fifo rate (Hz).
- *  @return     0 if successful.
- */
-int dmp_get_fifo_rate(unsigned short *rate)
-{
-    rate[0] = dmp.fifo_rate;
-    return 0;
-}
-
-/**
- *  @brief      Set tap threshold for a specific axis.
- *  @param[in]  axis    1, 2, and 4 for XYZ accel, respectively.
- *  @param[in]  thresh  Tap threshold, in mg/ms.
- *  @return     0 if successful.
- */
-int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh)
-{
-    unsigned char tmp[4], accel_fsr;
-    float scaled_thresh;
-    unsigned short dmp_thresh, dmp_thresh_2;
-    if (!(axis & TAP_XYZ) || thresh > 1600)
-        return -1;
-
-    scaled_thresh = (float)thresh / DMP_SAMPLE_RATE;
-
-    mpu_get_accel_fsr(&accel_fsr);
-    switch (accel_fsr) {
-    case 2:
-        dmp_thresh = (unsigned short)(scaled_thresh * 16384);
-        /* dmp_thresh * 0.75 */
-        dmp_thresh_2 = (unsigned short)(scaled_thresh * 12288);
-        break;
-    case 4:
-        dmp_thresh = (unsigned short)(scaled_thresh * 8192);
-        /* dmp_thresh * 0.75 */
-        dmp_thresh_2 = (unsigned short)(scaled_thresh * 6144);
-        break;
-    case 8:
-        dmp_thresh = (unsigned short)(scaled_thresh * 4096);
-        /* dmp_thresh * 0.75 */
-        dmp_thresh_2 = (unsigned short)(scaled_thresh * 3072);
-        break;
-    case 16:
-        dmp_thresh = (unsigned short)(scaled_thresh * 2048);
-        /* dmp_thresh * 0.75 */
-        dmp_thresh_2 = (unsigned short)(scaled_thresh * 1536);
-        break;
-    default:
-        return -1;
-    }
-    tmp[0] = (unsigned char)(dmp_thresh >> 8);
-    tmp[1] = (unsigned char)(dmp_thresh & 0xFF);
-    tmp[2] = (unsigned char)(dmp_thresh_2 >> 8);
-    tmp[3] = (unsigned char)(dmp_thresh_2 & 0xFF);
-
-    if (axis & TAP_X) {
-        if (mpu_write_mem(DMP_TAP_THX, 2, tmp))
-            return -1;
-        if (mpu_write_mem(D_1_36, 2, tmp+2))
-            return -1;
-    }
-    if (axis & TAP_Y) {
-        if (mpu_write_mem(DMP_TAP_THY, 2, tmp))
-            return -1;
-        if (mpu_write_mem(D_1_40, 2, tmp+2))
-            return -1;
-    }
-    if (axis & TAP_Z) {
-        if (mpu_write_mem(DMP_TAP_THZ, 2, tmp))
-            return -1;
-        if (mpu_write_mem(D_1_44, 2, tmp+2))
-            return -1;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Set which axes will register a tap.
- *  @param[in]  axis    1, 2, and 4 for XYZ, respectively.
- *  @return     0 if successful.
- */
-int dmp_set_tap_axes(unsigned char axis)
-{
-    unsigned char tmp = 0;
-
-    if (axis & TAP_X)
-        tmp |= 0x30;
-    if (axis & TAP_Y)
-        tmp |= 0x0C;
-    if (axis & TAP_Z)
-        tmp |= 0x03;
-    return mpu_write_mem(D_1_72, 1, &tmp);
-}
-
-/**
- *  @brief      Set minimum number of taps needed for an interrupt.
- *  @param[in]  min_taps    Minimum consecutive taps (1-4).
- *  @return     0 if successful.
- */
-int dmp_set_tap_count(unsigned char min_taps)
-{
-    unsigned char tmp;
-
-    if (min_taps < 1)
-        min_taps = 1;
-    else if (min_taps > 4)
-        min_taps = 4;
-
-    tmp = min_taps - 1;
-    return mpu_write_mem(D_1_79, 1, &tmp);
-}
-
-/**
- *  @brief      Set length between valid taps.
- *  @param[in]  time    Milliseconds between taps.
- *  @return     0 if successful.
- */
-int dmp_set_tap_time(unsigned short time)
-{
-    unsigned short dmp_time;
-    unsigned char tmp[2];
-
-    dmp_time = time / (1000 / DMP_SAMPLE_RATE);
-    tmp[0] = (unsigned char)(dmp_time >> 8);
-    tmp[1] = (unsigned char)(dmp_time & 0xFF);
-    return mpu_write_mem(DMP_TAPW_MIN, 2, tmp);
-}
-
-/**
- *  @brief      Set max time between taps to register as a multi-tap.
- *  @param[in]  time    Max milliseconds between taps.
- *  @return     0 if successful.
- */
-int dmp_set_tap_time_multi(unsigned short time)
-{
-    unsigned short dmp_time;
-    unsigned char tmp[2];
-
-    dmp_time = time / (1000 / DMP_SAMPLE_RATE);
-    tmp[0] = (unsigned char)(dmp_time >> 8);
-    tmp[1] = (unsigned char)(dmp_time & 0xFF);
-    return mpu_write_mem(D_1_218, 2, tmp);
-}
-
-/**
- *  @brief      Set shake rejection threshold.
- *  If the DMP detects a gyro sample larger than @e thresh, taps are rejected.
- *  @param[in]  sf      Gyro scale factor.
- *  @param[in]  thresh  Gyro threshold in dps.
- *  @return     0 if successful.
- */
-int dmp_set_shake_reject_thresh(long sf, unsigned short thresh)
-{
-    unsigned char tmp[4];
-    long thresh_scaled = sf / 1000 * thresh;
-    tmp[0] = (unsigned char)(((long)thresh_scaled >> 24) & 0xFF);
-    tmp[1] = (unsigned char)(((long)thresh_scaled >> 16) & 0xFF);
-    tmp[2] = (unsigned char)(((long)thresh_scaled >> 8) & 0xFF);
-    tmp[3] = (unsigned char)((long)thresh_scaled & 0xFF);
-    return mpu_write_mem(D_1_92, 4, tmp);
-}
-
-/**
- *  @brief      Set shake rejection time.
- *  Sets the length of time that the gyro must be outside of the threshold set
- *  by @e gyro_set_shake_reject_thresh before taps are rejected. A mandatory
- *  60 ms is added to this parameter.
- *  @param[in]  time    Time in milliseconds.
- *  @return     0 if successful.
- */
-int dmp_set_shake_reject_time(unsigned short time)
-{
-    unsigned char tmp[2];
-
-    time /= (1000 / DMP_SAMPLE_RATE);
-    tmp[0] = time >> 8;
-    tmp[1] = time & 0xFF;
-    return mpu_write_mem(D_1_90,2,tmp);
-}
-
-/**
- *  @brief      Set shake rejection timeout.
- *  Sets the length of time after a shake rejection that the gyro must stay
- *  inside of the threshold before taps can be detected again. A mandatory
- *  60 ms is added to this parameter.
- *  @param[in]  time    Time in milliseconds.
- *  @return     0 if successful.
- */
-int dmp_set_shake_reject_timeout(unsigned short time)
-{
-    unsigned char tmp[2];
-
-    time /= (1000 / DMP_SAMPLE_RATE);
-    tmp[0] = time >> 8;
-    tmp[1] = time & 0xFF;
-    return mpu_write_mem(D_1_88,2,tmp);
-}
-
-/**
- *  @brief      Get current step count.
- *  @param[out] count   Number of steps detected.
- *  @return     0 if successful.
- */
-int dmp_get_pedometer_step_count(unsigned long *count)
-{
-    unsigned char tmp[4];
-    if (!count)
-        return -1;
-
-    if (mpu_read_mem(D_PEDSTD_STEPCTR, 4, tmp))
-        return -1;
-
-    count[0] = ((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) |
-        ((unsigned long)tmp[2] << 8) | tmp[3];
-    return 0;
-}
-
-/**
- *  @brief      Overwrite current step count.
- *  WARNING: This function writes to DMP memory and could potentially encounter
- *  a race condition if called while the pedometer is enabled.
- *  @param[in]  count   New step count.
- *  @return     0 if successful.
- */
-int dmp_set_pedometer_step_count(unsigned long count)
-{
-    unsigned char tmp[4];
-
-    tmp[0] = (unsigned char)((count >> 24) & 0xFF);
-    tmp[1] = (unsigned char)((count >> 16) & 0xFF);
-    tmp[2] = (unsigned char)((count >> 8) & 0xFF);
-    tmp[3] = (unsigned char)(count & 0xFF);
-    return mpu_write_mem(D_PEDSTD_STEPCTR, 4, tmp);
-}
-
-/**
- *  @brief      Get duration of walking time.
- *  @param[in]  time    Walk time in milliseconds.
- *  @return     0 if successful.
- */
-int dmp_get_pedometer_walk_time(unsigned long *time)
-{
-    unsigned char tmp[4];
-    if (!time)
-        return -1;
-
-    if (mpu_read_mem(D_PEDSTD_TIMECTR, 4, tmp))
-        return -1;
-
-    time[0] = (((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) |
-        ((unsigned long)tmp[2] << 8) | tmp[3]) * 20;
-    return 0;
-}
-
-/**
- *  @brief      Overwrite current walk time.
- *  WARNING: This function writes to DMP memory and could potentially encounter
- *  a race condition if called while the pedometer is enabled.
- *  @param[in]  time    New walk time in milliseconds.
- */
-int dmp_set_pedometer_walk_time(unsigned long time)
-{
-    unsigned char tmp[4];
-
-    time /= 20;
-
-    tmp[0] = (unsigned char)((time >> 24) & 0xFF);
-    tmp[1] = (unsigned char)((time >> 16) & 0xFF);
-    tmp[2] = (unsigned char)((time >> 8) & 0xFF);
-    tmp[3] = (unsigned char)(time & 0xFF);
-    return mpu_write_mem(D_PEDSTD_TIMECTR, 4, tmp);
-}
-
-/**
- *  @brief      Enable DMP features.
- *  The following \#define's are used in the input mask:
- *  \n DMP_FEATURE_TAP
- *  \n DMP_FEATURE_ANDROID_ORIENT
- *  \n DMP_FEATURE_LP_QUAT
- *  \n DMP_FEATURE_6X_LP_QUAT
- *  \n DMP_FEATURE_GYRO_CAL
- *  \n DMP_FEATURE_SEND_RAW_ACCEL
- *  \n DMP_FEATURE_SEND_RAW_GYRO
- *  \n NOTE: DMP_FEATURE_LP_QUAT and DMP_FEATURE_6X_LP_QUAT are mutually
- *  exclusive.
- *  \n NOTE: DMP_FEATURE_SEND_RAW_GYRO and DMP_FEATURE_SEND_CAL_GYRO are also
- *  mutually exclusive.
- *  @param[in]  mask    Mask of features to enable.
- *  @return     0 if successful.
- */
-int dmp_enable_feature(unsigned short mask)
-{
-    unsigned char tmp[10];
-
-    /* TODO: All of these settings can probably be integrated into the default
-     * DMP image.
-     */
-    /* Set integration scale factor. */
-    tmp[0] = (unsigned char)((GYRO_SF >> 24) & 0xFF);
-    tmp[1] = (unsigned char)((GYRO_SF >> 16) & 0xFF);
-    tmp[2] = (unsigned char)((GYRO_SF >> 8) & 0xFF);
-    tmp[3] = (unsigned char)(GYRO_SF & 0xFF);
-    mpu_write_mem(D_0_104, 4, tmp);
-
-    /* Send sensor data to the FIFO. */
-    tmp[0] = 0xA3;
-    if (mask & DMP_FEATURE_SEND_RAW_ACCEL) {
-        tmp[1] = 0xC0;
-        tmp[2] = 0xC8;
-        tmp[3] = 0xC2;
-    } else {
-        tmp[1] = 0xA3;
-        tmp[2] = 0xA3;
-        tmp[3] = 0xA3;
-    }
-    if (mask & DMP_FEATURE_SEND_ANY_GYRO) {
-        tmp[4] = 0xC4;
-        tmp[5] = 0xCC;
-        tmp[6] = 0xC6;
-    } else {
-        tmp[4] = 0xA3;
-        tmp[5] = 0xA3;
-        tmp[6] = 0xA3;
-    }
-    tmp[7] = 0xA3;
-    tmp[8] = 0xA3;
-    tmp[9] = 0xA3;
-    mpu_write_mem(CFG_15,10,tmp);
-
-    /* Send gesture data to the FIFO. */
-    if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT))
-        tmp[0] = DINA20;
-    else
-        tmp[0] = 0xD8;
-    mpu_write_mem(CFG_27,1,tmp);
-
-    if (mask & DMP_FEATURE_GYRO_CAL)
-        dmp_enable_gyro_cal(1);
-    else
-        dmp_enable_gyro_cal(0);
-
-    if (mask & DMP_FEATURE_SEND_ANY_GYRO) {
-        if (mask & DMP_FEATURE_SEND_CAL_GYRO) {
-            tmp[0] = 0xB2;
-            tmp[1] = 0x8B;
-            tmp[2] = 0xB6;
-            tmp[3] = 0x9B;
-        } else {
-            tmp[0] = DINAC0;
-            tmp[1] = DINA80;
-            tmp[2] = DINAC2;
-            tmp[3] = DINA90;
-        }
-        mpu_write_mem(CFG_GYRO_RAW_DATA, 4, tmp);
-    }
-
-    if (mask & DMP_FEATURE_TAP) {
-        /* Enable tap. */
-        tmp[0] = 0xF8;
-        mpu_write_mem(CFG_20, 1, tmp);
-        dmp_set_tap_thresh(TAP_XYZ, 250);
-        dmp_set_tap_axes(TAP_XYZ);
-        dmp_set_tap_count(1);
-        dmp_set_tap_time(100);
-        dmp_set_tap_time_multi(500);
-
-        dmp_set_shake_reject_thresh(GYRO_SF, 200);
-        dmp_set_shake_reject_time(40);
-        dmp_set_shake_reject_timeout(10);
-    } else {
-        tmp[0] = 0xD8;
-        mpu_write_mem(CFG_20, 1, tmp);
-    }
-
-    if (mask & DMP_FEATURE_ANDROID_ORIENT) {
-        tmp[0] = 0xD9;
-    } else
-        tmp[0] = 0xD8;
-    mpu_write_mem(CFG_ANDROID_ORIENT_INT, 1, tmp);
-
-    if (mask & DMP_FEATURE_LP_QUAT)
-        dmp_enable_lp_quat(1);
-    else
-        dmp_enable_lp_quat(0);
-
-    if (mask & DMP_FEATURE_6X_LP_QUAT)
-        dmp_enable_6x_lp_quat(1);
-    else
-        dmp_enable_6x_lp_quat(0);
-
-    /* Pedometer is always enabled. */
-    dmp.feature_mask = mask | DMP_FEATURE_PEDOMETER;
-    mpu_reset_fifo();
-
-    dmp.packet_length = 0;
-    if (mask & DMP_FEATURE_SEND_RAW_ACCEL)
-        dmp.packet_length += 6;
-    if (mask & DMP_FEATURE_SEND_ANY_GYRO)
-        dmp.packet_length += 6;
-    if (mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT))
-        dmp.packet_length += 16;
-    if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT))
-        dmp.packet_length += 4;
-
-    return 0;
-}
-
-/**
- *  @brief      Get list of currently enabled DMP features.
- *  @param[out] Mask of enabled features.
- *  @return     0 if successful.
- */
-int dmp_get_enabled_features(unsigned short *mask)
-{
-    mask[0] = dmp.feature_mask;
-    return 0;
-}
-
-/**
- *  @brief      Calibrate the gyro data in the DMP.
- *  After eight seconds of no motion, the DMP will compute gyro biases and
- *  subtract them from the quaternion output. If @e dmp_enable_feature is
- *  called with @e DMP_FEATURE_SEND_CAL_GYRO, the biases will also be
- *  subtracted from the gyro output.
- *  @param[in]  enable  1 to enable gyro calibration.
- *  @return     0 if successful.
- */
-int dmp_enable_gyro_cal(unsigned char enable)
-{
-    if (enable) {
-        unsigned char regs[9] = {0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35, 0x5d};
-        return mpu_write_mem(CFG_MOTION_BIAS, 9, regs);
-    } else {
-        unsigned char regs[9] = {0xb8, 0xaa, 0xaa, 0xaa, 0xb0, 0x88, 0xc3, 0xc5, 0xc7};
-        return mpu_write_mem(CFG_MOTION_BIAS, 9, regs);
-    }
-}
-
-/**
- *  @brief      Generate 3-axis quaternions from the DMP.
- *  In this driver, the 3-axis and 6-axis DMP quaternion features are mutually
- *  exclusive.
- *  @param[in]  enable  1 to enable 3-axis quaternion.
- *  @return     0 if successful.
- */
-int dmp_enable_lp_quat(unsigned char enable)
-{
-    unsigned char regs[4];
-    if (enable) {
-        regs[0] = DINBC0;
-        regs[1] = DINBC2;
-        regs[2] = DINBC4;
-        regs[3] = DINBC6;
-    }
-    else
-        memset(regs, 0x8B, 4);
-
-    mpu_write_mem(CFG_LP_QUAT, 4, regs);
-
-    return mpu_reset_fifo();
-}
-
-/**
- *  @brief       Generate 6-axis quaternions from the DMP.
- *  In this driver, the 3-axis and 6-axis DMP quaternion features are mutually
- *  exclusive.
- *  @param[in]   enable  1 to enable 6-axis quaternion.
- *  @return      0 if successful.
- */
-int dmp_enable_6x_lp_quat(unsigned char enable)
-{
-    unsigned char regs[4];
-    if (enable) {
-        regs[0] = DINA20;
-        regs[1] = DINA28;
-        regs[2] = DINA30;
-        regs[3] = DINA38;
-    } else
-        memset(regs, 0xA3, 4);
-
-    mpu_write_mem(CFG_8, 4, regs);
-
-    return mpu_reset_fifo();
-}
-
-/**
- *  @brief      Decode the four-byte gesture data and execute any callbacks.
- *  @param[in]  gesture Gesture data from DMP packet.
- *  @return     0 if successful.
- */
-static int decode_gesture(unsigned char *gesture)
-{
-    unsigned char tap, android_orient;
-
-    android_orient = gesture[3] & 0xC0;
-    tap = 0x3F & gesture[3];
-
-    if (gesture[1] & INT_SRC_TAP) {
-        unsigned char direction, count;
-        direction = tap >> 3;
-        count = (tap % 8) + 1;
-        if (dmp.tap_cb)
-            dmp.tap_cb(direction, count);
-    }
-
-    if (gesture[1] & INT_SRC_ANDROID_ORIENT) {
-        if (dmp.android_orient_cb)
-            dmp.android_orient_cb(android_orient >> 6);
-    }
-
-    return 0;
-}
-
-/**
- *  @brief      Specify when a DMP interrupt should occur.
- *  A DMP interrupt can be configured to trigger on either of the two
- *  conditions below:
- *  \n a. One FIFO period has elapsed (set by @e mpu_set_sample_rate).
- *  \n b. A tap event has been detected.
- *  @param[in]  mode    DMP_INT_GESTURE or DMP_INT_CONTINUOUS.
- *  @return     0 if successful.
- */
-int dmp_set_interrupt_mode(unsigned char mode)
-{
-    const unsigned char regs_continuous[11] =
-        {0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9};
-    const unsigned char regs_gesture[11] =
-        {0xda, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0xda, 0xb4, 0xda};
-
-    switch (mode) {
-    case DMP_INT_CONTINUOUS:
-        return mpu_write_mem(CFG_FIFO_ON_EVENT, 11,
-            (unsigned char*)regs_continuous);
-    case DMP_INT_GESTURE:
-        return mpu_write_mem(CFG_FIFO_ON_EVENT, 11,
-            (unsigned char*)regs_gesture);
-    default:
-        return -1;
-    }
-}
-
-/**
- *  @brief      Get one packet from the FIFO.
- *  If @e sensors does not contain a particular sensor, disregard the data
- *  returned to that pointer.
- *  \n @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  \n INV_WXYZ_QUAT
- *  \n If the FIFO has no new data, @e sensors will be zero.
- *  \n If the FIFO is disabled, @e sensors will be zero and this function will
- *  return a non-zero error code.
- *  @param[out] gyro        Gyro data in hardware units.
- *  @param[out] accel       Accel data in hardware units.
- *  @param[out] quat        3-axis quaternion data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds.
- *  @param[out] sensors     Mask of sensors read from FIFO.
- *  @param[out] more        Number of remaining packets.
- *  @return     0 if successful.
- */
-int dmp_read_fifo(short *gyro, short *accel, long *quat,
-    unsigned long *timestamp, short *sensors, unsigned char *more)
-{
-    unsigned char fifo_data[MAX_PACKET_LENGTH];
-    unsigned char ii = 0;
-
-    /* TODO: sensors[0] only changes when dmp_enable_feature is called. We can
-     * cache this value and save some cycles.
-     */
-    sensors[0] = 0;
-
-    /* Get a packet. */
-    if (mpu_read_fifo_stream(dmp.packet_length, fifo_data, more))
-        return -1;
-
-    /* Parse DMP packet. */
-    if (dmp.feature_mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT)) {
-#ifdef FIFO_CORRUPTION_CHECK
-        long quat_q14[4], quat_mag_sq;
-#endif
-        quat[0] = ((long)fifo_data[0] << 24) | ((long)fifo_data[1] << 16) |
-            ((long)fifo_data[2] << 8) | fifo_data[3];
-        quat[1] = ((long)fifo_data[4] << 24) | ((long)fifo_data[5] << 16) |
-            ((long)fifo_data[6] << 8) | fifo_data[7];
-        quat[2] = ((long)fifo_data[8] << 24) | ((long)fifo_data[9] << 16) |
-            ((long)fifo_data[10] << 8) | fifo_data[11];
-        quat[3] = ((long)fifo_data[12] << 24) | ((long)fifo_data[13] << 16) |
-            ((long)fifo_data[14] << 8) | fifo_data[15];
-        ii += 16;
-#ifdef FIFO_CORRUPTION_CHECK
-        /* We can detect a corrupted FIFO by monitoring the quaternion data and
-         * ensuring that the magnitude is always normalized to one. This
-         * shouldn't happen in normal operation, but if an I2C error occurs,
-         * the FIFO reads might become misaligned.
-         *
-         * Let's start by scaling down the quaternion data to avoid long long
-         * math.
-         */
-        quat_q14[0] = quat[0] >> 16;
-        quat_q14[1] = quat[1] >> 16;
-        quat_q14[2] = quat[2] >> 16;
-        quat_q14[3] = quat[3] >> 16;
-        quat_mag_sq = quat_q14[0] * quat_q14[0] + quat_q14[1] * quat_q14[1] +
-            quat_q14[2] * quat_q14[2] + quat_q14[3] * quat_q14[3];
-        if ((quat_mag_sq < QUAT_MAG_SQ_MIN) ||
-            (quat_mag_sq > QUAT_MAG_SQ_MAX)) {
-            /* Quaternion is outside of the acceptable threshold. */
-            mpu_reset_fifo();
-            sensors[0] = 0;
-            return -1;
-        }
-        sensors[0] |= INV_WXYZ_QUAT;
-#endif
-    }
-
-    if (dmp.feature_mask & DMP_FEATURE_SEND_RAW_ACCEL) {
-        accel[0] = ((short)fifo_data[ii+0] << 8) | fifo_data[ii+1];
-        accel[1] = ((short)fifo_data[ii+2] << 8) | fifo_data[ii+3];
-        accel[2] = ((short)fifo_data[ii+4] << 8) | fifo_data[ii+5];
-        ii += 6;
-        sensors[0] |= INV_XYZ_ACCEL;
-    }
-
-    if (dmp.feature_mask & DMP_FEATURE_SEND_ANY_GYRO) {
-        gyro[0] = ((short)fifo_data[ii+0] << 8) | fifo_data[ii+1];
-        gyro[1] = ((short)fifo_data[ii+2] << 8) | fifo_data[ii+3];
-        gyro[2] = ((short)fifo_data[ii+4] << 8) | fifo_data[ii+5];
-        ii += 6;
-        sensors[0] |= INV_XYZ_GYRO;
-    }
-
-    /* Gesture data is at the end of the DMP packet. Parse it and call
-     * the gesture callbacks (if registered).
-     */
-    if (dmp.feature_mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT))
-        decode_gesture(fifo_data + ii);
-
-    get_ms(timestamp);
-    return 0;
-}
-
-/**
- *  @brief      Register a function to be executed on a tap event.
- *  The tap direction is represented by one of the following:
- *  \n TAP_X_UP
- *  \n TAP_X_DOWN
- *  \n TAP_Y_UP
- *  \n TAP_Y_DOWN
- *  \n TAP_Z_UP
- *  \n TAP_Z_DOWN
- *  @param[in]  func    Callback function.
- *  @return     0 if successful.
- */
-int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char))
-{
-    dmp.tap_cb = func;
-    return 0;
-}
-
-/**
- *  @brief      Register a function to be executed on a android orientation event.
- *  @param[in]  func    Callback function.
- *  @return     0 if successful.
- */
-int dmp_register_android_orient_cb(void (*func)(unsigned char))
-{
-    dmp.android_orient_cb = func;
-    return 0;
-}
-
-/**
- *  @}
- */
-

Core备份3/imu5/inv_mpu_dmp_motion_driver5.h

@@ -1,97 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
-    See included License.txt for License information.
- $
- */
-/**
- *  @addtogroup  DRIVERS Sensor Driver Layer
- *  @brief       Hardware drivers to communicate with sensors via I2C.
- *
- *  @{
- *      @file       inv_mpu_dmp_motion_driver.h
- *      @brief      DMP image and interface functions.
- *      @details    All functions are preceded by the dmp_ prefix to
- *                  differentiate among MPL and general driver function calls.
- */
-#ifndef _INV_MPU_DMP_MOTION_DRIVER_H_
-#define _INV_MPU_DMP_MOTION_DRIVER_H_
-
-#define TAP_X               (0x01)
-#define TAP_Y               (0x02)
-#define TAP_Z               (0x04)
-#define TAP_XYZ             (0x07)
-
-#define TAP_X_UP            (0x01)
-#define TAP_X_DOWN          (0x02)
-#define TAP_Y_UP            (0x03)
-#define TAP_Y_DOWN          (0x04)
-#define TAP_Z_UP            (0x05)
-#define TAP_Z_DOWN          (0x06)
-
-#define ANDROID_ORIENT_PORTRAIT             (0x00)
-#define ANDROID_ORIENT_LANDSCAPE            (0x01)
-#define ANDROID_ORIENT_REVERSE_PORTRAIT     (0x02)
-#define ANDROID_ORIENT_REVERSE_LANDSCAPE    (0x03)
-
-#define DMP_INT_GESTURE     (0x01)
-#define DMP_INT_CONTINUOUS  (0x02)
-
-#define DMP_FEATURE_TAP             (0x001)
-#define DMP_FEATURE_ANDROID_ORIENT  (0x002)
-#define DMP_FEATURE_LP_QUAT         (0x004)
-#define DMP_FEATURE_PEDOMETER       (0x008)
-#define DMP_FEATURE_6X_LP_QUAT      (0x010)
-#define DMP_FEATURE_GYRO_CAL        (0x020)
-#define DMP_FEATURE_SEND_RAW_ACCEL  (0x040)
-#define DMP_FEATURE_SEND_RAW_GYRO   (0x080)
-#define DMP_FEATURE_SEND_CAL_GYRO   (0x100)
-
-#define INV_WXYZ_QUAT       (0x100)
-
-/* Set up functions. */
-int dmp_load_motion_driver_firmware(void);
-int dmp_set_fifo_rate(unsigned short rate);
-int dmp_get_fifo_rate(unsigned short *rate);
-int dmp_enable_feature(unsigned short mask);
-int dmp_get_enabled_features(unsigned short *mask);
-int dmp_set_interrupt_mode(unsigned char mode);
-int dmp_set_orientation(unsigned short orient);
-int dmp_set_gyro_bias(long *bias);
-int dmp_set_accel_bias(long *bias);
-
-/* Tap functions. */
-int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char));
-int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh);
-int dmp_set_tap_axes(unsigned char axis);
-int dmp_set_tap_count(unsigned char min_taps);
-int dmp_set_tap_time(unsigned short time);
-int dmp_set_tap_time_multi(unsigned short time);
-int dmp_set_shake_reject_thresh(long sf, unsigned short thresh);
-int dmp_set_shake_reject_time(unsigned short time);
-int dmp_set_shake_reject_timeout(unsigned short time);
-
-/* Android orientation functions. */
-int dmp_register_android_orient_cb(void (*func)(unsigned char));
-
-/* LP quaternion functions. */
-int dmp_enable_lp_quat(unsigned char enable);
-int dmp_enable_6x_lp_quat(unsigned char enable);
-
-/* Pedometer functions. */
-int dmp_get_pedometer_step_count(unsigned long *count);
-int dmp_set_pedometer_step_count(unsigned long count);
-int dmp_get_pedometer_walk_time(unsigned long *time);
-int dmp_set_pedometer_walk_time(unsigned long time);
-
-/* DMP gyro calibration functions. */
-int dmp_enable_gyro_cal(unsigned char enable);
-
-/* Read function. This function should be called whenever the MPU interrupt is
- * detected.
- */
-int dmp_read_fifo(short *gyro, short *accel, long *quat,
-    unsigned long *timestamp, short *sensors, unsigned char *more);
-
-#endif  /* #ifndef _INV_MPU_DMP_MOTION_DRIVER_H_ */
-

Core备份3/imu6/MPU60506.c

@@ -1,542 +0,0 @@
-/*
- * MPU6050.c
- *
- *  Created on: Oct 26, 2021
- *      Author: Administrator
- */
-
-#include "MPU60506.h"
-
-#include <stdio.h>
-
- u8 IIC_Write_Byte(u8 reg, u8 value)
- {
-	 return IIC_Write_Len(MPU_ADDR, reg, 1, &value);
- }
-
- u8 IIC_Read_Byte(u8 reg)
- {
-	 u8 value = 0;
-
-	 IIC_Read_Len(MPU_ADDR, reg, 1, &value);
-
-	 return value;
- }
-
- //IIC连续写
- u8 IIC_Write_Len(u8 addr,u8 reg, u8 len, u8 *buf)
- {
-	 addr = (addr << 1) | 0;
-
-	 u8 data[10] = {0};
-	 data[0] = reg;
-	 for(int i = 0; i < len; i++)
-	 {
-		 data[1 + i] = buf[i];
-	 }
-
-	 if(HAL_I2C_Master_Transmit(&hi2c1, (uint16_t)addr, (uint8_t*)data, len + 1, 10000)!= HAL_OK)
-	 {
-		 printf("++write len byte fail\r\n");
-		 return 1;
-	 }
-
-	 return 0;
- }
-
- //IIC连续读
- u8 IIC_Read_Len(u8 addr,u8 reg,u8 len,u8 *buf)
- {
-	 u8 tmp  = (addr << 1) | 0;
-	 if(HAL_I2C_Master_Transmit(&hi2c1, (uint16_t)tmp, (uint8_t*)&reg, 1, 10000)!= HAL_OK)
-	 {
-		 printf("++write byte fail\r\n");
-		 return 1;
-	 }
-
-	 tmp  = (addr << 1) | 1;
-	 if(HAL_I2C_Master_Receive(&hi2c1, (uint16_t)tmp, (uint8_t *)buf, len, 10000) != HAL_OK)
-	 {
-		 printf("--read byte fail\r\n");
-	 }
-
- }
-
-
-//初始化MPU6050
-//返回值: 0,成功
-//        其他,错误代码
-u8 MPU_Init(void)
-{
-    u8 res = 0;
-
-    IIC_Write_Byte(MPU_PWR_MGMT1_REG,0X80);//复位MPU6050
-
-    HAL_Delay(100);
-
-    IIC_Write_Byte(MPU_PWR_MGMT1_REG,0X00);//唤醒MPU6050
-
-    MPU_Set_Gyro_Fsr(3); //陀螺仪传感器,±2000dps
-    MPU_Set_Accel_Fsr(0); //加速度传感器 ±2g
-    MPU_Set_Rate(50); //设置采样率50HZ
-    IIC_Write_Byte(MPU_INT_EN_REG,0X00); //关闭所有中断
-    IIC_Write_Byte(MPU_USER_CTRL_REG,0X00);//I2C主模式关闭
-    IIC_Write_Byte(MPU_FIFO_EN_REG,0X00);//关闭FIFO
-    IIC_Write_Byte(MPU_INTBP_CFG_REG,0X80);//INT引脚低电平有效
-
-    res=IIC_Read_Byte(MPU_DEVICE_ID_REG);
-
-    printf("the addr is:%d\r\n", res);
-
-    if(res==MPU_ADDR)//器件ID正确
-    {
-        IIC_Write_Byte(MPU_PWR_MGMT1_REG,0X01);//设置CLKSEL,PLL X 轴为参考
-        IIC_Write_Byte(MPU_PWR_MGMT2_REG,0X00);//加速度陀螺仪都工作
-        MPU_Set_Rate(50); //设置采样率为50HZ
-    }
-    else
-    {
-    	return 1;
-    }
-
-    return 0;
-}
-
-//设置MPU6050陀螺仪传感器满量程范围
-//fsr:0,±250dps;1,±500dps;2,±1000dps;3,±2000dps
-//返回值:0,设置成功
-//    其他,设置失败
-u8 MPU_Set_Gyro_Fsr(u8 fsr)
-{
-    return IIC_Write_Byte(MPU_GYRO_CFG_REG, fsr<<3);//设置陀螺仪满量程范围
-}
-
-//设置MPU6050加速度传感器满量程范围
-//fsr:0,±2g;1,±4g;2,±8g;3,±16g
-//返回值:0,设置成功
-//    其他,设置失败
-u8 MPU_Set_Accel_Fsr(u8 fsr)
-{
-    return IIC_Write_Byte(MPU_ACCEL_CFG_REG, fsr<<3);//设置加速度传感器满量程范围
-}
-
-//设置MPU6050的数字低通滤波器
-//lpf:数字低通滤波频率(Hz)
-//返回值:0,设置成功
-//    其他,设置失败
-u8 MPU_Set_LPF(u16 lpf)
-{
-    u8 data=0;
-    if(lpf>=188) data=1;
-    else if(lpf>=98) data=2;
-    else if(lpf>=42) data=2;
-    else if(lpf>=42) data=3;
-    else if(lpf>=20) data=4;
-    else if(lpf>=10) data=5;
-    else data=6;
-    return IIC_Write_Byte(MPU_CFG_REG,data);//设置数字低通滤波器
-}
-
-//设置MPU6050的采样率(假定Fs=1KHz)
-//rate:4~1000(Hz)
-//返回值:0,设置成功
-//    其他,设置失败
-u8 MPU_Set_Rate(u16 rate)
-{
-    u8 data;
-    if(rate>1000)rate=1000;
-    if(rate<4)rate=4;
-    data=1000/rate-1;
-    data=IIC_Write_Byte(MPU_SAMPLE_RATE_REG, data);  //设置数字低通滤波器
-    return MPU_Set_LPF(rate/2); //自动设置LPF为采样率的一半
-}
-
-//得到温度值
-//返回值:温度值(扩大了100倍)
-short MPU_Get_Temperature(void)
-{
-    u8 buf[2];
-    short raw;
-    float temp;
-    IIC_Read_Len(MPU_ADDR, MPU_TEMP_OUTH_REG, 2, buf);
-    raw=((u16)buf[0]<<8)|buf[1];
-    temp=36.53+((double)raw)/340;
-
-    return temp*100;;
-}
-
-//得到陀螺仪值(原始值)
-//gx,gy,gz:陀螺仪x,y,z轴的原始读数(带符号)
-//返回值:0,成功
-// 其他,错误代码
-u8 MPU_Get_Gyroscope(short *gx,short *gy,short *gz)
-{
-    u8 buf[6],res;
-    res=IIC_Read_Len(MPU_ADDR,MPU_GYRO_XOUTH_REG,6,buf);
-    if(res==0)
-    {
-        *gx=((u16)buf[0]<<8)|buf[1];
-        *gy=((u16)buf[2]<<8)|buf[3];
-        *gz=((u16)buf[4]<<8)|buf[5];
-    }
-    return res;
-}
-
-//得到加速度值(原始值)
-//ax,ay,az:陀螺仪x,y,z轴的原始读数(带符号)
-//返回值:0,成功
-//    其他,错误代码
-u8 MPU_Get_Accelerometer(short *ax,short *ay,short *az)
-{
-    u8 buf[6],res;
-    res=IIC_Read_Len(MPU_ADDR,MPU_ACCEL_XOUTH_REG,6,buf);
-    if(res==0)
-    {
-        *ax=((u16)buf[0]<<8)|buf[1];
-        *ay=((u16)buf[2]<<8)|buf[3];
-        *az=((u16)buf[4]<<8)|buf[5];
-    }
-    return res;;
-}
-
-/*--------------------以下为使用板载固件DMP的相关代码，这个融合得到的姿态角效果很好*/
-
-
-/**
-  * @brief  获取当前毫秒值
-  * @param  存储最新毫秒值的变量
-  * @retval 无
-  */
-int get_tick_count(unsigned long *count)
-{
-   count[0] = HAL_GetTick();
-	return 0;
-}
-
-
-#include "inv_mpu6.h"
-#include "inv_mpu_dmp_motion_driver6.h"
-
-/* Data requested by client. */
-#define PRINT_ACCEL     (0x01)
-#define PRINT_GYRO      (0x02)
-#define PRINT_QUAT      (0x04)
-
-#define ACCEL_ON        (0x01)
-#define GYRO_ON         (0x02)
-
-#define MOTION          (0)
-#define NO_MOTION       (1)
-
-/* Starting sampling rate. */ //100
-#define DEFAULT_MPU_HZ  (50)
-
-struct rx_s {
-    unsigned char header[3];
-    unsigned char cmd;
-};
-struct hal_s {
-    unsigned char sensors;
-    unsigned char dmp_on;
-    unsigned char wait_for_tap;
-    volatile unsigned char new_gyro;
-    unsigned short report;
-    unsigned short dmp_features;
-    unsigned char motion_int_mode;
-    struct rx_s rx;
-};
-static struct hal_s hal = {0};
-
-/* USB RX binary semaphore. Actually, it's just a flag. Not included in struct
- * because it's declared extern elsewhere.
- */
-volatile unsigned char rx_new;
-
-/* The sensors can be mounted onto the board in any orientation. The mounting
- * matrix seen below tells the MPL how to rotate the raw data from thei
- * driver(s).
- * TODO: The following matrices refer to the configuration on an internal test
- * board at Invensense. If needed, please modify the matrices to match the
- * chip-to-body matrix for your particular set up.
- */
-static signed char gyro_orientation[9] = {-1, 0, 0,
-                                           0,-1, 0,
-                                           0, 0, 1};
-
-/* Every time new gyro data is available, this function is called in an
- * ISR context. In this example, it sets a flag protecting the FIFO read
- * function.
- */
-static void gyro_data_ready_cb(void)
-{
-    hal.new_gyro = 1;
-}
-
-enum packet_type_e {
-    PACKET_TYPE_ACCEL,
-    PACKET_TYPE_GYRO,
-    PACKET_TYPE_QUAT,
-    PACKET_TYPE_TAP,
-    PACKET_TYPE_ANDROID_ORIENT,
-    PACKET_TYPE_PEDO,
-    PACKET_TYPE_MISC
-};
-
-#define BYTE u_char
-/* Send data to the Python client application.
- * Data is formatted as follows:
- * packet[0]    = $
- * packet[1]    = packet type (see packet_type_e)
- * packet[2+]   = data
- */
-void send_packet(char packet_type, void *data)
-{
-
-	#define MAX_BUF_LENGTH  (18)
-    char buf[MAX_BUF_LENGTH], length;
-
-    memset(buf, 0, MAX_BUF_LENGTH);
-    buf[0] = '$';
-    buf[1] = packet_type;
-
-    if (packet_type == PACKET_TYPE_ACCEL || packet_type == PACKET_TYPE_GYRO) {
-        short *sdata = (short*)data;
-        buf[2] = (char)(sdata[0] >> 8);
-        buf[3] = (char)sdata[0];
-        buf[4] = (char)(sdata[1] >> 8);
-        buf[5] = (char)sdata[1];
-        buf[6] = (char)(sdata[2] >> 8);
-        buf[7] = (char)sdata[2];
-        length = 8;
-    } else if (packet_type == PACKET_TYPE_QUAT) {
-        long *ldata = (long*)data;
-        buf[2] = (char)(ldata[0] >> 24);
-        buf[3] = (char)(ldata[0] >> 16);
-        buf[4] = (char)(ldata[0] >> 8);
-        buf[5] = (char)ldata[0];
-        buf[6] = (char)(ldata[1] >> 24);
-        buf[7] = (char)(ldata[1] >> 16);
-        buf[8] = (char)(ldata[1] >> 8);
-        buf[9] = (char)ldata[1];
-        buf[10] = (char)(ldata[2] >> 24);
-        buf[11] = (char)(ldata[2] >> 16);
-        buf[12] = (char)(ldata[2] >> 8);
-        buf[13] = (char)ldata[2];
-        buf[14] = (char)(ldata[3] >> 24);
-        buf[15] = (char)(ldata[3] >> 16);
-        buf[16] = (char)(ldata[3] >> 8);
-        buf[17] = (char)ldata[3];
-        length = 18;
-    } else if (packet_type == PACKET_TYPE_TAP) {
-        buf[2] = ((char*)data)[0];
-        buf[3] = ((char*)data)[1];
-        length = 4;
-    } else if (packet_type == PACKET_TYPE_ANDROID_ORIENT) {
-        buf[2] = ((char*)data)[0];
-        length = 3;
-    } else if (packet_type == PACKET_TYPE_PEDO) {
-        long *ldata = (long*)data;
-        buf[2] = (char)(ldata[0] >> 24);
-        buf[3] = (char)(ldata[0] >> 16);
-        buf[4] = (char)(ldata[0] >> 8);
-        buf[5] = (char)ldata[0];
-        buf[6] = (char)(ldata[1] >> 24);
-        buf[7] = (char)(ldata[1] >> 16);
-        buf[8] = (char)(ldata[1] >> 8);
-        buf[9] = (char)ldata[1];
-        length = 10;
-    } else if (packet_type == PACKET_TYPE_MISC) {
-        buf[2] = ((char*)data)[0];
-        buf[3] = ((char*)data)[1];
-        buf[4] = ((char*)data)[2];
-        buf[5] = ((char*)data)[3];
-        length = 6;
-    }
-
-//    cdcSendDataWaitTilDone((BYTE*)buf, length, CDC0_INTFNUM, 100);
-}
-
-/* These next two functions converts the orientation matrix (see
- * gyro_orientation) to a scalar representation for use by the DMP.
- * NOTE: These functions are borrowed from Invensense's MPL.
- */
-static inline unsigned short inv_row_2_scale(const signed char *row)
-{
-    unsigned short b;
-
-    if (row[0] > 0)
-        b = 0;
-    else if (row[0] < 0)
-        b = 4;
-    else if (row[1] > 0)
-        b = 1;
-    else if (row[1] < 0)
-        b = 5;
-    else if (row[2] > 0)
-        b = 2;
-    else if (row[2] < 0)
-        b = 6;
-    else
-        b = 7;      // error
-    return b;
-}
-static inline unsigned short inv_orientation_matrix_to_scalar(
-    const signed char *mtx)
-{
-    unsigned short scalar;
-
-    /*
-       XYZ  010_001_000 Identity Matrix
-       XZY  001_010_000
-       YXZ  010_000_001
-       YZX  000_010_001
-       ZXY  001_000_010
-       ZYX  000_001_010
-     */
-
-    scalar = inv_row_2_scale(mtx);
-    scalar |= inv_row_2_scale(mtx + 3) << 3;
-    scalar |= inv_row_2_scale(mtx + 6) << 6;
-
-
-    return scalar;
-}
-
-static inline void run_self_test(void)
-{
-    int result;
-    char test_packet[4] = {0};
-    long gyro[3], accel[3];
-
-    result = mpu_run_self_test(gyro, accel);
-    if (result == 0x7) {
-        /* Test passed. We can trust the gyro data here, so let's push it down
-         * to the DMP.
-         */
-        float sens;
-        unsigned short accel_sens;
-        mpu_get_gyro_sens(&sens);
-        gyro[0] = (long)(gyro[0] * sens);
-        gyro[1] = (long)(gyro[1] * sens);
-        gyro[2] = (long)(gyro[2] * sens);
-        dmp_set_gyro_bias(gyro);
-        mpu_get_accel_sens(&accel_sens);
-        accel[0] *= accel_sens;
-        accel[1] *= accel_sens;
-        accel[2] *= accel_sens;
-        dmp_set_accel_bias(accel);
-    }
-
-    /* Report results. */
-    test_packet[0] = 't';
-    test_packet[1] = result;
-    send_packet(PACKET_TYPE_MISC, test_packet);
-}
-
-
-#define INT_EXIT_LPM0 12
-
-void DMP_Init(void)
-{
-    struct int_param_s int_param;
-
-	/* Set up gyro.
-	 * Every function preceded by mpu_ is a driver function and can be found
-	 * in inv_mpu.h.
-	 */
-	int_param.cb = gyro_data_ready_cb;
-	int_param.pin = 16;
-	int_param.lp_exit = INT_EXIT_LPM0;
-	int_param.active_low = 1;
-
-	int result = mpu_init(&int_param);
-
-	printf("mpu_init, %d\r\n", result);
-
-	if(result == 0)     //mpu初始化
-	{
-		if(!mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL))    //设置需要的传感器
-			printf("mpu_set_sensor complete ......\r\n");
-
-		if(!mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL)) //设置fifo
-			printf("mpu_configure_fifo complete ......\r\n");
-
-		if(!mpu_set_sample_rate(DEFAULT_MPU_HZ))              //设置采集样率
-			printf("mpu_set_sample_rate complete ......\r\n");
-
-
-		unsigned short gyro_rate = 0, gyro_fsr = 0;
-		unsigned char accel_fsr = 0;
-
-	    mpu_get_sample_rate(&gyro_rate);
-	    mpu_get_gyro_fsr(&gyro_fsr);
-	    mpu_get_accel_fsr(&accel_fsr);
-
-	    printf("gyro_rate %d, gyro_fsr %d, accel_fsr %d\r\n", gyro_rate, gyro_fsr, accel_fsr);
-
-
-
-		if(!dmp_load_motion_driver_firmware())                //加载dmp固件
-			printf("dmp_load_motion_driver_firmware complete ......\r\n");
-
-		if(!dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation)))
-			printf("dmp_set_orientation complete ......\r\n"); //设置陀螺仪方向
-
-		if(!dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP |
-				DMP_FEATURE_ANDROID_ORIENT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO |
-				DMP_FEATURE_GYRO_CAL))
-			printf("dmp_enable_feature complete ......\r\n");
-
-		if(!dmp_set_fifo_rate(DEFAULT_MPU_HZ))    //设置速率
-			printf("dmp_set_fifo_rate complete ......\r\n");
-
-		run_self_test();                          //自检(非必要)
-
-		if(!mpu_set_dmp_state(1))                 //使能
-			printf("mpu_set_dmp_state complete ......\r\n");
-	}
-
-}
-
-#define q30 1073741824.0
-
-uint8_t Read_DMP(float* Pitch,float* Roll,float* Yaw)
-{
-	short gyro[3], accel[3], sensors;
-	float q0=1.0f,q1=0.0f,q2=0.0f,q3=0.0f;
-	unsigned long sensor_timestamp;
-	unsigned char more;
-	long quat[4];
-
-	int ret = dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors, &more);
-
-//	printf("dmp_read_fifo, %d\r\n", ret);
-
-	if(ret)
-	{
-		return 1;
-	}
-
-	if (sensors & INV_WXYZ_QUAT)
-	{
-		q0=quat[0] / q30;
-		q1=quat[1] / q30;
-		q2=quat[2] / q30;
-		q3=quat[3] / q30;
-		*Pitch = (float)asin(-2 * q1 * q3 + 2 * q0* q2)* 57.3;
-		*Roll =  (float)atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2* q2 + 1)* 57.3; // roll
-		*Yaw =   (float)atan2(2*(q1*q2 + q0*q3),q0*q0+q1*q1-q2*q2-q3*q3) * 57.3;
-		return 0;
-	}
-	else
-	{
-		return 2;
-	}
-
-}
-
-
-
-
-
-

Core备份3/imu6/MPU60506.h

@@ -1,117 +0,0 @@
-/*
- * MPU6050.h
- *
- *  Created on: Oct 26, 2021
- *      Author: Administrator
- */
-
-#ifndef INC_MPU6050_H_
-#define INC_MPU6050_H_
-
-#include "i2c.h"
-#include "inv_mpu6.h"
-
-//#define MPU_ACCEL_OFFS_REG		0X06	//accel_offs寄存器,可读取版本号,寄存器手册未提到
-//#define MPU_PROD_ID_REG			0X0C	//prod id寄存器,在寄存器手册未提到
-#define MPU_SELF_TESTX_REG		0X0D	//自检寄存器X
-#define MPU_SELF_TESTY_REG		0X0E	//自检寄存器Y
-#define MPU_SELF_TESTZ_REG		0X0F	//自检寄存器Z
-#define MPU_SELF_TESTA_REG		0X10	//自检寄存器A
-#define MPU_SAMPLE_RATE_REG		0X19	//采样频率分频器
-#define MPU_CFG_REG				0X1A	//配置寄存器
-#define MPU_GYRO_CFG_REG		0X1B	//陀螺仪配置寄存器
-#define MPU_ACCEL_CFG_REG		0X1C	//加速度计配置寄存器
-#define MPU_MOTION_DET_REG		0X1F	//运动检测阀值设置寄存器
-#define MPU_FIFO_EN_REG			0X23	//FIFO使能寄存器
-#define MPU_I2CMST_CTRL_REG		0X24	//IIC主机控制寄存器
-#define MPU_I2CSLV0_ADDR_REG	0X25	//IIC从机0器件地址寄存器
-#define MPU_I2CSLV0_REG			0X26	//IIC从机0数据地址寄存器
-#define MPU_I2CSLV0_CTRL_REG	0X27	//IIC从机0控制寄存器
-#define MPU_I2CSLV1_ADDR_REG	0X28	//IIC从机1器件地址寄存器
-#define MPU_I2CSLV1_REG			0X29	//IIC从机1数据地址寄存器
-#define MPU_I2CSLV1_CTRL_REG	0X2A	//IIC从机1控制寄存器
-#define MPU_I2CSLV2_ADDR_REG	0X2B	//IIC从机2器件地址寄存器
-#define MPU_I2CSLV2_REG			0X2C	//IIC从机2数据地址寄存器
-#define MPU_I2CSLV2_CTRL_REG	0X2D	//IIC从机2控制寄存器
-#define MPU_I2CSLV3_ADDR_REG	0X2E	//IIC从机3器件地址寄存器
-#define MPU_I2CSLV3_REG			0X2F	//IIC从机3数据地址寄存器
-#define MPU_I2CSLV3_CTRL_REG	0X30	//IIC从机3控制寄存器
-#define MPU_I2CSLV4_ADDR_REG	0X31	//IIC从机4器件地址寄存器
-#define MPU_I2CSLV4_REG			0X32	//IIC从机4数据地址寄存器
-#define MPU_I2CSLV4_DO_REG		0X33	//IIC从机4写数据寄存器
-#define MPU_I2CSLV4_CTRL_REG	0X34	//IIC从机4控制寄存器
-#define MPU_I2CSLV4_DI_REG		0X35	//IIC从机4读数据寄存器
-
-#define MPU_I2CMST_STA_REG		0X36	//IIC主机状态寄存器
-#define MPU_INTBP_CFG_REG		0X37	//中断/旁路设置寄存器
-#define MPU_INT_EN_REG			0X38	//中断使能寄存器
-#define MPU_INT_STA_REG			0X3A	//中断状态寄存器
-
-#define MPU_ACCEL_XOUTH_REG		0X3B	//加速度值,X轴高8位寄存器
-#define MPU_ACCEL_XOUTL_REG		0X3C	//加速度值,X轴低8位寄存器
-#define MPU_ACCEL_YOUTH_REG		0X3D	//加速度值,Y轴高8位寄存器
-#define MPU_ACCEL_YOUTL_REG		0X3E	//加速度值,Y轴低8位寄存器
-#define MPU_ACCEL_ZOUTH_REG		0X3F	//加速度值,Z轴高8位寄存器
-#define MPU_ACCEL_ZOUTL_REG		0X40	//加速度值,Z轴低8位寄存器
-
-#define MPU_TEMP_OUTH_REG		0X41	//温度值高八位寄存器
-#define MPU_TEMP_OUTL_REG		0X42	//温度值低8位寄存器
-
-#define MPU_GYRO_XOUTH_REG		0X43	//陀螺仪值,X轴高8位寄存器
-#define MPU_GYRO_XOUTL_REG		0X44	//陀螺仪值,X轴低8位寄存器
-#define MPU_GYRO_YOUTH_REG		0X45	//陀螺仪值,Y轴高8位寄存器
-#define MPU_GYRO_YOUTL_REG		0X46	//陀螺仪值,Y轴低8位寄存器
-#define MPU_GYRO_ZOUTH_REG		0X47	//陀螺仪值,Z轴高8位寄存器
-#define MPU_GYRO_ZOUTL_REG		0X48	//陀螺仪值,Z轴低8位寄存器
-
-#define MPU_I2CSLV0_DO_REG		0X63	//IIC从机0数据寄存器
-#define MPU_I2CSLV1_DO_REG		0X64	//IIC从机1数据寄存器
-#define MPU_I2CSLV2_DO_REG		0X65	//IIC从机2数据寄存器
-#define MPU_I2CSLV3_DO_REG		0X66	//IIC从机3数据寄存器
-
-#define MPU_I2CMST_DELAY_REG	0X67	//IIC主机延时管理寄存器
-#define MPU_SIGPATH_RST_REG		0X68	//信号通道复位寄存器
-#define MPU_MDETECT_CTRL_REG	0X69	//运动检测控制寄存器
-#define MPU_USER_CTRL_REG		0X6A	//用户控制寄存器
-#define MPU_PWR_MGMT1_REG		0X6B	//电源管理寄存器1
-#define MPU_PWR_MGMT2_REG		0X6C	//电源管理寄存器2
-#define MPU_FIFO_CNTH_REG		0X72	//FIFO计数寄存器高八位
-#define MPU_FIFO_CNTL_REG		0X73	//FIFO计数寄存器低八位
-#define MPU_FIFO_RW_REG			0X74	//FIFO读写寄存器
-#define MPU_DEVICE_ID_REG		0X75	//器件ID寄存器
-
-//如果AD0脚接地,IIC地址为0X68(不包含最低位).
-//如果接V3.3,则IIC地址为0X69(不包含最低位).
-#define MPU_ADDR				0X68
-
-
-//因为模块AD0默认接GND,所以转为读写地址后,为0XD1和0XD0(如果接VCC,则为0XD3和0XD2)
-#define MPU_READ    0XD1
-#define MPU_WRITE   0XD0
-
-#define u8 uint8_t
-#define u16 uint16_t
-
-u8 MPU_Init(void); 								//初始化MPU6050
-u8 IIC_Write_Len(u8 addr,u8 reg,u8 len,u8 *buf);//IIC连续写
-u8 IIC_Read_Len(u8 addr,u8 reg,u8 len,u8 *buf); //IIC连续读
-u8 IIC_Write_Byte(u8 reg,u8 data);				//IIC写一个字节
-u8 IIC_Read_Byte(u8 reg);						//IIC读一个字节
-
-u8 MPU_Set_Gyro_Fsr(u8 fsr);
-u8 MPU_Set_Accel_Fsr(u8 fsr);
-u8 MPU_Set_LPF(u16 lpf);
-u8 MPU_Set_Rate(u16 rate);
-u8 MPU_Set_Fifo(u8 sens);
-
-
-short MPU_Get_Temperature(void);
-u8 MPU_Get_Gyroscope(short *gx,short *gy,short *gz);
-u8 MPU_Get_Accelerometer(short *ax,short *ay,short *az);
-
-//----------------------DMP-------------------------------
-void DMP_Init(void);
-uint8_t Read_DMP(float* Pitch,float* Roll,float* Yaw);
-int get_tick_count(unsigned long *count);
-
-#endif /* INC_MPU6050_H_ */

Core备份3/imu6/dmpKey6.h

@@ -1,494 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-#ifndef DMPKEY_H__
-#define DMPKEY_H__
-
-#define KEY_CFG_25                  (0)
-#define KEY_CFG_24                  (KEY_CFG_25 + 1)
-#define KEY_CFG_26                  (KEY_CFG_24 + 1)
-#define KEY_CFG_27                  (KEY_CFG_26 + 1)
-#define KEY_CFG_21                  (KEY_CFG_27 + 1)
-#define KEY_CFG_20                  (KEY_CFG_21 + 1)
-#define KEY_CFG_TAP4                (KEY_CFG_20 + 1)
-#define KEY_CFG_TAP5                (KEY_CFG_TAP4 + 1)
-#define KEY_CFG_TAP6                (KEY_CFG_TAP5 + 1)
-#define KEY_CFG_TAP7                (KEY_CFG_TAP6 + 1)
-#define KEY_CFG_TAP0                (KEY_CFG_TAP7 + 1)
-#define KEY_CFG_TAP1                (KEY_CFG_TAP0 + 1)
-#define KEY_CFG_TAP2                (KEY_CFG_TAP1 + 1)
-#define KEY_CFG_TAP3                (KEY_CFG_TAP2 + 1)
-#define KEY_CFG_TAP_QUANTIZE        (KEY_CFG_TAP3 + 1)
-#define KEY_CFG_TAP_JERK            (KEY_CFG_TAP_QUANTIZE + 1)
-#define KEY_CFG_DR_INT              (KEY_CFG_TAP_JERK + 1)
-#define KEY_CFG_AUTH                (KEY_CFG_DR_INT + 1)
-#define KEY_CFG_TAP_SAVE_ACCB       (KEY_CFG_AUTH + 1)
-#define KEY_CFG_TAP_CLEAR_STICKY    (KEY_CFG_TAP_SAVE_ACCB + 1)
-#define KEY_CFG_FIFO_ON_EVENT       (KEY_CFG_TAP_CLEAR_STICKY + 1)
-#define KEY_FCFG_ACCEL_INPUT        (KEY_CFG_FIFO_ON_EVENT + 1)
-#define KEY_FCFG_ACCEL_INIT         (KEY_FCFG_ACCEL_INPUT + 1)
-#define KEY_CFG_23                  (KEY_FCFG_ACCEL_INIT + 1)
-#define KEY_FCFG_1                  (KEY_CFG_23 + 1)
-#define KEY_FCFG_3                  (KEY_FCFG_1 + 1)
-#define KEY_FCFG_2                  (KEY_FCFG_3 + 1)
-#define KEY_CFG_3D                  (KEY_FCFG_2 + 1)
-#define KEY_CFG_3B                  (KEY_CFG_3D + 1)
-#define KEY_CFG_3C                  (KEY_CFG_3B + 1)
-#define KEY_FCFG_5                  (KEY_CFG_3C + 1)
-#define KEY_FCFG_4                  (KEY_FCFG_5 + 1)
-#define KEY_FCFG_7                  (KEY_FCFG_4 + 1)
-#define KEY_FCFG_FSCALE             (KEY_FCFG_7 + 1)
-#define KEY_FCFG_AZ                 (KEY_FCFG_FSCALE + 1)
-#define KEY_FCFG_6                  (KEY_FCFG_AZ + 1)
-#define KEY_FCFG_LSB4               (KEY_FCFG_6 + 1)
-#define KEY_CFG_12                  (KEY_FCFG_LSB4 + 1)
-#define KEY_CFG_14                  (KEY_CFG_12 + 1)
-#define KEY_CFG_15                  (KEY_CFG_14 + 1)
-#define KEY_CFG_16                  (KEY_CFG_15 + 1)
-#define KEY_CFG_18                  (KEY_CFG_16 + 1)
-#define KEY_CFG_6                   (KEY_CFG_18 + 1)
-#define KEY_CFG_7                   (KEY_CFG_6 + 1)
-#define KEY_CFG_4                   (KEY_CFG_7 + 1)
-#define KEY_CFG_5                   (KEY_CFG_4 + 1)
-#define KEY_CFG_2                   (KEY_CFG_5 + 1)
-#define KEY_CFG_3                   (KEY_CFG_2 + 1)
-#define KEY_CFG_1                   (KEY_CFG_3 + 1)
-#define KEY_CFG_EXTERNAL            (KEY_CFG_1 + 1)
-#define KEY_CFG_8                   (KEY_CFG_EXTERNAL + 1)
-#define KEY_CFG_9                   (KEY_CFG_8 + 1)
-#define KEY_CFG_ORIENT_3            (KEY_CFG_9 + 1)
-#define KEY_CFG_ORIENT_2            (KEY_CFG_ORIENT_3 + 1)
-#define KEY_CFG_ORIENT_1            (KEY_CFG_ORIENT_2 + 1)
-#define KEY_CFG_GYRO_SOURCE         (KEY_CFG_ORIENT_1 + 1)
-#define KEY_CFG_ORIENT_IRQ_1        (KEY_CFG_GYRO_SOURCE + 1)
-#define KEY_CFG_ORIENT_IRQ_2        (KEY_CFG_ORIENT_IRQ_1 + 1)
-#define KEY_CFG_ORIENT_IRQ_3        (KEY_CFG_ORIENT_IRQ_2 + 1)
-#define KEY_FCFG_MAG_VAL            (KEY_CFG_ORIENT_IRQ_3 + 1)
-#define KEY_FCFG_MAG_MOV            (KEY_FCFG_MAG_VAL + 1)
-#define KEY_CFG_LP_QUAT             (KEY_FCFG_MAG_MOV + 1)
-
-/* MPU6050 keys */
-#define KEY_CFG_ACCEL_FILTER        (KEY_CFG_LP_QUAT + 1)
-#define KEY_CFG_MOTION_BIAS         (KEY_CFG_ACCEL_FILTER + 1)
-#define KEY_TEMPLABEL               (KEY_CFG_MOTION_BIAS + 1)
-
-#define KEY_D_0_22                  (KEY_TEMPLABEL + 1)
-#define KEY_D_0_24                  (KEY_D_0_22 + 1)
-#define KEY_D_0_36                  (KEY_D_0_24 + 1)
-#define KEY_D_0_52                  (KEY_D_0_36 + 1)
-#define KEY_D_0_96                  (KEY_D_0_52 + 1)
-#define KEY_D_0_104                 (KEY_D_0_96 + 1)
-#define KEY_D_0_108                 (KEY_D_0_104 + 1)
-#define KEY_D_0_163                 (KEY_D_0_108 + 1)
-#define KEY_D_0_188                 (KEY_D_0_163 + 1)
-#define KEY_D_0_192                 (KEY_D_0_188 + 1)
-#define KEY_D_0_224                 (KEY_D_0_192 + 1)
-#define KEY_D_0_228                 (KEY_D_0_224 + 1)
-#define KEY_D_0_232                 (KEY_D_0_228 + 1)
-#define KEY_D_0_236                 (KEY_D_0_232 + 1)
-
-#define KEY_DMP_PREVPTAT            (KEY_D_0_236 + 1)
-#define KEY_D_1_2                   (KEY_DMP_PREVPTAT + 1)
-#define KEY_D_1_4                   (KEY_D_1_2 + 1)
-#define KEY_D_1_8                   (KEY_D_1_4 + 1)
-#define KEY_D_1_10                  (KEY_D_1_8 + 1)
-#define KEY_D_1_24                  (KEY_D_1_10 + 1)
-#define KEY_D_1_28                  (KEY_D_1_24 + 1)
-#define KEY_D_1_36                  (KEY_D_1_28 + 1)
-#define KEY_D_1_40                  (KEY_D_1_36 + 1)
-#define KEY_D_1_44                  (KEY_D_1_40 + 1)
-#define KEY_D_1_72                  (KEY_D_1_44 + 1)
-#define KEY_D_1_74                  (KEY_D_1_72 + 1)
-#define KEY_D_1_79                  (KEY_D_1_74 + 1)
-#define KEY_D_1_88                  (KEY_D_1_79 + 1)
-#define KEY_D_1_90                  (KEY_D_1_88 + 1)
-#define KEY_D_1_92                  (KEY_D_1_90 + 1)
-#define KEY_D_1_96                  (KEY_D_1_92 + 1)
-#define KEY_D_1_98                  (KEY_D_1_96 + 1)
-#define KEY_D_1_100                 (KEY_D_1_98 + 1)
-#define KEY_D_1_106                 (KEY_D_1_100 + 1)
-#define KEY_D_1_108                 (KEY_D_1_106 + 1)
-#define KEY_D_1_112                 (KEY_D_1_108 + 1)
-#define KEY_D_1_128                 (KEY_D_1_112 + 1)
-#define KEY_D_1_152                 (KEY_D_1_128 + 1)
-#define KEY_D_1_160                 (KEY_D_1_152 + 1)
-#define KEY_D_1_168                 (KEY_D_1_160 + 1)
-#define KEY_D_1_175                 (KEY_D_1_168 + 1)
-#define KEY_D_1_176                 (KEY_D_1_175 + 1)
-#define KEY_D_1_178                 (KEY_D_1_176 + 1)
-#define KEY_D_1_179                 (KEY_D_1_178 + 1)
-#define KEY_D_1_218                 (KEY_D_1_179 + 1)
-#define KEY_D_1_232                 (KEY_D_1_218 + 1)
-#define KEY_D_1_236                 (KEY_D_1_232 + 1)
-#define KEY_D_1_240                 (KEY_D_1_236 + 1)
-#define KEY_D_1_244                 (KEY_D_1_240 + 1)
-#define KEY_D_1_250                 (KEY_D_1_244 + 1)
-#define KEY_D_1_252                 (KEY_D_1_250 + 1)
-#define KEY_D_2_12                  (KEY_D_1_252 + 1)
-#define KEY_D_2_96                  (KEY_D_2_12 + 1)
-#define KEY_D_2_108                 (KEY_D_2_96 + 1)
-#define KEY_D_2_208                 (KEY_D_2_108 + 1)
-#define KEY_FLICK_MSG               (KEY_D_2_208 + 1)
-#define KEY_FLICK_COUNTER           (KEY_FLICK_MSG + 1)
-#define KEY_FLICK_LOWER             (KEY_FLICK_COUNTER + 1)
-#define KEY_CFG_FLICK_IN            (KEY_FLICK_LOWER + 1)
-#define KEY_FLICK_UPPER             (KEY_CFG_FLICK_IN + 1)
-#define KEY_CGNOTICE_INTR           (KEY_FLICK_UPPER + 1)
-#define KEY_D_2_224                 (KEY_CGNOTICE_INTR + 1)
-#define KEY_D_2_244                 (KEY_D_2_224 + 1)
-#define KEY_D_2_248                 (KEY_D_2_244 + 1)
-#define KEY_D_2_252                 (KEY_D_2_248 + 1)
-
-#define KEY_D_GYRO_BIAS_X               (KEY_D_2_252 + 1)
-#define KEY_D_GYRO_BIAS_Y               (KEY_D_GYRO_BIAS_X + 1)
-#define KEY_D_GYRO_BIAS_Z               (KEY_D_GYRO_BIAS_Y + 1)
-#define KEY_D_ACC_BIAS_X                (KEY_D_GYRO_BIAS_Z + 1)
-#define KEY_D_ACC_BIAS_Y                (KEY_D_ACC_BIAS_X + 1)
-#define KEY_D_ACC_BIAS_Z                (KEY_D_ACC_BIAS_Y + 1)
-#define KEY_D_GYRO_ENABLE               (KEY_D_ACC_BIAS_Z + 1)
-#define KEY_D_ACCEL_ENABLE              (KEY_D_GYRO_ENABLE + 1)
-#define KEY_D_QUAT_ENABLE               (KEY_D_ACCEL_ENABLE +1)
-#define KEY_D_OUTPUT_ENABLE             (KEY_D_QUAT_ENABLE + 1)
-#define KEY_D_CR_TIME_G                 (KEY_D_OUTPUT_ENABLE + 1)
-#define KEY_D_CR_TIME_A                 (KEY_D_CR_TIME_G + 1)
-#define KEY_D_CR_TIME_Q                 (KEY_D_CR_TIME_A + 1)
-#define KEY_D_CS_TAX                    (KEY_D_CR_TIME_Q + 1)
-#define KEY_D_CS_TAY                    (KEY_D_CS_TAX + 1)
-#define KEY_D_CS_TAZ                    (KEY_D_CS_TAY + 1)
-#define KEY_D_CS_TGX                    (KEY_D_CS_TAZ + 1)
-#define KEY_D_CS_TGY                    (KEY_D_CS_TGX + 1)
-#define KEY_D_CS_TGZ                    (KEY_D_CS_TGY + 1)
-#define KEY_D_CS_TQ0                    (KEY_D_CS_TGZ + 1)
-#define KEY_D_CS_TQ1                    (KEY_D_CS_TQ0 + 1)
-#define KEY_D_CS_TQ2                    (KEY_D_CS_TQ1 + 1)
-#define KEY_D_CS_TQ3                    (KEY_D_CS_TQ2 + 1)
-
-/* Compass keys */
-#define KEY_CPASS_BIAS_X            (KEY_D_CS_TQ3 + 1)
-#define KEY_CPASS_BIAS_Y            (KEY_CPASS_BIAS_X + 1)
-#define KEY_CPASS_BIAS_Z            (KEY_CPASS_BIAS_Y + 1)
-#define KEY_CPASS_MTX_00            (KEY_CPASS_BIAS_Z + 1)
-#define KEY_CPASS_MTX_01            (KEY_CPASS_MTX_00 + 1)
-#define KEY_CPASS_MTX_02            (KEY_CPASS_MTX_01 + 1)
-#define KEY_CPASS_MTX_10            (KEY_CPASS_MTX_02 + 1)
-#define KEY_CPASS_MTX_11            (KEY_CPASS_MTX_10 + 1)
-#define KEY_CPASS_MTX_12            (KEY_CPASS_MTX_11 + 1)
-#define KEY_CPASS_MTX_20            (KEY_CPASS_MTX_12 + 1)
-#define KEY_CPASS_MTX_21            (KEY_CPASS_MTX_20 + 1)
-#define KEY_CPASS_MTX_22            (KEY_CPASS_MTX_21 + 1)
-
-/* Gesture Keys */
-#define KEY_DMP_TAPW_MIN            (KEY_CPASS_MTX_22 + 1)
-#define KEY_DMP_TAP_THR_X           (KEY_DMP_TAPW_MIN + 1)
-#define KEY_DMP_TAP_THR_Y           (KEY_DMP_TAP_THR_X + 1)
-#define KEY_DMP_TAP_THR_Z           (KEY_DMP_TAP_THR_Y + 1)
-#define KEY_DMP_SH_TH_Y             (KEY_DMP_TAP_THR_Z + 1)
-#define KEY_DMP_SH_TH_X             (KEY_DMP_SH_TH_Y + 1)
-#define KEY_DMP_SH_TH_Z             (KEY_DMP_SH_TH_X + 1)
-#define KEY_DMP_ORIENT              (KEY_DMP_SH_TH_Z + 1)
-#define KEY_D_ACT0                  (KEY_DMP_ORIENT + 1)
-#define KEY_D_ACSX                  (KEY_D_ACT0 + 1)
-#define KEY_D_ACSY                  (KEY_D_ACSX + 1)
-#define KEY_D_ACSZ                  (KEY_D_ACSY + 1)
-
-#define KEY_X_GRT_Y_TMP             (KEY_D_ACSZ + 1)
-#define KEY_SKIP_X_GRT_Y_TMP        (KEY_X_GRT_Y_TMP + 1)
-#define KEY_SKIP_END_COMPARE        (KEY_SKIP_X_GRT_Y_TMP + 1)
-#define KEY_END_COMPARE_Y_X_TMP2    (KEY_SKIP_END_COMPARE + 1)       
-#define KEY_CFG_ANDROID_ORIENT_INT  (KEY_END_COMPARE_Y_X_TMP2 + 1)
-#define KEY_NO_ORIENT_INTERRUPT     (KEY_CFG_ANDROID_ORIENT_INT + 1)
-#define KEY_END_COMPARE_Y_X_TMP     (KEY_NO_ORIENT_INTERRUPT + 1)
-#define KEY_END_ORIENT_1            (KEY_END_COMPARE_Y_X_TMP + 1)
-#define KEY_END_COMPARE_Y_X         (KEY_END_ORIENT_1 + 1) 
-#define KEY_END_ORIENT              (KEY_END_COMPARE_Y_X + 1)
-#define KEY_X_GRT_Y                 (KEY_END_ORIENT + 1)
-#define KEY_NOT_TIME_MINUS_1        (KEY_X_GRT_Y + 1)       
-#define KEY_END_COMPARE_Y_X_TMP3    (KEY_NOT_TIME_MINUS_1 + 1) 
-#define KEY_X_GRT_Y_TMP2            (KEY_END_COMPARE_Y_X_TMP3 + 1)
-
-/* Authenticate Keys */
-#define KEY_D_AUTH_OUT              (KEY_X_GRT_Y_TMP2 + 1)
-#define KEY_D_AUTH_IN               (KEY_D_AUTH_OUT + 1)
-#define KEY_D_AUTH_A                (KEY_D_AUTH_IN + 1)
-#define KEY_D_AUTH_B                (KEY_D_AUTH_A + 1)
-
-/* Pedometer standalone only keys */
-#define KEY_D_PEDSTD_BP_B           (KEY_D_AUTH_B + 1)
-#define KEY_D_PEDSTD_HP_A           (KEY_D_PEDSTD_BP_B + 1)
-#define KEY_D_PEDSTD_HP_B           (KEY_D_PEDSTD_HP_A + 1)
-#define KEY_D_PEDSTD_BP_A4          (KEY_D_PEDSTD_HP_B + 1)
-#define KEY_D_PEDSTD_BP_A3          (KEY_D_PEDSTD_BP_A4 + 1)
-#define KEY_D_PEDSTD_BP_A2          (KEY_D_PEDSTD_BP_A3 + 1)
-#define KEY_D_PEDSTD_BP_A1          (KEY_D_PEDSTD_BP_A2 + 1)
-#define KEY_D_PEDSTD_INT_THRSH      (KEY_D_PEDSTD_BP_A1 + 1)
-#define KEY_D_PEDSTD_CLIP           (KEY_D_PEDSTD_INT_THRSH + 1)
-#define KEY_D_PEDSTD_SB             (KEY_D_PEDSTD_CLIP + 1)
-#define KEY_D_PEDSTD_SB_TIME        (KEY_D_PEDSTD_SB + 1)
-#define KEY_D_PEDSTD_PEAKTHRSH      (KEY_D_PEDSTD_SB_TIME + 1)
-#define KEY_D_PEDSTD_TIML           (KEY_D_PEDSTD_PEAKTHRSH + 1)
-#define KEY_D_PEDSTD_TIMH           (KEY_D_PEDSTD_TIML + 1)
-#define KEY_D_PEDSTD_PEAK           (KEY_D_PEDSTD_TIMH + 1)
-#define KEY_D_PEDSTD_TIMECTR        (KEY_D_PEDSTD_PEAK + 1)
-#define KEY_D_PEDSTD_STEPCTR        (KEY_D_PEDSTD_TIMECTR + 1)
-#define KEY_D_PEDSTD_WALKTIME       (KEY_D_PEDSTD_STEPCTR + 1)
-#define KEY_D_PEDSTD_DECI           (KEY_D_PEDSTD_WALKTIME + 1)
-
-/*Host Based No Motion*/
-#define KEY_D_HOST_NO_MOT           (KEY_D_PEDSTD_DECI + 1)
-
-/* EIS keys */
-#define KEY_P_EIS_FIFO_FOOTER       (KEY_D_HOST_NO_MOT + 1)
-#define KEY_P_EIS_FIFO_YSHIFT       (KEY_P_EIS_FIFO_FOOTER + 1)
-#define KEY_P_EIS_DATA_RATE         (KEY_P_EIS_FIFO_YSHIFT + 1)
-#define KEY_P_EIS_FIFO_XSHIFT       (KEY_P_EIS_DATA_RATE + 1)
-#define KEY_P_EIS_FIFO_SYNC         (KEY_P_EIS_FIFO_XSHIFT + 1)
-#define KEY_P_EIS_FIFO_ZSHIFT       (KEY_P_EIS_FIFO_SYNC + 1)
-#define KEY_P_EIS_FIFO_READY        (KEY_P_EIS_FIFO_ZSHIFT + 1)
-#define KEY_DMP_FOOTER              (KEY_P_EIS_FIFO_READY + 1)
-#define KEY_DMP_INTX_HC             (KEY_DMP_FOOTER + 1)
-#define KEY_DMP_INTX_PH             (KEY_DMP_INTX_HC + 1)
-#define KEY_DMP_INTX_SH             (KEY_DMP_INTX_PH + 1)
-#define KEY_DMP_AINV_SH             (KEY_DMP_INTX_SH + 1)
-#define KEY_DMP_A_INV_XH            (KEY_DMP_AINV_SH + 1)
-#define KEY_DMP_AINV_PH             (KEY_DMP_A_INV_XH + 1)
-#define KEY_DMP_CTHX_H              (KEY_DMP_AINV_PH + 1)
-#define KEY_DMP_CTHY_H              (KEY_DMP_CTHX_H + 1)
-#define KEY_DMP_CTHZ_H              (KEY_DMP_CTHY_H + 1)
-#define KEY_DMP_NCTHX_H             (KEY_DMP_CTHZ_H + 1)
-#define KEY_DMP_NCTHY_H             (KEY_DMP_NCTHX_H + 1)
-#define KEY_DMP_NCTHZ_H             (KEY_DMP_NCTHY_H + 1)
-#define KEY_DMP_CTSQ_XH             (KEY_DMP_NCTHZ_H + 1)
-#define KEY_DMP_CTSQ_YH             (KEY_DMP_CTSQ_XH + 1)
-#define KEY_DMP_CTSQ_ZH             (KEY_DMP_CTSQ_YH + 1)
-#define KEY_DMP_INTX_H              (KEY_DMP_CTSQ_ZH + 1)
-#define KEY_DMP_INTY_H              (KEY_DMP_INTX_H + 1)
-#define KEY_DMP_INTZ_H              (KEY_DMP_INTY_H + 1)
-//#define KEY_DMP_HPX_H               (KEY_DMP_INTZ_H + 1)
-//#define KEY_DMP_HPY_H               (KEY_DMP_HPX_H + 1)
-//#define KEY_DMP_HPZ_H               (KEY_DMP_HPY_H + 1)
-
-/* Stream keys */
-#define KEY_STREAM_P_GYRO_Z         (KEY_DMP_INTZ_H + 1)
-#define KEY_STREAM_P_GYRO_Y         (KEY_STREAM_P_GYRO_Z + 1)
-#define KEY_STREAM_P_GYRO_X         (KEY_STREAM_P_GYRO_Y + 1)
-#define KEY_STREAM_P_TEMP           (KEY_STREAM_P_GYRO_X + 1)
-#define KEY_STREAM_P_AUX_Y          (KEY_STREAM_P_TEMP + 1)
-#define KEY_STREAM_P_AUX_X          (KEY_STREAM_P_AUX_Y + 1)
-#define KEY_STREAM_P_AUX_Z          (KEY_STREAM_P_AUX_X + 1)
-#define KEY_STREAM_P_ACCEL_Y        (KEY_STREAM_P_AUX_Z + 1)
-#define KEY_STREAM_P_ACCEL_X        (KEY_STREAM_P_ACCEL_Y + 1)
-#define KEY_STREAM_P_FOOTER         (KEY_STREAM_P_ACCEL_X + 1)
-#define KEY_STREAM_P_ACCEL_Z        (KEY_STREAM_P_FOOTER + 1)
-
-#define NUM_KEYS                    (KEY_STREAM_P_ACCEL_Z + 1)
-
-typedef struct {
-    unsigned short key;
-    unsigned short addr;
-} tKeyLabel;
-
-#define DINA0A 0x0a
-#define DINA22 0x22
-#define DINA42 0x42
-#define DINA5A 0x5a
-
-#define DINA06 0x06
-#define DINA0E 0x0e
-#define DINA16 0x16
-#define DINA1E 0x1e
-#define DINA26 0x26
-#define DINA2E 0x2e
-#define DINA36 0x36
-#define DINA3E 0x3e
-#define DINA46 0x46
-#define DINA4E 0x4e
-#define DINA56 0x56
-#define DINA5E 0x5e
-#define DINA66 0x66
-#define DINA6E 0x6e
-#define DINA76 0x76
-#define DINA7E 0x7e
-
-#define DINA00 0x00
-#define DINA08 0x08
-#define DINA10 0x10
-#define DINA18 0x18
-#define DINA20 0x20
-#define DINA28 0x28
-#define DINA30 0x30
-#define DINA38 0x38
-#define DINA40 0x40
-#define DINA48 0x48
-#define DINA50 0x50
-#define DINA58 0x58
-#define DINA60 0x60
-#define DINA68 0x68
-#define DINA70 0x70
-#define DINA78 0x78
-
-#define DINA04 0x04
-#define DINA0C 0x0c
-#define DINA14 0x14
-#define DINA1C 0x1C
-#define DINA24 0x24
-#define DINA2C 0x2c
-#define DINA34 0x34
-#define DINA3C 0x3c
-#define DINA44 0x44
-#define DINA4C 0x4c
-#define DINA54 0x54
-#define DINA5C 0x5c
-#define DINA64 0x64
-#define DINA6C 0x6c
-#define DINA74 0x74
-#define DINA7C 0x7c
-
-#define DINA01 0x01
-#define DINA09 0x09
-#define DINA11 0x11
-#define DINA19 0x19
-#define DINA21 0x21
-#define DINA29 0x29
-#define DINA31 0x31
-#define DINA39 0x39
-#define DINA41 0x41
-#define DINA49 0x49
-#define DINA51 0x51
-#define DINA59 0x59
-#define DINA61 0x61
-#define DINA69 0x69
-#define DINA71 0x71
-#define DINA79 0x79
-
-#define DINA25 0x25
-#define DINA2D 0x2d
-#define DINA35 0x35
-#define DINA3D 0x3d
-#define DINA4D 0x4d
-#define DINA55 0x55
-#define DINA5D 0x5D
-#define DINA6D 0x6d
-#define DINA75 0x75
-#define DINA7D 0x7d
-
-#define DINADC 0xdc
-#define DINAF2 0xf2
-#define DINAAB 0xab
-#define DINAAA 0xaa
-#define DINAF1 0xf1
-#define DINADF 0xdf
-#define DINADA 0xda
-#define DINAB1 0xb1
-#define DINAB9 0xb9
-#define DINAF3 0xf3
-#define DINA8B 0x8b
-#define DINAA3 0xa3
-#define DINA91 0x91
-#define DINAB6 0xb6
-#define DINAB4 0xb4
-
-
-#define DINC00 0x00
-#define DINC01 0x01
-#define DINC02 0x02
-#define DINC03 0x03
-#define DINC08 0x08
-#define DINC09 0x09
-#define DINC0A 0x0a
-#define DINC0B 0x0b
-#define DINC10 0x10
-#define DINC11 0x11
-#define DINC12 0x12
-#define DINC13 0x13
-#define DINC18 0x18
-#define DINC19 0x19
-#define DINC1A 0x1a
-#define DINC1B 0x1b
-
-#define DINC20 0x20
-#define DINC21 0x21
-#define DINC22 0x22
-#define DINC23 0x23
-#define DINC28 0x28
-#define DINC29 0x29
-#define DINC2A 0x2a
-#define DINC2B 0x2b
-#define DINC30 0x30
-#define DINC31 0x31
-#define DINC32 0x32
-#define DINC33 0x33
-#define DINC38 0x38
-#define DINC39 0x39
-#define DINC3A 0x3a
-#define DINC3B 0x3b
-
-#define DINC40 0x40
-#define DINC41 0x41
-#define DINC42 0x42
-#define DINC43 0x43
-#define DINC48 0x48
-#define DINC49 0x49
-#define DINC4A 0x4a
-#define DINC4B 0x4b
-#define DINC50 0x50
-#define DINC51 0x51
-#define DINC52 0x52
-#define DINC53 0x53
-#define DINC58 0x58
-#define DINC59 0x59
-#define DINC5A 0x5a
-#define DINC5B 0x5b
-
-#define DINC60 0x60
-#define DINC61 0x61
-#define DINC62 0x62
-#define DINC63 0x63
-#define DINC68 0x68
-#define DINC69 0x69
-#define DINC6A 0x6a
-#define DINC6B 0x6b
-#define DINC70 0x70
-#define DINC71 0x71
-#define DINC72 0x72
-#define DINC73 0x73
-#define DINC78 0x78
-#define DINC79 0x79
-#define DINC7A 0x7a
-#define DINC7B 0x7b
-
-#define DIND40 0x40
-
-
-#define DINA80 0x80
-#define DINA90 0x90
-#define DINAA0 0xa0
-#define DINAC9 0xc9
-#define DINACB 0xcb
-#define DINACD 0xcd
-#define DINACF 0xcf
-#define DINAC8 0xc8
-#define DINACA 0xca
-#define DINACC 0xcc
-#define DINACE 0xce
-#define DINAD8 0xd8
-#define DINADD 0xdd
-#define DINAF8 0xf0
-#define DINAFE 0xfe
-
-#define DINBF8 0xf8
-#define DINAC0 0xb0
-#define DINAC1 0xb1
-#define DINAC2 0xb4
-#define DINAC3 0xb5
-#define DINAC4 0xb8
-#define DINAC5 0xb9
-#define DINBC0 0xc0
-#define DINBC2 0xc2
-#define DINBC4 0xc4
-#define DINBC6 0xc6
-
-
-
-#endif // DMPKEY_H__

Core备份3/imu6/dmpmap6.h

@@ -1,264 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-#ifndef DMPMAP_H
-#define DMPMAP_H
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#define DMP_PTAT    0
-#define DMP_XGYR    2
-#define DMP_YGYR    4
-#define DMP_ZGYR    6
-#define DMP_XACC    8
-#define DMP_YACC    10
-#define DMP_ZACC    12
-#define DMP_ADC1    14
-#define DMP_ADC2    16
-#define DMP_ADC3    18
-#define DMP_BIASUNC    20
-#define DMP_FIFORT    22
-#define DMP_INVGSFH    24
-#define DMP_INVGSFL    26
-#define DMP_1H    28
-#define DMP_1L    30
-#define DMP_BLPFSTCH    32
-#define DMP_BLPFSTCL    34
-#define DMP_BLPFSXH    36
-#define DMP_BLPFSXL    38
-#define DMP_BLPFSYH    40
-#define DMP_BLPFSYL    42
-#define DMP_BLPFSZH    44
-#define DMP_BLPFSZL    46
-#define DMP_BLPFMTC    48
-#define DMP_SMC    50
-#define DMP_BLPFMXH    52
-#define DMP_BLPFMXL    54
-#define DMP_BLPFMYH    56
-#define DMP_BLPFMYL    58
-#define DMP_BLPFMZH    60
-#define DMP_BLPFMZL    62
-#define DMP_BLPFC    64
-#define DMP_SMCTH    66
-#define DMP_0H2    68
-#define DMP_0L2    70
-#define DMP_BERR2H    72
-#define DMP_BERR2L    74
-#define DMP_BERR2NH    76
-#define DMP_SMCINC    78
-#define DMP_ANGVBXH    80
-#define DMP_ANGVBXL    82
-#define DMP_ANGVBYH    84
-#define DMP_ANGVBYL    86
-#define DMP_ANGVBZH    88
-#define DMP_ANGVBZL    90
-#define DMP_BERR1H    92
-#define DMP_BERR1L    94
-#define DMP_ATCH    96
-#define DMP_BIASUNCSF    98
-#define DMP_ACT2H    100
-#define DMP_ACT2L    102
-#define DMP_GSFH    104
-#define DMP_GSFL    106
-#define DMP_GH    108
-#define DMP_GL    110
-#define DMP_0_5H    112
-#define DMP_0_5L    114
-#define DMP_0_0H    116
-#define DMP_0_0L    118
-#define DMP_1_0H    120
-#define DMP_1_0L    122
-#define DMP_1_5H    124
-#define DMP_1_5L    126
-#define DMP_TMP1AH    128
-#define DMP_TMP1AL    130
-#define DMP_TMP2AH    132
-#define DMP_TMP2AL    134
-#define DMP_TMP3AH    136
-#define DMP_TMP3AL    138
-#define DMP_TMP4AH    140
-#define DMP_TMP4AL    142
-#define DMP_XACCW    144
-#define DMP_TMP5    146
-#define DMP_XACCB    148
-#define DMP_TMP8    150
-#define DMP_YACCB    152
-#define DMP_TMP9    154
-#define DMP_ZACCB    156
-#define DMP_TMP10    158
-#define DMP_DZH    160
-#define DMP_DZL    162
-#define DMP_XGCH    164
-#define DMP_XGCL    166
-#define DMP_YGCH    168
-#define DMP_YGCL    170
-#define DMP_ZGCH    172
-#define DMP_ZGCL    174
-#define DMP_YACCW    176
-#define DMP_TMP7    178
-#define DMP_AFB1H    180
-#define DMP_AFB1L    182
-#define DMP_AFB2H    184
-#define DMP_AFB2L    186
-#define DMP_MAGFBH    188
-#define DMP_MAGFBL    190
-#define DMP_QT1H    192
-#define DMP_QT1L    194
-#define DMP_QT2H    196
-#define DMP_QT2L    198
-#define DMP_QT3H    200
-#define DMP_QT3L    202
-#define DMP_QT4H    204
-#define DMP_QT4L    206
-#define DMP_CTRL1H    208
-#define DMP_CTRL1L    210
-#define DMP_CTRL2H    212
-#define DMP_CTRL2L    214
-#define DMP_CTRL3H    216
-#define DMP_CTRL3L    218
-#define DMP_CTRL4H    220
-#define DMP_CTRL4L    222
-#define DMP_CTRLS1    224
-#define DMP_CTRLSF1    226
-#define DMP_CTRLS2    228
-#define DMP_CTRLSF2    230
-#define DMP_CTRLS3    232
-#define DMP_CTRLSFNLL    234
-#define DMP_CTRLS4    236
-#define DMP_CTRLSFNL2    238
-#define DMP_CTRLSFNL    240
-#define DMP_TMP30    242
-#define DMP_CTRLSFJT    244
-#define DMP_TMP31    246
-#define DMP_TMP11    248
-#define DMP_CTRLSF2_2    250
-#define DMP_TMP12    252
-#define DMP_CTRLSF1_2    254
-#define DMP_PREVPTAT    256
-#define DMP_ACCZB    258
-#define DMP_ACCXB    264
-#define DMP_ACCYB    266
-#define DMP_1HB    272
-#define DMP_1LB    274
-#define DMP_0H    276
-#define DMP_0L    278
-#define DMP_ASR22H    280
-#define DMP_ASR22L    282
-#define DMP_ASR6H    284
-#define DMP_ASR6L    286
-#define DMP_TMP13    288
-#define DMP_TMP14    290
-#define DMP_FINTXH    292
-#define DMP_FINTXL    294
-#define DMP_FINTYH    296
-#define DMP_FINTYL    298
-#define DMP_FINTZH    300
-#define DMP_FINTZL    302
-#define DMP_TMP1BH    304
-#define DMP_TMP1BL    306
-#define DMP_TMP2BH    308
-#define DMP_TMP2BL    310
-#define DMP_TMP3BH    312
-#define DMP_TMP3BL    314
-#define DMP_TMP4BH    316
-#define DMP_TMP4BL    318
-#define DMP_STXG    320
-#define DMP_ZCTXG    322
-#define DMP_STYG    324
-#define DMP_ZCTYG    326
-#define DMP_STZG    328
-#define DMP_ZCTZG    330
-#define DMP_CTRLSFJT2    332
-#define DMP_CTRLSFJTCNT    334
-#define DMP_PVXG    336
-#define DMP_TMP15    338
-#define DMP_PVYG    340
-#define DMP_TMP16    342
-#define DMP_PVZG    344
-#define DMP_TMP17    346
-#define DMP_MNMFLAGH    352
-#define DMP_MNMFLAGL    354
-#define DMP_MNMTMH    356
-#define DMP_MNMTML    358
-#define DMP_MNMTMTHRH    360
-#define DMP_MNMTMTHRL    362
-#define DMP_MNMTHRH    364
-#define DMP_MNMTHRL    366
-#define DMP_ACCQD4H    368
-#define DMP_ACCQD4L    370
-#define DMP_ACCQD5H    372
-#define DMP_ACCQD5L    374
-#define DMP_ACCQD6H    376
-#define DMP_ACCQD6L    378
-#define DMP_ACCQD7H    380
-#define DMP_ACCQD7L    382
-#define DMP_ACCQD0H    384
-#define DMP_ACCQD0L    386
-#define DMP_ACCQD1H    388
-#define DMP_ACCQD1L    390
-#define DMP_ACCQD2H    392
-#define DMP_ACCQD2L    394
-#define DMP_ACCQD3H    396
-#define DMP_ACCQD3L    398
-#define DMP_XN2H    400
-#define DMP_XN2L    402
-#define DMP_XN1H    404
-#define DMP_XN1L    406
-#define DMP_YN2H    408
-#define DMP_YN2L    410
-#define DMP_YN1H    412
-#define DMP_YN1L    414
-#define DMP_YH    416
-#define DMP_YL    418
-#define DMP_B0H    420
-#define DMP_B0L    422
-#define DMP_A1H    424
-#define DMP_A1L    426
-#define DMP_A2H    428
-#define DMP_A2L    430
-#define DMP_SEM1    432
-#define DMP_FIFOCNT    434
-#define DMP_SH_TH_X    436
-#define DMP_PACKET    438
-#define DMP_SH_TH_Y    440
-#define DMP_FOOTER    442
-#define DMP_SH_TH_Z    444
-#define DMP_TEMP29    448
-#define DMP_TEMP30    450
-#define DMP_XACCB_PRE    452
-#define DMP_XACCB_PREL    454
-#define DMP_YACCB_PRE    456
-#define DMP_YACCB_PREL    458
-#define DMP_ZACCB_PRE    460
-#define DMP_ZACCB_PREL    462
-#define DMP_TMP22    464
-#define DMP_TAP_TIMER    466
-#define DMP_TAP_THX    468
-#define DMP_TAP_THY    472
-#define DMP_TAP_THZ    476
-#define DMP_TAPW_MIN    478
-#define DMP_TMP25    480
-#define DMP_TMP26    482
-#define DMP_TMP27    484
-#define DMP_TMP28    486
-#define DMP_ORIENT    488
-#define DMP_THRSH    490
-#define DMP_ENDIANH    492
-#define DMP_ENDIANL    494
-#define DMP_BLPFNMTCH    496
-#define DMP_BLPFNMTCL    498
-#define DMP_BLPFNMXH    500
-#define DMP_BLPFNMXL    502
-#define DMP_BLPFNMYH    504
-#define DMP_BLPFNMYL    506
-#define DMP_BLPFNMZH    508
-#define DMP_BLPFNMZL    510
-#ifdef __cplusplus
-}
-#endif
-#endif // DMPMAP_H

Core备份3/imu6/inv_mpu6.c

@@ -1,2774 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
-    See included License.txt for License information.
- $
- */
-/**
- *  @addtogroup  DRIVERS Sensor Driver Layer
- *  @brief       Hardware drivers to communicate with sensors via I2C.
- *
- *  @{
- *      @file       inv_mpu.c
- *      @brief      An I2C-based driver for Invensense gyroscopes.
- *      @details    This driver currently works for the following devices:
- *                  MPU6050
- *                  MPU6500
- *                  MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus)
- *                  MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus)
- */
-#include <stdio.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-#include "inv_mpu6.h"
-
-#include "MPU60506.h"
-
-
-/* The following functions must be defined for this platform:
- * i2c_write(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char const *data)
- * i2c_read(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char *data)
- * delay_ms(unsigned long num_ms)
- * get_ms(unsigned long *count)
- * reg_int_cb(void (*cb)(void), unsigned char port, unsigned char pin)
- * labs(long x)
- * fabsf(float x)
- * min(int a, int b)
- */
-#if defined MOTION_DRIVER_TARGET_MSP430
-#include "msp430.h"
-#include "msp430_i2c.h"
-#include "msp430_clock.h"
-#include "msp430_interrupt.h"
-#define i2c_write   msp430_i2c_write
-#define i2c_read    msp430_i2c_read
-#define delay_ms    msp430_delay_ms
-#define get_ms      msp430_get_clock_ms
-static inline int reg_int_cb(struct int_param_s *int_param)
-{
-    return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit,
-        int_param->active_low);
-}
-#define log_i(...)     do {} while (0)
-#define log_e(...)     do {} while (0)
-/* labs is already defined by TI's toolchain. */
-/* fabs is for doubles. fabsf is for floats. */
-#define fabs        fabsf
-#define min(a,b) ((a<b)?a:b)
-#elif defined EMPL_TARGET_MSP430
-#include "msp430.h"
-#include "msp430_i2c.h"
-#include "msp430_clock.h"
-#include "msp430_interrupt.h"
-#include "log.h"
-#define i2c_write   msp430_i2c_write
-#define i2c_read    msp430_i2c_read
-#define delay_ms    msp430_delay_ms
-#define get_ms      msp430_get_clock_ms
-static inline int reg_int_cb(struct int_param_s *int_param)
-{
-    return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit,
-        int_param->active_low);
-}
-#define log_i       MPL_LOGI
-#define log_e       MPL_LOGE
-/* labs is already defined by TI's toolchain. */
-/* fabs is for doubles. fabsf is for floats. */
-#define fabs        fabsf
-#define min(a,b) ((a<b)?a:b)
-#elif defined EMPL_TARGET_UC3L0
-/* Instead of using the standard TWI driver from the ASF library, we're using
- * a TWI driver that follows the slave address + register address convention.
- */
-#include "twi.h"
-#include "delay.h"
-#include "sysclk.h"
-#include "log.h"
-#include "sensors_xplained.h"
-#include "uc3l0_clock.h"
-#define i2c_write(a, b, c, d)   twi_write(a, b, d, c)
-#define i2c_read(a, b, c, d)    twi_read(a, b, d, c)
-/* delay_ms is a function already defined in ASF. */
-#define get_ms  uc3l0_get_clock_ms
-static inline int reg_int_cb(struct int_param_s *int_param)
-{
-    sensor_board_irq_connect(int_param->pin, int_param->cb, int_param->arg);
-    return 0;
-}
-#define log_i       MPL_LOGI
-#define log_e       MPL_LOGE
-/* UC3 is a 32-bit processor, so abs and labs are equivalent. */
-#define labs        abs
-#define fabs(x)     (((x)>0)?(x):-(x))
-#elif defined MOTION_DRIVER_TARGET_STM32
-
-/* The following functions must be defined for this platform:
- * i2c_write(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char const *data)
- * i2c_read(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char *data)
- * delay_ms(unsigned long num_ms)
- * get_ms(unsigned long *count)
- * reg_int_cb(void (*cb)(void), unsigned char port, unsigned char pin)
- * labs(long x)
- * fabsf(float x)
- * min(int a, int b)
- */
-
-#define i2c_write   IIC_Write_Len
-#define i2c_read    IIC_Read_Len
-#define delay_ms    HAL_Delay
-#define get_ms      get_tick_count
-//static inline int reg_int_cb(struct int_param_s *int_param)
-//{
-////    return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit,
-////        int_param->active_low);
-//}
-//#define log_i(...)     do {} while (0)
-//#define log_e(...)     do {} while (0)
-
-#define log_i     printf
-#define log_e     printf
-
-/* labs is already defined by TI's toolchain. */
-/* fabs is for doubles. fabsf is for floats. */
-#define fabs        fabsf
-#define min(a,b) ((a<b)?a:b)
-
-#else
-#error  Gyro driver is missing the system layer implementations.
-#endif
-
-#if !defined MPU6050 && !defined MPU9150 && !defined MPU6500 && !defined MPU9250
-#error  Which gyro are you using? Define MPUxxxx in your compiler options.
-#endif
-
-/* Time for some messy macro work. =]
- * #define MPU9150
- * is equivalent to..
- * #define MPU6050
- * #define AK8975_SECONDARY
- *
- * #define MPU9250
- * is equivalent to..
- * #define MPU6500
- * #define AK8963_SECONDARY
- */
-#if defined MPU9150
-#ifndef MPU6050
-#define MPU6050
-#endif                          /* #ifndef MPU6050 */
-#if defined AK8963_SECONDARY
-#error "MPU9150 and AK8963_SECONDARY cannot both be defined."
-#elif !defined AK8975_SECONDARY /* #if defined AK8963_SECONDARY */
-#define AK8975_SECONDARY
-#endif                          /* #if defined AK8963_SECONDARY */
-#elif defined MPU9250           /* #if defined MPU9150 */
-#ifndef MPU6500
-#define MPU6500
-#endif                          /* #ifndef MPU6500 */
-#if defined AK8975_SECONDARY
-#error "MPU9250 and AK8975_SECONDARY cannot both be defined."
-#elif !defined AK8963_SECONDARY /* #if defined AK8975_SECONDARY */
-#define AK8963_SECONDARY
-#endif                          /* #if defined AK8975_SECONDARY */
-#endif                          /* #if defined MPU9150 */
-
-#if defined AK8975_SECONDARY || defined AK8963_SECONDARY
-#define AK89xx_SECONDARY
-#else
-/* #warning "No compass = less profit for Invensense. Lame." */
-#endif
-
-static int set_int_enable(unsigned char enable);
-
-/* Hardware registers needed by driver. */
-struct gyro_reg_s {
-    unsigned char who_am_i;
-    unsigned char rate_div;
-    unsigned char lpf;
-    unsigned char prod_id;
-    unsigned char user_ctrl;
-    unsigned char fifo_en;
-    unsigned char gyro_cfg;
-    unsigned char accel_cfg;
-    unsigned char accel_cfg2;
-    unsigned char lp_accel_odr;
-    unsigned char motion_thr;
-    unsigned char motion_dur;
-    unsigned char fifo_count_h;
-    unsigned char fifo_r_w;
-    unsigned char raw_gyro;
-    unsigned char raw_accel;
-    unsigned char temp;
-    unsigned char int_enable;
-    unsigned char dmp_int_status;
-    unsigned char int_status;
-    unsigned char accel_intel;
-    unsigned char pwr_mgmt_1;
-    unsigned char pwr_mgmt_2;
-    unsigned char int_pin_cfg;
-    unsigned char mem_r_w;
-    unsigned char accel_offs;
-    unsigned char i2c_mst;
-    unsigned char bank_sel;
-    unsigned char mem_start_addr;
-    unsigned char prgm_start_h;
-#if defined AK89xx_SECONDARY
-    unsigned char s0_addr;
-    unsigned char s0_reg;
-    unsigned char s0_ctrl;
-    unsigned char s1_addr;
-    unsigned char s1_reg;
-    unsigned char s1_ctrl;
-    unsigned char s4_ctrl;
-    unsigned char s0_do;
-    unsigned char s1_do;
-    unsigned char i2c_delay_ctrl;
-    unsigned char raw_compass;
-    /* The I2C_MST_VDDIO bit is in this register. */
-    unsigned char yg_offs_tc;
-#endif
-};
-
-/* Information specific to a particular device. */
-struct hw_s {
-    unsigned char addr;
-    unsigned short max_fifo;
-    unsigned char num_reg;
-    unsigned short temp_sens;
-    short temp_offset;
-    unsigned short bank_size;
-#if defined AK89xx_SECONDARY
-    unsigned short compass_fsr;
-#endif
-};
-
-/* When entering motion interrupt mode, the driver keeps track of the
- * previous state so that it can be restored at a later time.
- * TODO: This is tacky. Fix it.
- */
-struct motion_int_cache_s {
-    unsigned short gyro_fsr;
-    unsigned char accel_fsr;
-    unsigned short lpf;
-    unsigned short sample_rate;
-    unsigned char sensors_on;
-    unsigned char fifo_sensors;
-    unsigned char dmp_on;
-};
-
-/* Cached chip configuration data.
- * TODO: A lot of these can be handled with a bitmask.
- */
-struct chip_cfg_s {
-    /* Matches gyro_cfg >> 3 & 0x03 */
-    unsigned char gyro_fsr;
-    /* Matches accel_cfg >> 3 & 0x03 */
-    unsigned char accel_fsr;
-    /* Enabled sensors. Uses same masks as fifo_en, NOT pwr_mgmt_2. */
-    unsigned char sensors;
-    /* Matches config register. */
-    unsigned char lpf;
-    unsigned char clk_src;
-    /* Sample rate, NOT rate divider. */
-    unsigned short sample_rate;
-    /* Matches fifo_en register. */
-    unsigned char fifo_enable;
-    /* Matches int enable register. */
-    unsigned char int_enable;
-    /* 1 if devices on auxiliary I2C bus appear on the primary. */
-    unsigned char bypass_mode;
-    /* 1 if half-sensitivity.
-     * NOTE: This doesn't belong here, but everything else in hw_s is const,
-     * and this allows us to save some precious RAM.
-     */
-    unsigned char accel_half;
-    /* 1 if device in low-power accel-only mode. */
-    unsigned char lp_accel_mode;
-    /* 1 if interrupts are only triggered on motion events. */
-    unsigned char int_motion_only;
-    struct motion_int_cache_s cache;
-    /* 1 for active low interrupts. */
-    unsigned char active_low_int;
-    /* 1 for latched interrupts. */
-    unsigned char latched_int;
-    /* 1 if DMP is enabled. */
-    unsigned char dmp_on;
-    /* Ensures that DMP will only be loaded once. */
-    unsigned char dmp_loaded;
-    /* Sampling rate used when DMP is enabled. */
-    unsigned short dmp_sample_rate;
-#ifdef AK89xx_SECONDARY
-    /* Compass sample rate. */
-    unsigned short compass_sample_rate;
-    unsigned char compass_addr;
-    short mag_sens_adj[3];
-#endif
-};
-
-/* Information for self-test. */
-struct test_s {
-    unsigned long gyro_sens;
-    unsigned long accel_sens;
-    unsigned char reg_rate_div;
-    unsigned char reg_lpf;
-    unsigned char reg_gyro_fsr;
-    unsigned char reg_accel_fsr;
-    unsigned short wait_ms;
-    unsigned char packet_thresh;
-    float min_dps;
-    float max_dps;
-    float max_gyro_var;
-    float min_g;
-    float max_g;
-    float max_accel_var;
-};
-
-/* Gyro driver state variables. */
-struct gyro_state_s {
-    const struct gyro_reg_s *reg;
-    const struct hw_s *hw;
-    struct chip_cfg_s chip_cfg;
-    const struct test_s *test;
-};
-
-/* Filter configurations. */
-enum lpf_e {
-    INV_FILTER_256HZ_NOLPF2 = 0,
-    INV_FILTER_188HZ,
-    INV_FILTER_98HZ,
-    INV_FILTER_42HZ,
-    INV_FILTER_20HZ,
-    INV_FILTER_10HZ,
-    INV_FILTER_5HZ,
-    INV_FILTER_2100HZ_NOLPF,
-    NUM_FILTER
-};
-
-/* Full scale ranges. */
-enum gyro_fsr_e {
-    INV_FSR_250DPS = 0,
-    INV_FSR_500DPS,
-    INV_FSR_1000DPS,
-    INV_FSR_2000DPS,
-    NUM_GYRO_FSR
-};
-
-/* Full scale ranges. */
-enum accel_fsr_e {
-    INV_FSR_2G = 0,
-    INV_FSR_4G,
-    INV_FSR_8G,
-    INV_FSR_16G,
-    NUM_ACCEL_FSR
-};
-
-/* Clock sources. */
-enum clock_sel_e {
-    INV_CLK_INTERNAL = 0,
-    INV_CLK_PLL,
-    NUM_CLK
-};
-
-/* Low-power accel wakeup rates. */
-enum lp_accel_rate_e {
-#if defined MPU6050
-    INV_LPA_1_25HZ,
-    INV_LPA_5HZ,
-    INV_LPA_20HZ,
-    INV_LPA_40HZ
-#elif defined MPU6500
-    INV_LPA_0_3125HZ,
-    INV_LPA_0_625HZ,
-    INV_LPA_1_25HZ,
-    INV_LPA_2_5HZ,
-    INV_LPA_5HZ,
-    INV_LPA_10HZ,
-    INV_LPA_20HZ,
-    INV_LPA_40HZ,
-    INV_LPA_80HZ,
-    INV_LPA_160HZ,
-    INV_LPA_320HZ,
-    INV_LPA_640HZ
-#endif
-};
-
-#define BIT_I2C_MST_VDDIO   (0x80)
-#define BIT_FIFO_EN         (0x40)
-#define BIT_DMP_EN          (0x80)
-#define BIT_FIFO_RST        (0x04)
-#define BIT_DMP_RST         (0x08)
-#define BIT_FIFO_OVERFLOW   (0x10)
-#define BIT_DATA_RDY_EN     (0x01)
-#define BIT_DMP_INT_EN      (0x02)
-#define BIT_MOT_INT_EN      (0x40)
-#define BITS_FSR            (0x18)
-#define BITS_LPF            (0x07)
-#define BITS_HPF            (0x07)
-#define BITS_CLK            (0x07)
-#define BIT_FIFO_SIZE_1024  (0x40)
-#define BIT_FIFO_SIZE_2048  (0x80)
-#define BIT_FIFO_SIZE_4096  (0xC0)
-#define BIT_RESET           (0x80)
-#define BIT_SLEEP           (0x40)
-#define BIT_S0_DELAY_EN     (0x01)
-#define BIT_S2_DELAY_EN     (0x04)
-#define BITS_SLAVE_LENGTH   (0x0F)
-#define BIT_SLAVE_BYTE_SW   (0x40)
-#define BIT_SLAVE_GROUP     (0x10)
-#define BIT_SLAVE_EN        (0x80)
-#define BIT_I2C_READ        (0x80)
-#define BITS_I2C_MASTER_DLY (0x1F)
-#define BIT_AUX_IF_EN       (0x20)
-#define BIT_ACTL            (0x80)
-#define BIT_LATCH_EN        (0x20)
-#define BIT_ANY_RD_CLR      (0x10)
-#define BIT_BYPASS_EN       (0x02)
-#define BITS_WOM_EN         (0xC0)
-#define BIT_LPA_CYCLE       (0x20)
-#define BIT_STBY_XA         (0x20)
-#define BIT_STBY_YA         (0x10)
-#define BIT_STBY_ZA         (0x08)
-#define BIT_STBY_XG         (0x04)
-#define BIT_STBY_YG         (0x02)
-#define BIT_STBY_ZG         (0x01)
-#define BIT_STBY_XYZA       (BIT_STBY_XA | BIT_STBY_YA | BIT_STBY_ZA)
-#define BIT_STBY_XYZG       (BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG)
-
-#if defined AK8975_SECONDARY
-#define SUPPORTS_AK89xx_HIGH_SENS   (0x00)
-#define AK89xx_FSR                  (9830)
-#elif defined AK8963_SECONDARY
-#define SUPPORTS_AK89xx_HIGH_SENS   (0x10)
-#define AK89xx_FSR                  (4915)
-#endif
-
-#ifdef AK89xx_SECONDARY
-#define AKM_REG_WHOAMI      (0x00)
-
-#define AKM_REG_ST1         (0x02)
-#define AKM_REG_HXL         (0x03)
-#define AKM_REG_ST2         (0x09)
-
-#define AKM_REG_CNTL        (0x0A)
-#define AKM_REG_ASTC        (0x0C)
-#define AKM_REG_ASAX        (0x10)
-#define AKM_REG_ASAY        (0x11)
-#define AKM_REG_ASAZ        (0x12)
-
-#define AKM_DATA_READY      (0x01)
-#define AKM_DATA_OVERRUN    (0x02)
-#define AKM_OVERFLOW        (0x80)
-#define AKM_DATA_ERROR      (0x40)
-
-#define AKM_BIT_SELF_TEST   (0x40)
-
-#define AKM_POWER_DOWN          (0x00 | SUPPORTS_AK89xx_HIGH_SENS)
-#define AKM_SINGLE_MEASUREMENT  (0x01 | SUPPORTS_AK89xx_HIGH_SENS)
-#define AKM_FUSE_ROM_ACCESS     (0x0F | SUPPORTS_AK89xx_HIGH_SENS)
-#define AKM_MODE_SELF_TEST      (0x08 | SUPPORTS_AK89xx_HIGH_SENS)
-
-#define AKM_WHOAMI      (0x48)
-#endif
-
-#if defined MPU6050
-const struct gyro_reg_s reg = {
-    .who_am_i       = 0x75,
-    .rate_div       = 0x19,
-    .lpf            = 0x1A,
-    .prod_id        = 0x0C,
-    .user_ctrl      = 0x6A,
-    .fifo_en        = 0x23,
-    .gyro_cfg       = 0x1B,
-    .accel_cfg      = 0x1C,
-    .motion_thr     = 0x1F,
-    .motion_dur     = 0x20,
-    .fifo_count_h   = 0x72,
-    .fifo_r_w       = 0x74,
-    .raw_gyro       = 0x43,
-    .raw_accel      = 0x3B,
-    .temp           = 0x41,
-    .int_enable     = 0x38,
-    .dmp_int_status = 0x39,
-    .int_status     = 0x3A,
-    .pwr_mgmt_1     = 0x6B,
-    .pwr_mgmt_2     = 0x6C,
-    .int_pin_cfg    = 0x37,
-    .mem_r_w        = 0x6F,
-    .accel_offs     = 0x06,
-    .i2c_mst        = 0x24,
-    .bank_sel       = 0x6D,
-    .mem_start_addr = 0x6E,
-    .prgm_start_h   = 0x70
-#ifdef AK89xx_SECONDARY
-    ,.raw_compass   = 0x49,
-    .yg_offs_tc     = 0x01,
-    .s0_addr        = 0x25,
-    .s0_reg         = 0x26,
-    .s0_ctrl        = 0x27,
-    .s1_addr        = 0x28,
-    .s1_reg         = 0x29,
-    .s1_ctrl        = 0x2A,
-    .s4_ctrl        = 0x34,
-    .s0_do          = 0x63,
-    .s1_do          = 0x64,
-    .i2c_delay_ctrl = 0x67
-#endif
-};
-const struct hw_s hw = {
-    .addr           = 0x68,
-    .max_fifo       = 1024,
-    .num_reg        = 118,
-    .temp_sens      = 340,
-    .temp_offset    = -521,
-    .bank_size      = 256
-#if defined AK89xx_SECONDARY
-    ,.compass_fsr    = AK89xx_FSR
-#endif
-};
-
-const struct test_s test = {
-    .gyro_sens      = 32768/250,
-    .accel_sens     = 32768/16,
-    .reg_rate_div   = 0,    /* 1kHz. */
-    .reg_lpf        = 1,    /* 188Hz. */
-    .reg_gyro_fsr   = 0,    /* 250dps. */
-    .reg_accel_fsr  = 0x18, /* 16g. */
-    .wait_ms        = 50,
-    .packet_thresh  = 5,    /* 5% */
-    .min_dps        = 10.f,
-    .max_dps        = 105.f,
-    .max_gyro_var   = 0.14f,
-    .min_g          = 0.3f,
-    .max_g          = 0.95f,
-    .max_accel_var  = 0.14f
-};
-
-static struct gyro_state_s st = {
-    .reg = &reg,
-    .hw = &hw,
-    .test = &test
-};
-#elif defined MPU6500
-const struct gyro_reg_s reg = {
-    .who_am_i       = 0x75,
-    .rate_div       = 0x19,
-    .lpf            = 0x1A,
-    .prod_id        = 0x0C,
-    .user_ctrl      = 0x6A,
-    .fifo_en        = 0x23,
-    .gyro_cfg       = 0x1B,
-    .accel_cfg      = 0x1C,
-    .accel_cfg2     = 0x1D,
-    .lp_accel_odr   = 0x1E,
-    .motion_thr     = 0x1F,
-    .motion_dur     = 0x20,
-    .fifo_count_h   = 0x72,
-    .fifo_r_w       = 0x74,
-    .raw_gyro       = 0x43,
-    .raw_accel      = 0x3B,
-    .temp           = 0x41,
-    .int_enable     = 0x38,
-    .dmp_int_status = 0x39,
-    .int_status     = 0x3A,
-    .accel_intel    = 0x69,
-    .pwr_mgmt_1     = 0x6B,
-    .pwr_mgmt_2     = 0x6C,
-    .int_pin_cfg    = 0x37,
-    .mem_r_w        = 0x6F,
-    .accel_offs     = 0x77,
-    .i2c_mst        = 0x24,
-    .bank_sel       = 0x6D,
-    .mem_start_addr = 0x6E,
-    .prgm_start_h   = 0x70
-#ifdef AK89xx_SECONDARY
-    ,.raw_compass   = 0x49,
-    .s0_addr        = 0x25,
-    .s0_reg         = 0x26,
-    .s0_ctrl        = 0x27,
-    .s1_addr        = 0x28,
-    .s1_reg         = 0x29,
-    .s1_ctrl        = 0x2A,
-    .s4_ctrl        = 0x34,
-    .s0_do          = 0x63,
-    .s1_do          = 0x64,
-    .i2c_delay_ctrl = 0x67
-#endif
-};
-const struct hw_s hw = {
-    .addr           = 0x68,
-    .max_fifo       = 1024,
-    .num_reg        = 128,
-    .temp_sens      = 321,
-    .temp_offset    = 0,
-    .bank_size      = 256
-#if defined AK89xx_SECONDARY
-    ,.compass_fsr    = AK89xx_FSR
-#endif
-};
-
-const struct test_s test = {
-    .gyro_sens      = 32768/250,
-    .accel_sens     = 32768/16,
-    .reg_rate_div   = 0,    /* 1kHz. */
-    .reg_lpf        = 1,    /* 188Hz. */
-    .reg_gyro_fsr   = 0,    /* 250dps. */
-    .reg_accel_fsr  = 0x18, /* 16g. */
-    .wait_ms        = 50,
-    .packet_thresh  = 5,    /* 5% */
-    .min_dps        = 10.f,
-    .max_dps        = 105.f,
-    .max_gyro_var   = 0.14f,
-    .min_g          = 0.3f,
-    .max_g          = 0.95f,
-    .max_accel_var  = 0.14f
-};
-
-static struct gyro_state_s st = {
-    .reg = &reg,
-    .hw = &hw,
-    .test = &test
-};
-#endif
-
-#define MAX_PACKET_LENGTH (12)
-
-#ifdef AK89xx_SECONDARY
-static int setup_compass(void);
-#define MAX_COMPASS_SAMPLE_RATE (100)
-#endif
-
-/**
- *  @brief      Enable/disable data ready interrupt.
- *  If the DMP is on, the DMP interrupt is enabled. Otherwise, the data ready
- *  interrupt is used.
- *  @param[in]  enable      1 to enable interrupt.
- *  @return     0 if successful.
- */
-static int set_int_enable(unsigned char enable)
-{
-    unsigned char tmp;
-
-    if (st.chip_cfg.dmp_on) {
-        if (enable)
-            tmp = BIT_DMP_INT_EN;
-        else
-            tmp = 0x00;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp))
-            return -1;
-        st.chip_cfg.int_enable = tmp;
-    } else {
-        if (!st.chip_cfg.sensors)
-            return -1;
-        if (enable && st.chip_cfg.int_enable)
-            return 0;
-        if (enable)
-            tmp = BIT_DATA_RDY_EN;
-        else
-            tmp = 0x00;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp))
-            return -1;
-        st.chip_cfg.int_enable = tmp;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Register dump for testing.
- *  @return     0 if successful.
- */
-int mpu_reg_dump(void)
-{
-    unsigned char ii;
-    unsigned char data;
-
-    for (ii = 0; ii < st.hw->num_reg; ii++) {
-        if (ii == st.reg->fifo_r_w || ii == st.reg->mem_r_w)
-            continue;
-        if (i2c_read(st.hw->addr, ii, 1, &data))
-            return -1;
-        log_i("%#5x: %#5x\r\n", ii, data);
-    }
-    return 0;
-}
-
-/**
- *  @brief      Read from a single register.
- *  NOTE: The memory and FIFO read/write registers cannot be accessed.
- *  @param[in]  reg     Register address.
- *  @param[out] data    Register data.
- *  @return     0 if successful.
- */
-int mpu_read_reg(unsigned char reg, unsigned char *data)
-{
-    if (reg == st.reg->fifo_r_w || reg == st.reg->mem_r_w)
-        return -1;
-    if (reg >= st.hw->num_reg)
-        return -1;
-    return i2c_read(st.hw->addr, reg, 1, data);
-}
-
-/**
- *  @brief      Initialize hardware.
- *  Initial configuration:\n
- *  Gyro FSR: +/- 2000DPS\n
- *  Accel FSR +/- 2G\n
- *  DLPF: 42Hz\n
- *  FIFO rate: 50Hz\n
- *  Clock source: Gyro PLL\n
- *  FIFO: Disabled.\n
- *  Data ready interrupt: Disabled, active low, unlatched.
- *  @param[in]  int_param   Platform-specific parameters to interrupt API.
- *  @return     0 if successful.
- */
-int mpu_init(struct int_param_s *int_param)
-{
-    unsigned char data[6], rev;
-
-    /* Reset device. */
-    data[0] = BIT_RESET;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
-        return -1;
-    delay_ms(100);
-
-    /* Wake up chip. */
-    data[0] = 0x00;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
-        return -1;
-
-#if defined MPU6050
-    /* Check product revision. */
-    if (i2c_read(st.hw->addr, st.reg->accel_offs, 6, data))
-        return -1;
-    rev = ((data[5] & 0x01) << 2) | ((data[3] & 0x01) << 1) |
-        (data[1] & 0x01);
-
-    if (rev) {
-        /* Congrats, these parts are better. */
-        if (rev == 1)
-            st.chip_cfg.accel_half = 1;
-        else if (rev == 2)
-            st.chip_cfg.accel_half = 0;
-        else {
-            log_e("Unsupported software product rev %d.\n", rev);
-            return -1;
-        }
-    } else {
-        if (i2c_read(st.hw->addr, st.reg->prod_id, 1, data))
-            return -1;
-        rev = data[0] & 0x0F;
-        if (!rev) {
-            log_e("Product ID read as 0 indicates device is either "
-                "incompatible or an MPU3050.\n");
-            return -1;
-        } else if (rev == 4) {
-            log_i("Half sensitivity part found.\n");
-            st.chip_cfg.accel_half = 1;
-        } else
-            st.chip_cfg.accel_half = 0;
-    }
-#elif defined MPU6500
-#define MPU6500_MEM_REV_ADDR    (0x17)
-    if (mpu_read_mem(MPU6500_MEM_REV_ADDR, 1, &rev))
-        return -1;
-    if (rev == 0x1)
-        st.chip_cfg.accel_half = 0;
-    else {
-        log_e("Unsupported software product rev %d.\n", rev);
-        return -1;
-    }
-
-    /* MPU6500 shares 4kB of memory between the DMP and the FIFO. Since the
-     * first 3kB are needed by the DMP, we'll use the last 1kB for the FIFO.
-     */
-    data[0] = BIT_FIFO_SIZE_1024 | 0x8;
-    if (i2c_write(st.hw->addr, st.reg->accel_cfg2, 1, data))
-        return -1;
-#endif
-
-    /* Set to invalid values to ensure no I2C writes are skipped. */
-    st.chip_cfg.sensors = 0xFF;
-    st.chip_cfg.gyro_fsr = 0xFF;
-    st.chip_cfg.accel_fsr = 0xFF;
-    st.chip_cfg.lpf = 0xFF;
-    st.chip_cfg.sample_rate = 0xFFFF;
-    st.chip_cfg.fifo_enable = 0xFF;
-    st.chip_cfg.bypass_mode = 0xFF;
-#ifdef AK89xx_SECONDARY
-    st.chip_cfg.compass_sample_rate = 0xFFFF;
-#endif
-    /* mpu_set_sensors always preserves this setting. */
-    st.chip_cfg.clk_src = INV_CLK_PLL;
-    /* Handled in next call to mpu_set_bypass. */
-    st.chip_cfg.active_low_int = 1;
-    st.chip_cfg.latched_int = 0;
-    st.chip_cfg.int_motion_only = 0;
-    st.chip_cfg.lp_accel_mode = 0;
-    memset(&st.chip_cfg.cache, 0, sizeof(st.chip_cfg.cache));
-    st.chip_cfg.dmp_on = 0;
-    st.chip_cfg.dmp_loaded = 0;
-    st.chip_cfg.dmp_sample_rate = 0;
-
-    if (mpu_set_gyro_fsr(2000))
-        return -1;
-    if (mpu_set_accel_fsr(2))
-        return -1;
-    if (mpu_set_lpf(42))
-        return -1;
-    if (mpu_set_sample_rate(50))
-        return -1;
-    if (mpu_configure_fifo(0))
-        return -1;
-
-#ifndef MOTION_DRIVER_TARGET_STM32
-    if (int_param)
-        reg_int_cb(int_param);
-#endif
-
-#ifdef AK89xx_SECONDARY
-    setup_compass();
-    if (mpu_set_compass_sample_rate(10))
-        return -1;
-#else
-    /* Already disabled by setup_compass. */
-    if (mpu_set_bypass(0))
-        return -1;
-#endif
-
-    mpu_set_sensors(0);
-    return 0;
-}
-
-/**
- *  @brief      Enter low-power accel-only mode.
- *  In low-power accel mode, the chip goes to sleep and only wakes up to sample
- *  the accelerometer at one of the following frequencies:
- *  \n MPU6050: 1.25Hz, 5Hz, 20Hz, 40Hz
- *  \n MPU6500: 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz
- *  \n If the requested rate is not one listed above, the device will be set to
- *  the next highest rate. Requesting a rate above the maximum supported
- *  frequency will result in an error.
- *  \n To select a fractional wake-up frequency, round down the value passed to
- *  @e rate.
- *  @param[in]  rate        Minimum sampling rate, or zero to disable LP
- *                          accel mode.
- *  @return     0 if successful.
- */
-int mpu_lp_accel_mode(unsigned char rate)
-{
-    unsigned char tmp[2];
-
-    if (rate > 40)
-        return -1;
-
-    if (!rate) {
-        mpu_set_int_latched(0);
-        tmp[0] = 0;
-        tmp[1] = BIT_STBY_XYZG;
-        if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp))
-            return -1;
-        st.chip_cfg.lp_accel_mode = 0;
-        return 0;
-    }
-    /* For LP accel, we automatically configure the hardware to produce latched
-     * interrupts. In LP accel mode, the hardware cycles into sleep mode before
-     * it gets a chance to deassert the interrupt pin; therefore, we shift this
-     * responsibility over to the MCU.
-     *
-     * Any register read will clear the interrupt.
-     */
-    mpu_set_int_latched(1);
-#if defined MPU6050
-    tmp[0] = BIT_LPA_CYCLE;
-    if (rate == 1) {
-        tmp[1] = INV_LPA_1_25HZ;
-        mpu_set_lpf(5);
-    } else if (rate <= 5) {
-        tmp[1] = INV_LPA_5HZ;
-        mpu_set_lpf(5);
-    } else if (rate <= 20) {
-        tmp[1] = INV_LPA_20HZ;
-        mpu_set_lpf(10);
-    } else {
-        tmp[1] = INV_LPA_40HZ;
-        mpu_set_lpf(20);
-    }
-    tmp[1] = (tmp[1] << 6) | BIT_STBY_XYZG;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp))
-        return -1;
-#elif defined MPU6500
-    /* Set wake frequency. */
-    if (rate == 1)
-        tmp[0] = INV_LPA_1_25HZ;
-    else if (rate == 2)
-        tmp[0] = INV_LPA_2_5HZ;
-    else if (rate <= 5)
-        tmp[0] = INV_LPA_5HZ;
-    else if (rate <= 10)
-        tmp[0] = INV_LPA_10HZ;
-    else if (rate <= 20)
-        tmp[0] = INV_LPA_20HZ;
-    else if (rate <= 40)
-        tmp[0] = INV_LPA_40HZ;
-    else if (rate <= 80)
-        tmp[0] = INV_LPA_80HZ;
-    else if (rate <= 160)
-        tmp[0] = INV_LPA_160HZ;
-    else if (rate <= 320)
-        tmp[0] = INV_LPA_320HZ;
-    else
-        tmp[0] = INV_LPA_640HZ;
-    if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, tmp))
-        return -1;
-    tmp[0] = BIT_LPA_CYCLE;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, tmp))
-        return -1;
-#endif
-    st.chip_cfg.sensors = INV_XYZ_ACCEL;
-    st.chip_cfg.clk_src = 0;
-    st.chip_cfg.lp_accel_mode = 1;
-    mpu_configure_fifo(0);
-
-    return 0;
-}
-
-/**
- *  @brief      Read raw gyro data directly from the registers.
- *  @param[out] data        Raw data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds. Null if not needed.
- *  @return     0 if successful.
- */
-int mpu_get_gyro_reg(short *data, unsigned long *timestamp)
-{
-    unsigned char tmp[6];
-
-    if (!(st.chip_cfg.sensors & INV_XYZ_GYRO))
-        return -1;
-
-    if (i2c_read(st.hw->addr, st.reg->raw_gyro, 6, tmp))
-        return -1;
-    data[0] = (tmp[0] << 8) | tmp[1];
-    data[1] = (tmp[2] << 8) | tmp[3];
-    data[2] = (tmp[4] << 8) | tmp[5];
-    if (timestamp)
-        get_ms(timestamp);
-    return 0;
-}
-
-/**
- *  @brief      Read raw accel data directly from the registers.
- *  @param[out] data        Raw data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds. Null if not needed.
- *  @return     0 if successful.
- */
-int mpu_get_accel_reg(short *data, unsigned long *timestamp)
-{
-    unsigned char tmp[6];
-
-    if (!(st.chip_cfg.sensors & INV_XYZ_ACCEL))
-        return -1;
-
-    if (i2c_read(st.hw->addr, st.reg->raw_accel, 6, tmp))
-        return -1;
-    data[0] = (tmp[0] << 8) | tmp[1];
-    data[1] = (tmp[2] << 8) | tmp[3];
-    data[2] = (tmp[4] << 8) | tmp[5];
-    if (timestamp)
-        get_ms(timestamp);
-    return 0;
-}
-
-/**
- *  @brief      Read temperature data directly from the registers.
- *  @param[out] data        Data in q16 format.
- *  @param[out] timestamp   Timestamp in milliseconds. Null if not needed.
- *  @return     0 if successful.
- */
-int mpu_get_temperature(long *data, unsigned long *timestamp)
-{
-    unsigned char tmp[2];
-    short raw;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    if (i2c_read(st.hw->addr, st.reg->temp, 2, tmp))
-        return -1;
-    raw = (tmp[0] << 8) | tmp[1];
-    if (timestamp)
-        get_ms(timestamp);
-
-    data[0] = (long)((35 + ((raw - (float)st.hw->temp_offset) / st.hw->temp_sens)) * 65536L);
-    return 0;
-}
-
-/**
- *  @brief      Push biases to the accel bias registers.
- *  This function expects biases relative to the current sensor output, and
- *  these biases will be added to the factory-supplied values.
- *  @param[in]  accel_bias  New biases.
- *  @return     0 if successful.
- */
-int mpu_set_accel_bias(const long *accel_bias)
-{
-    unsigned char data[6];
-    short accel_hw[3];
-    short got_accel[3];
-    short fg[3];
-
-    if (!accel_bias)
-        return -1;
-    if (!accel_bias[0] && !accel_bias[1] && !accel_bias[2])
-        return 0;
-
-    if (i2c_read(st.hw->addr, 3, 3, data))
-        return -1;
-    fg[0] = ((data[0] >> 4) + 8) & 0xf;
-    fg[1] = ((data[1] >> 4) + 8) & 0xf;
-    fg[2] = ((data[2] >> 4) + 8) & 0xf;
-
-    accel_hw[0] = (short)(accel_bias[0] * 2 / (64 + fg[0]));
-    accel_hw[1] = (short)(accel_bias[1] * 2 / (64 + fg[1]));
-    accel_hw[2] = (short)(accel_bias[2] * 2 / (64 + fg[2]));
-
-    if (i2c_read(st.hw->addr, 0x06, 6, data))
-        return -1;
-
-    got_accel[0] = ((short)data[0] << 8) | data[1];
-    got_accel[1] = ((short)data[2] << 8) | data[3];
-    got_accel[2] = ((short)data[4] << 8) | data[5];
-
-    accel_hw[0] += got_accel[0];
-    accel_hw[1] += got_accel[1];
-    accel_hw[2] += got_accel[2];
-
-    data[0] = (accel_hw[0] >> 8) & 0xff;
-    data[1] = (accel_hw[0]) & 0xff;
-    data[2] = (accel_hw[1] >> 8) & 0xff;
-    data[3] = (accel_hw[1]) & 0xff;
-    data[4] = (accel_hw[2] >> 8) & 0xff;
-    data[5] = (accel_hw[2]) & 0xff;
-
-    if (i2c_write(st.hw->addr, 0x06, 6, data))
-        return -1;
-    return 0;
-}
-
-/**
- *  @brief  Reset FIFO read/write pointers.
- *  @return 0 if successful.
- */
-int mpu_reset_fifo(void)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    data = 0;
-    if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-        return -1;
-
-    if (st.chip_cfg.dmp_on) {
-        data = BIT_FIFO_RST | BIT_DMP_RST;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-            return -1;
-        delay_ms(50);
-        data = BIT_DMP_EN | BIT_FIFO_EN;
-        if (st.chip_cfg.sensors & INV_XYZ_COMPASS)
-            data |= BIT_AUX_IF_EN;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-            return -1;
-        if (st.chip_cfg.int_enable)
-            data = BIT_DMP_INT_EN;
-        else
-            data = 0;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data))
-            return -1;
-        data = 0;
-        if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &data))
-            return -1;
-    } else {
-        data = BIT_FIFO_RST;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-            return -1;
-        if (st.chip_cfg.bypass_mode || !(st.chip_cfg.sensors & INV_XYZ_COMPASS))
-            data = BIT_FIFO_EN;
-        else
-            data = BIT_FIFO_EN | BIT_AUX_IF_EN;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
-            return -1;
-        delay_ms(50);
-        if (st.chip_cfg.int_enable)
-            data = BIT_DATA_RDY_EN;
-        else
-            data = 0;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data))
-            return -1;
-        if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &st.chip_cfg.fifo_enable))
-            return -1;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Get the gyro full-scale range.
- *  @param[out] fsr Current full-scale range.
- *  @return     0 if successful.
- */
-int mpu_get_gyro_fsr(unsigned short *fsr)
-{
-    switch (st.chip_cfg.gyro_fsr) {
-    case INV_FSR_250DPS:
-        fsr[0] = 250;
-        break;
-    case INV_FSR_500DPS:
-        fsr[0] = 500;
-        break;
-    case INV_FSR_1000DPS:
-        fsr[0] = 1000;
-        break;
-    case INV_FSR_2000DPS:
-        fsr[0] = 2000;
-        break;
-    default:
-        fsr[0] = 0;
-        break;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Set the gyro full-scale range.
- *  @param[in]  fsr Desired full-scale range.
- *  @return     0 if successful.
- */
-int mpu_set_gyro_fsr(unsigned short fsr)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    switch (fsr) {
-    case 250:
-        data = INV_FSR_250DPS << 3;
-        break;
-    case 500:
-        data = INV_FSR_500DPS << 3;
-        break;
-    case 1000:
-        data = INV_FSR_1000DPS << 3;
-        break;
-    case 2000:
-        data = INV_FSR_2000DPS << 3;
-        break;
-    default:
-        return -1;
-    }
-
-    if (st.chip_cfg.gyro_fsr == (data >> 3))
-        return 0;
-    if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, &data))
-        return -1;
-    st.chip_cfg.gyro_fsr = data >> 3;
-    return 0;
-}
-
-/**
- *  @brief      Get the accel full-scale range.
- *  @param[out] fsr Current full-scale range.
- *  @return     0 if successful.
- */
-int mpu_get_accel_fsr(unsigned char *fsr)
-{
-    switch (st.chip_cfg.accel_fsr) {
-    case INV_FSR_2G:
-        fsr[0] = 2;
-        break;
-    case INV_FSR_4G:
-        fsr[0] = 4;
-        break;
-    case INV_FSR_8G:
-        fsr[0] = 8;
-        break;
-    case INV_FSR_16G:
-        fsr[0] = 16;
-        break;
-    default:
-        return -1;
-    }
-    if (st.chip_cfg.accel_half)
-        fsr[0] <<= 1;
-    return 0;
-}
-
-/**
- *  @brief      Set the accel full-scale range.
- *  @param[in]  fsr Desired full-scale range.
- *  @return     0 if successful.
- */
-int mpu_set_accel_fsr(unsigned char fsr)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    switch (fsr) {
-    case 2:
-        data = INV_FSR_2G << 3;
-        break;
-    case 4:
-        data = INV_FSR_4G << 3;
-        break;
-    case 8:
-        data = INV_FSR_8G << 3;
-        break;
-    case 16:
-        data = INV_FSR_16G << 3;
-        break;
-    default:
-        return -1;
-    }
-
-    if (st.chip_cfg.accel_fsr == (data >> 3))
-        return 0;
-    if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, &data))
-        return -1;
-    st.chip_cfg.accel_fsr = data >> 3;
-    return 0;
-}
-
-/**
- *  @brief      Get the current DLPF setting.
- *  @param[out] lpf Current LPF setting.
- *  0 if successful.
- */
-int mpu_get_lpf(unsigned short *lpf)
-{
-    switch (st.chip_cfg.lpf) {
-    case INV_FILTER_188HZ:
-        lpf[0] = 188;
-        break;
-    case INV_FILTER_98HZ:
-        lpf[0] = 98;
-        break;
-    case INV_FILTER_42HZ:
-        lpf[0] = 42;
-        break;
-    case INV_FILTER_20HZ:
-        lpf[0] = 20;
-        break;
-    case INV_FILTER_10HZ:
-        lpf[0] = 10;
-        break;
-    case INV_FILTER_5HZ:
-        lpf[0] = 5;
-        break;
-    case INV_FILTER_256HZ_NOLPF2:
-    case INV_FILTER_2100HZ_NOLPF:
-    default:
-        lpf[0] = 0;
-        break;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Set digital low pass filter.
- *  The following LPF settings are supported: 188, 98, 42, 20, 10, 5.
- *  @param[in]  lpf Desired LPF setting.
- *  @return     0 if successful.
- */
-int mpu_set_lpf(unsigned short lpf)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    if (lpf >= 188)
-        data = INV_FILTER_188HZ;
-    else if (lpf >= 98)
-        data = INV_FILTER_98HZ;
-    else if (lpf >= 42)
-        data = INV_FILTER_42HZ;
-    else if (lpf >= 20)
-        data = INV_FILTER_20HZ;
-    else if (lpf >= 10)
-        data = INV_FILTER_10HZ;
-    else
-        data = INV_FILTER_5HZ;
-
-    if (st.chip_cfg.lpf == data)
-        return 0;
-    if (i2c_write(st.hw->addr, st.reg->lpf, 1, &data))
-        return -1;
-    st.chip_cfg.lpf = data;
-    return 0;
-}
-
-/**
- *  @brief      Get sampling rate.
- *  @param[out] rate    Current sampling rate (Hz).
- *  @return     0 if successful.
- */
-int mpu_get_sample_rate(unsigned short *rate)
-{
-    if (st.chip_cfg.dmp_on)
-        return -1;
-    else
-        rate[0] = st.chip_cfg.sample_rate;
-
-    return 0;
-}
-
-/**
- *  @brief      Set sampling rate.
- *  Sampling rate must be between 4Hz and 1kHz.
- *  @param[in]  rate    Desired sampling rate (Hz).
- *  @return     0 if successful.
- */
-int mpu_set_sample_rate(unsigned short rate)
-{
-    unsigned char data;
-
-    if (!(st.chip_cfg.sensors))
-        return -1;
-
-    if (st.chip_cfg.dmp_on)
-        return -1;
-    else {
-        if (st.chip_cfg.lp_accel_mode) {
-            if (rate && (rate <= 40)) {
-                /* Just stay in low-power accel mode. */
-                mpu_lp_accel_mode(rate);
-                return 0;
-            }
-            /* Requested rate exceeds the allowed frequencies in LP accel mode,
-             * switch back to full-power mode.
-             */
-            mpu_lp_accel_mode(0);
-        }
-        if (rate < 4)
-            rate = 4;
-        else if (rate > 1000)
-            rate = 1000;
-
-        data = 1000 / rate - 1;
-        if (i2c_write(st.hw->addr, st.reg->rate_div, 1, &data))
-            return -1;
-
-        st.chip_cfg.sample_rate = 1000 / (1 + data);
-
-#ifdef AK89xx_SECONDARY
-        mpu_set_compass_sample_rate(min(st.chip_cfg.compass_sample_rate, MAX_COMPASS_SAMPLE_RATE));
-#endif
-
-        /* Automatically set LPF to 1/2 sampling rate. */
-        mpu_set_lpf(st.chip_cfg.sample_rate >> 1);
-        return 0;
-    }
-}
-
-/**
- *  @brief      Get compass sampling rate.
- *  @param[out] rate    Current compass sampling rate (Hz).
- *  @return     0 if successful.
- */
-int mpu_get_compass_sample_rate(unsigned short *rate)
-{
-#ifdef AK89xx_SECONDARY
-    rate[0] = st.chip_cfg.compass_sample_rate;
-    return 0;
-#else
-    rate[0] = 0;
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Set compass sampling rate.
- *  The compass on the auxiliary I2C bus is read by the MPU hardware at a
- *  maximum of 100Hz. The actual rate can be set to a fraction of the gyro
- *  sampling rate.
- *
- *  \n WARNING: The new rate may be different than what was requested. Call
- *  mpu_get_compass_sample_rate to check the actual setting.
- *  @param[in]  rate    Desired compass sampling rate (Hz).
- *  @return     0 if successful.
- */
-int mpu_set_compass_sample_rate(unsigned short rate)
-{
-#ifdef AK89xx_SECONDARY
-    unsigned char div;
-    if (!rate || rate > st.chip_cfg.sample_rate || rate > MAX_COMPASS_SAMPLE_RATE)
-        return -1;
-
-    div = st.chip_cfg.sample_rate / rate - 1;
-    if (i2c_write(st.hw->addr, st.reg->s4_ctrl, 1, &div))
-        return -1;
-    st.chip_cfg.compass_sample_rate = st.chip_cfg.sample_rate / (div + 1);
-    return 0;
-#else
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Get gyro sensitivity scale factor.
- *  @param[out] sens    Conversion from hardware units to dps.
- *  @return     0 if successful.
- */
-int mpu_get_gyro_sens(float *sens)
-{
-    switch (st.chip_cfg.gyro_fsr) {
-    case INV_FSR_250DPS:
-        sens[0] = 131.f;
-        break;
-    case INV_FSR_500DPS:
-        sens[0] = 65.5f;
-        break;
-    case INV_FSR_1000DPS:
-        sens[0] = 32.8f;
-        break;
-    case INV_FSR_2000DPS:
-        sens[0] = 16.4f;
-        break;
-    default:
-        return -1;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Get accel sensitivity scale factor.
- *  @param[out] sens    Conversion from hardware units to g's.
- *  @return     0 if successful.
- */
-int mpu_get_accel_sens(unsigned short *sens)
-{
-    switch (st.chip_cfg.accel_fsr) {
-    case INV_FSR_2G:
-        sens[0] = 16384;
-        break;
-    case INV_FSR_4G:
-        sens[0] = 8092;
-        break;
-    case INV_FSR_8G:
-        sens[0] = 4096;
-        break;
-    case INV_FSR_16G:
-        sens[0] = 2048;
-        break;
-    default:
-        return -1;
-    }
-    if (st.chip_cfg.accel_half)
-        sens[0] >>= 1;
-    return 0;
-}
-
-/**
- *  @brief      Get current FIFO configuration.
- *  @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  @param[out] sensors Mask of sensors in FIFO.
- *  @return     0 if successful.
- */
-int mpu_get_fifo_config(unsigned char *sensors)
-{
-    sensors[0] = st.chip_cfg.fifo_enable;
-    return 0;
-}
-
-/**
- *  @brief      Select which sensors are pushed to FIFO.
- *  @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  @param[in]  sensors Mask of sensors to push to FIFO.
- *  @return     0 if successful.
- */
-int mpu_configure_fifo(unsigned char sensors)
-{
-    unsigned char prev;
-    int result = 0;
-
-    /* Compass data isn't going into the FIFO. Stop trying. */
-    sensors &= ~INV_XYZ_COMPASS;
-
-    if (st.chip_cfg.dmp_on)
-        return 0;
-    else {
-        if (!(st.chip_cfg.sensors))
-            return -1;
-        prev = st.chip_cfg.fifo_enable;
-        st.chip_cfg.fifo_enable = sensors & st.chip_cfg.sensors;
-        if (st.chip_cfg.fifo_enable != sensors)
-            /* You're not getting what you asked for. Some sensors are
-             * asleep.
-             */
-            result = -1;
-        else
-            result = 0;
-        if (sensors || st.chip_cfg.lp_accel_mode)
-            set_int_enable(1);
-        else
-            set_int_enable(0);
-        if (sensors) {
-            if (mpu_reset_fifo()) {
-                st.chip_cfg.fifo_enable = prev;
-                return -1;
-            }
-        }
-    }
-
-    return result;
-}
-
-/**
- *  @brief      Get current power state.
- *  @param[in]  power_on    1 if turned on, 0 if suspended.
- *  @return     0 if successful.
- */
-int mpu_get_power_state(unsigned char *power_on)
-{
-    if (st.chip_cfg.sensors)
-        power_on[0] = 1;
-    else
-        power_on[0] = 0;
-    return 0;
-}
-
-/**
- *  @brief      Turn specific sensors on/off.
- *  @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  \n INV_XYZ_COMPASS
- *  @param[in]  sensors    Mask of sensors to wake.
- *  @return     0 if successful.
- */
-int mpu_set_sensors(unsigned char sensors)
-{
-    unsigned char data;
-#ifdef AK89xx_SECONDARY
-    unsigned char user_ctrl;
-#endif
-
-    if (sensors & INV_XYZ_GYRO)
-        data = INV_CLK_PLL;
-    else if (sensors)
-        data = 0;
-    else
-        data = BIT_SLEEP;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, &data)) {
-        st.chip_cfg.sensors = 0;
-        return -1;
-    }
-    st.chip_cfg.clk_src = data & ~BIT_SLEEP;
-
-    data = 0;
-    if (!(sensors & INV_X_GYRO))
-        data |= BIT_STBY_XG;
-    if (!(sensors & INV_Y_GYRO))
-        data |= BIT_STBY_YG;
-    if (!(sensors & INV_Z_GYRO))
-        data |= BIT_STBY_ZG;
-    if (!(sensors & INV_XYZ_ACCEL))
-        data |= BIT_STBY_XYZA;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_2, 1, &data)) {
-        st.chip_cfg.sensors = 0;
-        return -1;
-    }
-
-    if (sensors && (sensors != INV_XYZ_ACCEL))
-        /* Latched interrupts only used in LP accel mode. */
-        mpu_set_int_latched(0);
-
-#ifdef AK89xx_SECONDARY
-#ifdef AK89xx_BYPASS
-    if (sensors & INV_XYZ_COMPASS)
-        mpu_set_bypass(1);
-    else
-        mpu_set_bypass(0);
-#else
-    if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &user_ctrl))
-        return -1;
-    /* Handle AKM power management. */
-    if (sensors & INV_XYZ_COMPASS) {
-        data = AKM_SINGLE_MEASUREMENT;
-        user_ctrl |= BIT_AUX_IF_EN;
-    } else {
-        data = AKM_POWER_DOWN;
-        user_ctrl &= ~BIT_AUX_IF_EN;
-    }
-    if (st.chip_cfg.dmp_on)
-        user_ctrl |= BIT_DMP_EN;
-    else
-        user_ctrl &= ~BIT_DMP_EN;
-    if (i2c_write(st.hw->addr, st.reg->s1_do, 1, &data))
-        return -1;
-    /* Enable/disable I2C master mode. */
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &user_ctrl))
-        return -1;
-#endif
-#endif
-
-    st.chip_cfg.sensors = sensors;
-    st.chip_cfg.lp_accel_mode = 0;
-    delay_ms(50);
-    return 0;
-}
-
-/**
- *  @brief      Read the MPU interrupt status registers.
- *  @param[out] status  Mask of interrupt bits.
- *  @return     0 if successful.
- */
-int mpu_get_int_status(short *status)
-{
-    unsigned char tmp[2];
-    if (!st.chip_cfg.sensors)
-        return -1;
-    if (i2c_read(st.hw->addr, st.reg->dmp_int_status, 2, tmp))
-        return -1;
-    status[0] = (tmp[0] << 8) | tmp[1];
-    return 0;
-}
-
-/**
- *  @brief      Get one packet from the FIFO.
- *  If @e sensors does not contain a particular sensor, disregard the data
- *  returned to that pointer.
- *  \n @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  \n If the FIFO has no new data, @e sensors will be zero.
- *  \n If the FIFO is disabled, @e sensors will be zero and this function will
- *  return a non-zero error code.
- *  @param[out] gyro        Gyro data in hardware units.
- *  @param[out] accel       Accel data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds.
- *  @param[out] sensors     Mask of sensors read from FIFO.
- *  @param[out] more        Number of remaining packets.
- *  @return     0 if successful.
- */
-int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
-        unsigned char *sensors, unsigned char *more)
-{
-    /* Assumes maximum packet size is gyro (6) + accel (6). */
-    unsigned char data[MAX_PACKET_LENGTH];
-    unsigned char packet_size = 0;
-    unsigned short fifo_count, index = 0;
-
-    if (st.chip_cfg.dmp_on)
-        return -1;
-
-    sensors[0] = 0;
-    if (!st.chip_cfg.sensors)
-        return -1;
-    if (!st.chip_cfg.fifo_enable)
-        return -1;
-
-    if (st.chip_cfg.fifo_enable & INV_X_GYRO)
-        packet_size += 2;
-    if (st.chip_cfg.fifo_enable & INV_Y_GYRO)
-        packet_size += 2;
-    if (st.chip_cfg.fifo_enable & INV_Z_GYRO)
-        packet_size += 2;
-    if (st.chip_cfg.fifo_enable & INV_XYZ_ACCEL)
-        packet_size += 6;
-
-    if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data))
-        return -1;
-    fifo_count = (data[0] << 8) | data[1];
-    if (fifo_count < packet_size)
-        return 0;
-//    log_i("FIFO count: %hd\n", fifo_count);
-    if (fifo_count > (st.hw->max_fifo >> 1)) {
-        /* FIFO is 50% full, better check overflow bit. */
-        if (i2c_read(st.hw->addr, st.reg->int_status, 1, data))
-            return -1;
-        if (data[0] & BIT_FIFO_OVERFLOW) {
-            mpu_reset_fifo();
-            return -2;
-        }
-    }
-    get_ms((unsigned long*)timestamp);
-
-    if (i2c_read(st.hw->addr, st.reg->fifo_r_w, packet_size, data))
-        return -1;
-    more[0] = fifo_count / packet_size - 1;
-    sensors[0] = 0;
-
-    if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_XYZ_ACCEL) {
-        accel[0] = (data[index+0] << 8) | data[index+1];
-        accel[1] = (data[index+2] << 8) | data[index+3];
-        accel[2] = (data[index+4] << 8) | data[index+5];
-        sensors[0] |= INV_XYZ_ACCEL;
-        index += 6;
-    }
-    if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_X_GYRO) {
-        gyro[0] = (data[index+0] << 8) | data[index+1];
-        sensors[0] |= INV_X_GYRO;
-        index += 2;
-    }
-    if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_Y_GYRO) {
-        gyro[1] = (data[index+0] << 8) | data[index+1];
-        sensors[0] |= INV_Y_GYRO;
-        index += 2;
-    }
-    if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_Z_GYRO) {
-        gyro[2] = (data[index+0] << 8) | data[index+1];
-        sensors[0] |= INV_Z_GYRO;
-        index += 2;
-    }
-
-    return 0;
-}
-
-/**
- *  @brief      Get one unparsed packet from the FIFO.
- *  This function should be used if the packet is to be parsed elsewhere.
- *  @param[in]  length  Length of one FIFO packet.
- *  @param[in]  data    FIFO packet.
- *  @param[in]  more    Number of remaining packets.
- */
-int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
-    unsigned char *more)
-{
-    unsigned char tmp[2];
-    unsigned short fifo_count;
-
-//    printf("addr %d, dmp_on %d, sensors %d\r\n", st.hw->addr, st.chip_cfg.dmp_on, st.chip_cfg.sensors);
-
-    if (!st.chip_cfg.dmp_on)
-        return -1;
-    if (!st.chip_cfg.sensors)
-        return -1;
-
-//    printf("----1\r\n");
-
-    if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, tmp))
-        return -1;
-
-//    printf("----2\r\n");
-
-    fifo_count = (tmp[0] << 8) | tmp[1];
-    if (fifo_count < length) {
-        more[0] = 0;
-        return -1;
-    }
-
-//    printf("----3\r\n");
-    if (fifo_count > (st.hw->max_fifo >> 1)) {
-
-//        printf("----3.1\r\n");
-        /* FIFO is 50% full, better check overflow bit. */
-        if (i2c_read(st.hw->addr, st.reg->int_status, 1, tmp))
-            return -1;
-
-//        printf("----3.2\r\n");
-        if (tmp[0] & BIT_FIFO_OVERFLOW) {
-            mpu_reset_fifo();
-            return -2;
-        }
-    }
-
-//    printf("----4\r\n");
-    if (i2c_read(st.hw->addr, st.reg->fifo_r_w, length, data))
-        return -1;
-
-    more[0] = fifo_count / length - 1;
-    return 0;
-}
-
-/**
- *  @brief      Set device to bypass mode.
- *  @param[in]  bypass_on   1 to enable bypass mode.
- *  @return     0 if successful.
- */
-int mpu_set_bypass(unsigned char bypass_on)
-{
-    unsigned char tmp;
-
-    if (st.chip_cfg.bypass_mode == bypass_on)
-        return 0;
-
-    if (bypass_on) {
-        if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
-            return -1;
-        tmp &= ~BIT_AUX_IF_EN;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
-            return -1;
-        delay_ms(3);
-        tmp = BIT_BYPASS_EN;
-        if (st.chip_cfg.active_low_int)
-            tmp |= BIT_ACTL;
-        if (st.chip_cfg.latched_int)
-            tmp |= BIT_LATCH_EN | BIT_ANY_RD_CLR;
-        if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp))
-            return -1;
-    } else {
-        /* Enable I2C master mode if compass is being used. */
-        if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
-            return -1;
-        if (st.chip_cfg.sensors & INV_XYZ_COMPASS)
-            tmp |= BIT_AUX_IF_EN;
-        else
-            tmp &= ~BIT_AUX_IF_EN;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
-            return -1;
-        delay_ms(3);
-        if (st.chip_cfg.active_low_int)
-            tmp = BIT_ACTL;
-        else
-            tmp = 0;
-        if (st.chip_cfg.latched_int)
-            tmp |= BIT_LATCH_EN | BIT_ANY_RD_CLR;
-        if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp))
-            return -1;
-    }
-    st.chip_cfg.bypass_mode = bypass_on;
-    return 0;
-}
-
-/**
- *  @brief      Set interrupt level.
- *  @param[in]  active_low  1 for active low, 0 for active high.
- *  @return     0 if successful.
- */
-int mpu_set_int_level(unsigned char active_low)
-{
-    st.chip_cfg.active_low_int = active_low;
-    return 0;
-}
-
-/**
- *  @brief      Enable latched interrupts.
- *  Any MPU register will clear the interrupt.
- *  @param[in]  enable  1 to enable, 0 to disable.
- *  @return     0 if successful.
- */
-int mpu_set_int_latched(unsigned char enable)
-{
-    unsigned char tmp;
-    if (st.chip_cfg.latched_int == enable)
-        return 0;
-
-    if (enable)
-        tmp = BIT_LATCH_EN | BIT_ANY_RD_CLR;
-    else
-        tmp = 0;
-    if (st.chip_cfg.bypass_mode)
-        tmp |= BIT_BYPASS_EN;
-    if (st.chip_cfg.active_low_int)
-        tmp |= BIT_ACTL;
-    if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp))
-        return -1;
-    st.chip_cfg.latched_int = enable;
-    return 0;
-}
-
-#ifdef MPU6050
-static int get_accel_prod_shift(float *st_shift)
-{
-    unsigned char tmp[4], shift_code[3], ii;
-
-    if (i2c_read(st.hw->addr, 0x0D, 4, tmp))
-        return 0x07;
-
-    shift_code[0] = ((tmp[0] & 0xE0) >> 3) | ((tmp[3] & 0x30) >> 4);
-    shift_code[1] = ((tmp[1] & 0xE0) >> 3) | ((tmp[3] & 0x0C) >> 2);
-    shift_code[2] = ((tmp[2] & 0xE0) >> 3) | (tmp[3] & 0x03);
-    for (ii = 0; ii < 3; ii++) {
-        if (!shift_code[ii]) {
-            st_shift[ii] = 0.f;
-            continue;
-        }
-        /* Equivalent to..
-         * st_shift[ii] = 0.34f * powf(0.92f/0.34f, (shift_code[ii]-1) / 30.f)
-         */
-        st_shift[ii] = 0.34f;
-        while (--shift_code[ii])
-            st_shift[ii] *= 1.034f;
-    }
-    return 0;
-}
-
-static int accel_self_test(long *bias_regular, long *bias_st)
-{
-    int jj, result = 0;
-    float st_shift[3], st_shift_cust, st_shift_var;
-
-    get_accel_prod_shift(st_shift);
-    for(jj = 0; jj < 3; jj++) {
-        st_shift_cust = labs(bias_regular[jj] - bias_st[jj]) / 65536.f;
-        if (st_shift[jj]) {
-            st_shift_var = st_shift_cust / st_shift[jj] - 1.f;
-            if (fabs(st_shift_var) > test.max_accel_var)
-                result |= 1 << jj;
-        } else if ((st_shift_cust < test.min_g) ||
-            (st_shift_cust > test.max_g))
-            result |= 1 << jj;
-    }
-
-    return result;
-}
-
-static int gyro_self_test(long *bias_regular, long *bias_st)
-{
-    int jj, result = 0;
-    unsigned char tmp[3];
-    float st_shift, st_shift_cust, st_shift_var;
-
-    if (i2c_read(st.hw->addr, 0x0D, 3, tmp))
-        return 0x07;
-
-    tmp[0] &= 0x1F;
-    tmp[1] &= 0x1F;
-    tmp[2] &= 0x1F;
-
-    for (jj = 0; jj < 3; jj++) {
-        st_shift_cust = labs(bias_regular[jj] - bias_st[jj]) / 65536.f;
-        if (tmp[jj]) {
-            st_shift = 3275.f / test.gyro_sens;
-            while (--tmp[jj])
-                st_shift *= 1.046f;
-            st_shift_var = st_shift_cust / st_shift - 1.f;
-            if (fabs(st_shift_var) > test.max_gyro_var)
-                result |= 1 << jj;
-        } else if ((st_shift_cust < test.min_dps) ||
-            (st_shift_cust > test.max_dps))
-            result |= 1 << jj;
-    }
-    return result;
-}
-
-#ifdef AK89xx_SECONDARY
-static int compass_self_test(void)
-{
-    unsigned char tmp[6];
-    unsigned char tries = 10;
-    int result = 0x07;
-    short data;
-
-    mpu_set_bypass(1);
-
-    tmp[0] = AKM_POWER_DOWN;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp))
-        return 0x07;
-    tmp[0] = AKM_BIT_SELF_TEST;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_ASTC, 1, tmp))
-        goto AKM_restore;
-    tmp[0] = AKM_MODE_SELF_TEST;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp))
-        goto AKM_restore;
-
-    do {
-        delay_ms(10);
-        if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ST1, 1, tmp))
-            goto AKM_restore;
-        if (tmp[0] & AKM_DATA_READY)
-            break;
-    } while (tries--);
-    if (!(tmp[0] & AKM_DATA_READY))
-        goto AKM_restore;
-
-    if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_HXL, 6, tmp))
-        goto AKM_restore;
-
-    result = 0;
-    data = (short)(tmp[1] << 8) | tmp[0];
-    if ((data > 100) || (data < -100))
-        result |= 0x01;
-    data = (short)(tmp[3] << 8) | tmp[2];
-    if ((data > 100) || (data < -100))
-        result |= 0x02;
-    data = (short)(tmp[5] << 8) | tmp[4];
-    if ((data > -300) || (data < -1000))
-        result |= 0x04;
-
-AKM_restore:
-    tmp[0] = 0 | SUPPORTS_AK89xx_HIGH_SENS;
-    i2c_write(st.chip_cfg.compass_addr, AKM_REG_ASTC, 1, tmp);
-    tmp[0] = SUPPORTS_AK89xx_HIGH_SENS;
-    i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp);
-    mpu_set_bypass(0);
-    return result;
-}
-#endif
-#endif
-
-static int get_st_biases(long *gyro, long *accel, unsigned char hw_test)
-{
-    unsigned char data[MAX_PACKET_LENGTH];
-    unsigned char packet_count, ii;
-    unsigned short fifo_count;
-
-    data[0] = 0x01;
-    data[1] = 0;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, data))
-        return -1;
-    delay_ms(200);
-    data[0] = 0;
-    if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
-        return -1;
-    data[0] = BIT_FIFO_RST | BIT_DMP_RST;
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
-        return -1;
-    delay_ms(15);
-    data[0] = st.test->reg_lpf;
-    if (i2c_write(st.hw->addr, st.reg->lpf, 1, data))
-        return -1;
-    data[0] = st.test->reg_rate_div;
-    if (i2c_write(st.hw->addr, st.reg->rate_div, 1, data))
-        return -1;
-    if (hw_test)
-        data[0] = st.test->reg_gyro_fsr | 0xE0;
-    else
-        data[0] = st.test->reg_gyro_fsr;
-    if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, data))
-        return -1;
-
-    if (hw_test)
-        data[0] = st.test->reg_accel_fsr | 0xE0;
-    else
-        data[0] = test.reg_accel_fsr;
-    if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, data))
-        return -1;
-    if (hw_test)
-        delay_ms(200);
-
-    /* Fill FIFO for test.wait_ms milliseconds. */
-    data[0] = BIT_FIFO_EN;
-    if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
-        return -1;
-
-    data[0] = INV_XYZ_GYRO | INV_XYZ_ACCEL;
-    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
-        return -1;
-    delay_ms(test.wait_ms);
-    data[0] = 0;
-    if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
-        return -1;
-
-    if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data))
-        return -1;
-
-    fifo_count = (data[0] << 8) | data[1];
-    packet_count = fifo_count / MAX_PACKET_LENGTH;
-    gyro[0] = gyro[1] = gyro[2] = 0;
-    accel[0] = accel[1] = accel[2] = 0;
-
-    for (ii = 0; ii < packet_count; ii++) {
-        short accel_cur[3], gyro_cur[3];
-        if (i2c_read(st.hw->addr, st.reg->fifo_r_w, MAX_PACKET_LENGTH, data))
-            return -1;
-        accel_cur[0] = ((short)data[0] << 8) | data[1];
-        accel_cur[1] = ((short)data[2] << 8) | data[3];
-        accel_cur[2] = ((short)data[4] << 8) | data[5];
-        accel[0] += (long)accel_cur[0];
-        accel[1] += (long)accel_cur[1];
-        accel[2] += (long)accel_cur[2];
-        gyro_cur[0] = (((short)data[6] << 8) | data[7]);
-        gyro_cur[1] = (((short)data[8] << 8) | data[9]);
-        gyro_cur[2] = (((short)data[10] << 8) | data[11]);
-        gyro[0] += (long)gyro_cur[0];
-        gyro[1] += (long)gyro_cur[1];
-        gyro[2] += (long)gyro_cur[2];
-    }
-#ifdef EMPL_NO_64BIT
-    gyro[0] = (long)(((float)gyro[0]*65536.f) / test.gyro_sens / packet_count);
-    gyro[1] = (long)(((float)gyro[1]*65536.f) / test.gyro_sens / packet_count);
-    gyro[2] = (long)(((float)gyro[2]*65536.f) / test.gyro_sens / packet_count);
-    if (has_accel) {
-        accel[0] = (long)(((float)accel[0]*65536.f) / test.accel_sens /
-            packet_count);
-        accel[1] = (long)(((float)accel[1]*65536.f) / test.accel_sens /
-            packet_count);
-        accel[2] = (long)(((float)accel[2]*65536.f) / test.accel_sens /
-            packet_count);
-        /* Don't remove gravity! */
-        accel[2] -= 65536L;
-    }
-#else
-    gyro[0] = (long)(((long long)gyro[0]<<16) / test.gyro_sens / packet_count);
-    gyro[1] = (long)(((long long)gyro[1]<<16) / test.gyro_sens / packet_count);
-    gyro[2] = (long)(((long long)gyro[2]<<16) / test.gyro_sens / packet_count);
-    accel[0] = (long)(((long long)accel[0]<<16) / test.accel_sens /
-        packet_count);
-    accel[1] = (long)(((long long)accel[1]<<16) / test.accel_sens /
-        packet_count);
-    accel[2] = (long)(((long long)accel[2]<<16) / test.accel_sens /
-        packet_count);
-    /* Don't remove gravity! */
-    if (accel[2] > 0L)
-        accel[2] -= 65536L;
-    else
-        accel[2] += 65536L;
-#endif
-
-    return 0;
-}
-
-/**
- *  @brief      Trigger gyro/accel/compass self-test.
- *  On success/error, the self-test returns a mask representing the sensor(s)
- *  that failed. For each bit, a one (1) represents a "pass" case; conversely,
- *  a zero (0) indicates a failure.
- *
- *  \n The mask is defined as follows:
- *  \n Bit 0:   Gyro.
- *  \n Bit 1:   Accel.
- *  \n Bit 2:   Compass.
- *
- *  \n Currently, the hardware self-test is unsupported for MPU6500. However,
- *  this function can still be used to obtain the accel and gyro biases.
- *
- *  \n This function must be called with the device either face-up or face-down
- *  (z-axis is parallel to gravity).
- *  @param[out] gyro        Gyro biases in q16 format.
- *  @param[out] accel       Accel biases (if applicable) in q16 format.
- *  @return     Result mask (see above).
- */
-int mpu_run_self_test(long *gyro, long *accel)
-{
-#ifdef MPU6050
-    const unsigned char tries = 2;
-    long gyro_st[3], accel_st[3];
-    unsigned char accel_result, gyro_result;
-#ifdef AK89xx_SECONDARY
-    unsigned char compass_result;
-#endif
-    int ii;
-#endif
-    int result;
-    unsigned char accel_fsr, fifo_sensors, sensors_on;
-    unsigned short gyro_fsr, sample_rate, lpf;
-    unsigned char dmp_was_on;
-
-    if (st.chip_cfg.dmp_on) {
-        mpu_set_dmp_state(0);
-        dmp_was_on = 1;
-    } else
-        dmp_was_on = 0;
-
-    /* Get initial settings. */
-    mpu_get_gyro_fsr(&gyro_fsr);
-    mpu_get_accel_fsr(&accel_fsr);
-    mpu_get_lpf(&lpf);
-    mpu_get_sample_rate(&sample_rate);
-    sensors_on = st.chip_cfg.sensors;
-    mpu_get_fifo_config(&fifo_sensors);
-
-    /* For older chips, the self-test will be different. */
-#if defined MPU6050
-    for (ii = 0; ii < tries; ii++)
-        if (!get_st_biases(gyro, accel, 0))
-            break;
-    if (ii == tries) {
-        /* If we reach this point, we most likely encountered an I2C error.
-         * We'll just report an error for all three sensors.
-         */
-        result = 0;
-        goto restore;
-    }
-    for (ii = 0; ii < tries; ii++)
-        if (!get_st_biases(gyro_st, accel_st, 1))
-            break;
-    if (ii == tries) {
-        /* Again, probably an I2C error. */
-        result = 0;
-        goto restore;
-    }
-    accel_result = accel_self_test(accel, accel_st);
-    gyro_result = gyro_self_test(gyro, gyro_st);
-
-    result = 0;
-    if (!gyro_result)
-        result |= 0x01;
-    if (!accel_result)
-        result |= 0x02;
-
-#ifdef AK89xx_SECONDARY
-    compass_result = compass_self_test();
-    if (!compass_result)
-        result |= 0x04;
-#endif
-restore:
-#elif defined MPU6500
-    /* For now, this function will return a "pass" result for all three sensors
-     * for compatibility with current test applications.
-     */
-    get_st_biases(gyro, accel, 0);
-    result = 0x7;
-#endif
-    /* Set to invalid values to ensure no I2C writes are skipped. */
-    st.chip_cfg.gyro_fsr = 0xFF;
-    st.chip_cfg.accel_fsr = 0xFF;
-    st.chip_cfg.lpf = 0xFF;
-    st.chip_cfg.sample_rate = 0xFFFF;
-    st.chip_cfg.sensors = 0xFF;
-    st.chip_cfg.fifo_enable = 0xFF;
-    st.chip_cfg.clk_src = INV_CLK_PLL;
-    mpu_set_gyro_fsr(gyro_fsr);
-    mpu_set_accel_fsr(accel_fsr);
-    mpu_set_lpf(lpf);
-    mpu_set_sample_rate(sample_rate);
-    mpu_set_sensors(sensors_on);
-    mpu_configure_fifo(fifo_sensors);
-
-    if (dmp_was_on)
-        mpu_set_dmp_state(1);
-
-    return result;
-}
-
-/**
- *  @brief      Write to the DMP memory.
- *  This function prevents I2C writes past the bank boundaries. The DMP memory
- *  is only accessible when the chip is awake.
- *  @param[in]  mem_addr    Memory location (bank << 8 | start address)
- *  @param[in]  length      Number of bytes to write.
- *  @param[in]  data        Bytes to write to memory.
- *  @return     0 if successful.
- */
-int mpu_write_mem(unsigned short mem_addr, unsigned short length,
-        unsigned char *data)
-{
-    unsigned char tmp[2];
-
-    if (!data)
-        return -1;
-    if (!st.chip_cfg.sensors)
-        return -1;
-
-    tmp[0] = (unsigned char)(mem_addr >> 8);
-    tmp[1] = (unsigned char)(mem_addr & 0xFF);
-
-    /* Check bank boundaries. */
-    if (tmp[1] + length > st.hw->bank_size)
-        return -1;
-
-    if (i2c_write(st.hw->addr, st.reg->bank_sel, 2, tmp))
-        return -1;
-    if (i2c_write(st.hw->addr, st.reg->mem_r_w, length, data))
-        return -1;
-    return 0;
-}
-
-/**
- *  @brief      Read from the DMP memory.
- *  This function prevents I2C reads past the bank boundaries. The DMP memory
- *  is only accessible when the chip is awake.
- *  @param[in]  mem_addr    Memory location (bank << 8 | start address)
- *  @param[in]  length      Number of bytes to read.
- *  @param[out] data        Bytes read from memory.
- *  @return     0 if successful.
- */
-int mpu_read_mem(unsigned short mem_addr, unsigned short length,
-        unsigned char *data)
-{
-    unsigned char tmp[2];
-
-    if (!data)
-        return -1;
-    if (!st.chip_cfg.sensors)
-        return -1;
-
-    tmp[0] = (unsigned char)(mem_addr >> 8);
-    tmp[1] = (unsigned char)(mem_addr & 0xFF);
-
-    /* Check bank boundaries. */
-    if (tmp[1] + length > st.hw->bank_size)
-        return -1;
-
-    if (i2c_write(st.hw->addr, st.reg->bank_sel, 2, tmp))
-        return -1;
-    if (i2c_read(st.hw->addr, st.reg->mem_r_w, length, data))
-        return -1;
-    return 0;
-}
-
-/**
- *  @brief      Load and verify DMP image.
- *  @param[in]  length      Length of DMP image.
- *  @param[in]  firmware    DMP code.
- *  @param[in]  start_addr  Starting address of DMP code memory.
- *  @param[in]  sample_rate Fixed sampling rate used when DMP is enabled.
- *  @return     0 if successful.
- */
-int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
-    unsigned short start_addr, unsigned short sample_rate)
-{
-    unsigned short ii;
-    unsigned short this_write;
-    /* Must divide evenly into st.hw->bank_size to avoid bank crossings. */
-#define LOAD_CHUNK  (16)
-    unsigned char cur[LOAD_CHUNK], tmp[2];
-
-    if (st.chip_cfg.dmp_loaded)
-        /* DMP should only be loaded once. */
-        return -1;
-
-    if (!firmware)
-        return -1;
-    for (ii = 0; ii < length; ii += this_write) {
-        this_write = min(LOAD_CHUNK, length - ii);
-        if (mpu_write_mem(ii, this_write, (unsigned char*)&firmware[ii]))
-            return -1;
-        if (mpu_read_mem(ii, this_write, cur))
-            return -1;
-        if (memcmp(firmware+ii, cur, this_write))
-            return -2;
-    }
-
-    /* Set program start address. */
-    tmp[0] = start_addr >> 8;
-    tmp[1] = start_addr & 0xFF;
-    if (i2c_write(st.hw->addr, st.reg->prgm_start_h, 2, tmp))
-        return -1;
-
-    st.chip_cfg.dmp_loaded = 1;
-    st.chip_cfg.dmp_sample_rate = sample_rate;
-    return 0;
-}
-
-/**
- *  @brief      Enable/disable DMP support.
- *  @param[in]  enable  1 to turn on the DMP.
- *  @return     0 if successful.
- */
-int mpu_set_dmp_state(unsigned char enable)
-{
-    unsigned char tmp;
-    if (st.chip_cfg.dmp_on == enable)
-        return 0;
-
-    if (enable) {
-        if (!st.chip_cfg.dmp_loaded)
-            return -1;
-        /* Disable data ready interrupt. */
-        set_int_enable(0);
-        /* Disable bypass mode. */
-        mpu_set_bypass(0);
-        /* Keep constant sample rate, FIFO rate controlled by DMP. */
-        mpu_set_sample_rate(st.chip_cfg.dmp_sample_rate);
-        /* Remove FIFO elements. */
-        tmp = 0;
-        i2c_write(st.hw->addr, 0x23, 1, &tmp);
-        st.chip_cfg.dmp_on = 1;
-        /* Enable DMP interrupt. */
-        set_int_enable(1);
-        mpu_reset_fifo();
-    } else {
-        /* Disable DMP interrupt. */
-        set_int_enable(0);
-        /* Restore FIFO settings. */
-        tmp = st.chip_cfg.fifo_enable;
-        i2c_write(st.hw->addr, 0x23, 1, &tmp);
-        st.chip_cfg.dmp_on = 0;
-        mpu_reset_fifo();
-    }
-    return 0;
-}
-
-/**
- *  @brief      Get DMP state.
- *  @param[out] enabled 1 if enabled.
- *  @return     0 if successful.
- */
-int mpu_get_dmp_state(unsigned char *enabled)
-{
-    enabled[0] = st.chip_cfg.dmp_on;
-    return 0;
-}
-
-
-/* This initialization is similar to the one in ak8975.c. */
-static int setup_compass(void)
-{
-#ifdef AK89xx_SECONDARY
-    unsigned char data[4], akm_addr;
-
-    mpu_set_bypass(1);
-
-    /* Find compass. Possible addresses range from 0x0C to 0x0F. */
-    for (akm_addr = 0x0C; akm_addr <= 0x0F; akm_addr++) {
-        int result;
-        result = i2c_read(akm_addr, AKM_REG_WHOAMI, 1, data);
-        if (!result && (data[0] == AKM_WHOAMI))
-            break;
-    }
-
-    if (akm_addr > 0x0F) {
-        /* TODO: Handle this case in all compass-related functions. */
-        log_e("Compass not found.\n");
-        return -1;
-    }
-
-    st.chip_cfg.compass_addr = akm_addr;
-
-    data[0] = AKM_POWER_DOWN;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data))
-        return -1;
-    delay_ms(1);
-
-    data[0] = AKM_FUSE_ROM_ACCESS;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data))
-        return -1;
-    delay_ms(1);
-
-    /* Get sensitivity adjustment data from fuse ROM. */
-    if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ASAX, 3, data))
-        return -1;
-    st.chip_cfg.mag_sens_adj[0] = (long)data[0] + 128;
-    st.chip_cfg.mag_sens_adj[1] = (long)data[1] + 128;
-    st.chip_cfg.mag_sens_adj[2] = (long)data[2] + 128;
-
-    data[0] = AKM_POWER_DOWN;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data))
-        return -1;
-    delay_ms(1);
-
-    mpu_set_bypass(0);
-
-    /* Set up master mode, master clock, and ES bit. */
-    data[0] = 0x40;
-    if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data))
-        return -1;
-
-    /* Slave 0 reads from AKM data registers. */
-    data[0] = BIT_I2C_READ | st.chip_cfg.compass_addr;
-    if (i2c_write(st.hw->addr, st.reg->s0_addr, 1, data))
-        return -1;
-
-    /* Compass reads start at this register. */
-    data[0] = AKM_REG_ST1;
-    if (i2c_write(st.hw->addr, st.reg->s0_reg, 1, data))
-        return -1;
-
-    /* Enable slave 0, 8-byte reads. */
-    data[0] = BIT_SLAVE_EN | 8;
-    if (i2c_write(st.hw->addr, st.reg->s0_ctrl, 1, data))
-        return -1;
-
-    /* Slave 1 changes AKM measurement mode. */
-    data[0] = st.chip_cfg.compass_addr;
-    if (i2c_write(st.hw->addr, st.reg->s1_addr, 1, data))
-        return -1;
-
-    /* AKM measurement mode register. */
-    data[0] = AKM_REG_CNTL;
-    if (i2c_write(st.hw->addr, st.reg->s1_reg, 1, data))
-        return -1;
-
-    /* Enable slave 1, 1-byte writes. */
-    data[0] = BIT_SLAVE_EN | 1;
-    if (i2c_write(st.hw->addr, st.reg->s1_ctrl, 1, data))
-        return -1;
-
-    /* Set slave 1 data. */
-    data[0] = AKM_SINGLE_MEASUREMENT;
-    if (i2c_write(st.hw->addr, st.reg->s1_do, 1, data))
-        return -1;
-
-    /* Trigger slave 0 and slave 1 actions at each sample. */
-    data[0] = 0x03;
-    if (i2c_write(st.hw->addr, st.reg->i2c_delay_ctrl, 1, data))
-        return -1;
-
-#ifdef MPU9150
-    /* For the MPU9150, the auxiliary I2C bus needs to be set to VDD. */
-    data[0] = BIT_I2C_MST_VDDIO;
-    if (i2c_write(st.hw->addr, st.reg->yg_offs_tc, 1, data))
-        return -1;
-#endif
-
-    return 0;
-#else
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Read raw compass data.
- *  @param[out] data        Raw data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds. Null if not needed.
- *  @return     0 if successful.
- */
-int mpu_get_compass_reg(short *data, unsigned long *timestamp)
-{
-#ifdef AK89xx_SECONDARY
-    unsigned char tmp[9];
-
-    if (!(st.chip_cfg.sensors & INV_XYZ_COMPASS))
-        return -1;
-
-#ifdef AK89xx_BYPASS
-    if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ST1, 8, tmp))
-        return -1;
-    tmp[8] = AKM_SINGLE_MEASUREMENT;
-    if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp+8))
-        return -1;
-#else
-    if (i2c_read(st.hw->addr, st.reg->raw_compass, 8, tmp))
-        return -1;
-#endif
-
-#if defined AK8975_SECONDARY
-    /* AK8975 doesn't have the overrun error bit. */
-    if (!(tmp[0] & AKM_DATA_READY))
-        return -2;
-    if ((tmp[7] & AKM_OVERFLOW) || (tmp[7] & AKM_DATA_ERROR))
-        return -3;
-#elif defined AK8963_SECONDARY
-    /* AK8963 doesn't have the data read error bit. */
-    if (!(tmp[0] & AKM_DATA_READY) || (tmp[0] & AKM_DATA_OVERRUN))
-        return -2;
-    if (tmp[7] & AKM_OVERFLOW)
-        return -3;
-#endif
-    data[0] = (tmp[2] << 8) | tmp[1];
-    data[1] = (tmp[4] << 8) | tmp[3];
-    data[2] = (tmp[6] << 8) | tmp[5];
-
-    data[0] = ((long)data[0] * st.chip_cfg.mag_sens_adj[0]) >> 8;
-    data[1] = ((long)data[1] * st.chip_cfg.mag_sens_adj[1]) >> 8;
-    data[2] = ((long)data[2] * st.chip_cfg.mag_sens_adj[2]) >> 8;
-
-    if (timestamp)
-        get_ms(timestamp);
-    return 0;
-#else
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Get the compass full-scale range.
- *  @param[out] fsr Current full-scale range.
- *  @return     0 if successful.
- */
-int mpu_get_compass_fsr(unsigned short *fsr)
-{
-#ifdef AK89xx_SECONDARY
-    fsr[0] = st.hw->compass_fsr;
-    return 0;
-#else
-    return -1;
-#endif
-}
-
-/**
- *  @brief      Enters LP accel motion interrupt mode.
- *  The behaviour of this feature is very different between the MPU6050 and the
- *  MPU6500. Each chip's version of this feature is explained below.
- *
- *  \n The hardware motion threshold can be between 32mg and 8160mg in 32mg
- *  increments.
- *
- *  \n Low-power accel mode supports the following frequencies:
- *  \n 1.25Hz, 5Hz, 20Hz, 40Hz
- *
- *  \n MPU6500:
- *  \n Unlike the MPU6050 version, the hardware does not "lock in" a reference
- *  sample. The hardware monitors the accel data and detects any large change
- *  over a short period of time.
- *
- *  \n The hardware motion threshold can be between 4mg and 1020mg in 4mg
- *  increments.
- *
- *  \n MPU6500 Low-power accel mode supports the following frequencies:
- *  \n 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz
- *
- *  \n\n NOTES:
- *  \n The driver will round down @e thresh to the nearest supported value if
- *  an unsupported threshold is selected.
- *  \n To select a fractional wake-up frequency, round down the value passed to
- *  @e lpa_freq.
- *  \n The MPU6500 does not support a delay parameter. If this function is used
- *  for the MPU6500, the value passed to @e time will be ignored.
- *  \n To disable this mode, set @e lpa_freq to zero. The driver will restore
- *  the previous configuration.
- *
- *  @param[in]  thresh      Motion threshold in mg.
- *  @param[in]  time        Duration in milliseconds that the accel data must
- *                          exceed @e thresh before motion is reported.
- *  @param[in]  lpa_freq    Minimum sampling rate, or zero to disable.
- *  @return     0 if successful.
- */
-int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time,
-    unsigned char lpa_freq)
-{
-    unsigned char data[3];
-
-    if (lpa_freq) {
-        unsigned char thresh_hw;
-
-#if defined MPU6500
-        /* 1LSb = 4mg. */
-        if (thresh > 1020)
-            thresh_hw = 255;
-        else if (thresh < 4)
-            thresh_hw = 1;
-        else
-            thresh_hw = thresh >> 2;
-#endif
-
-        if (!time)
-            /* Minimum duration must be 1ms. */
-            time = 1;
-
-#if defined MPU6500
-        if (lpa_freq > 640)
-#endif
-            /* At this point, the chip has not been re-configured, so the
-             * function can safely exit.
-             */
-            return -1;
-
-        if (!st.chip_cfg.int_motion_only) {
-            /* Store current settings for later. */
-            if (st.chip_cfg.dmp_on) {
-                mpu_set_dmp_state(0);
-                st.chip_cfg.cache.dmp_on = 1;
-            } else
-                st.chip_cfg.cache.dmp_on = 0;
-            mpu_get_gyro_fsr(&st.chip_cfg.cache.gyro_fsr);
-            mpu_get_accel_fsr(&st.chip_cfg.cache.accel_fsr);
-            mpu_get_lpf(&st.chip_cfg.cache.lpf);
-            mpu_get_sample_rate(&st.chip_cfg.cache.sample_rate);
-            st.chip_cfg.cache.sensors_on = st.chip_cfg.sensors;
-            mpu_get_fifo_config(&st.chip_cfg.cache.fifo_sensors);
-        }
-
-#if defined MPU6500
-        /* Disable hardware interrupts. */
-        set_int_enable(0);
-
-        /* Enter full-power accel-only mode, no FIFO/DMP. */
-        data[0] = 0;
-        data[1] = 0;
-        data[2] = BIT_STBY_XYZG;
-        if (i2c_write(st.hw->addr, st.reg->user_ctrl, 3, data))
-            goto lp_int_restore;
-
-        /* Set motion threshold. */
-        data[0] = thresh_hw;
-        if (i2c_write(st.hw->addr, st.reg->motion_thr, 1, data))
-            goto lp_int_restore;
-
-        /* Set wake frequency. */
-        if (lpa_freq == 1)
-            data[0] = INV_LPA_1_25HZ;
-        else if (lpa_freq == 2)
-            data[0] = INV_LPA_2_5HZ;
-        else if (lpa_freq <= 5)
-            data[0] = INV_LPA_5HZ;
-        else if (lpa_freq <= 10)
-            data[0] = INV_LPA_10HZ;
-        else if (lpa_freq <= 20)
-            data[0] = INV_LPA_20HZ;
-        else if (lpa_freq <= 40)
-            data[0] = INV_LPA_40HZ;
-        else if (lpa_freq <= 80)
-            data[0] = INV_LPA_80HZ;
-        else if (lpa_freq <= 160)
-            data[0] = INV_LPA_160HZ;
-        else if (lpa_freq <= 320)
-            data[0] = INV_LPA_320HZ;
-        else
-            data[0] = INV_LPA_640HZ;
-        if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, data))
-            goto lp_int_restore;
-
-        /* Enable motion interrupt (MPU6500 version). */
-        data[0] = BITS_WOM_EN;
-        if (i2c_write(st.hw->addr, st.reg->accel_intel, 1, data))
-            goto lp_int_restore;
-
-        /* Enable cycle mode. */
-        data[0] = BIT_LPA_CYCLE;
-        if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
-            goto lp_int_restore;
-
-        /* Enable interrupt. */
-        data[0] = BIT_MOT_INT_EN;
-        if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data))
-            goto lp_int_restore;
-
-        st.chip_cfg.int_motion_only = 1;
-        return 0;
-#endif
-    } else {
-        /* Don't "restore" the previous state if no state has been saved. */
-        int ii;
-        char *cache_ptr = (char*)&st.chip_cfg.cache;
-        for (ii = 0; ii < sizeof(st.chip_cfg.cache); ii++) {
-            if (cache_ptr[ii] != 0)
-                goto lp_int_restore;
-        }
-        /* If we reach this point, motion interrupt mode hasn't been used yet. */
-        return -1;
-    }
-lp_int_restore:
-    /* Set to invalid values to ensure no I2C writes are skipped. */
-    st.chip_cfg.gyro_fsr = 0xFF;
-    st.chip_cfg.accel_fsr = 0xFF;
-    st.chip_cfg.lpf = 0xFF;
-    st.chip_cfg.sample_rate = 0xFFFF;
-    st.chip_cfg.sensors = 0xFF;
-    st.chip_cfg.fifo_enable = 0xFF;
-    st.chip_cfg.clk_src = INV_CLK_PLL;
-    mpu_set_sensors(st.chip_cfg.cache.sensors_on);
-    mpu_set_gyro_fsr(st.chip_cfg.cache.gyro_fsr);
-    mpu_set_accel_fsr(st.chip_cfg.cache.accel_fsr);
-    mpu_set_lpf(st.chip_cfg.cache.lpf);
-    mpu_set_sample_rate(st.chip_cfg.cache.sample_rate);
-    mpu_configure_fifo(st.chip_cfg.cache.fifo_sensors);
-
-    if (st.chip_cfg.cache.dmp_on)
-        mpu_set_dmp_state(1);
-
-#ifdef MPU6500
-    /* Disable motion interrupt (MPU6500 version). */
-    data[0] = 0;
-    if (i2c_write(st.hw->addr, st.reg->accel_intel, 1, data))
-        goto lp_int_restore;
-#endif
-
-    st.chip_cfg.int_motion_only = 0;
-    return 0;
-}
-
-/**
- *  @}
- */
-

Core备份3/imu6/inv_mpu6.h

@@ -1,132 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
-    See included License.txt for License information.
- $
- */
-/**
- *  @addtogroup  DRIVERS Sensor Driver Layer
- *  @brief       Hardware drivers to communicate with sensors via I2C.
- *
- *  @{
- *      @file       inv_mpu.h
- *      @brief      An I2C-based driver for Invensense gyroscopes.
- *      @details    This driver currently works for the following devices:
- *                  MPU6050
- *                  MPU6500
- *                  MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus)
- *                  MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus)
- */
-
-#ifndef _INV_MPU_H_
-#define _INV_MPU_H_
-
-#define MOTION_DRIVER_TARGET_STM32
-#define MPU6050
-//#define EMPL
-//#define USE_DMP
-
-#define INV_X_GYRO      (0x40)
-#define INV_Y_GYRO      (0x20)
-#define INV_Z_GYRO      (0x10)
-#define INV_XYZ_GYRO    (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO)
-#define INV_XYZ_ACCEL   (0x08)
-#define INV_XYZ_COMPASS (0x01)
-
-struct int_param_s {
-#if defined EMPL_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_STM32
-    void (*cb)(void);
-    unsigned short pin;
-    unsigned char lp_exit;
-    unsigned char active_low;
-#elif defined EMPL_TARGET_UC3L0
-    unsigned long pin;
-    void (*cb)(volatile void*);
-    void *arg;
-#endif
-};
-
-#define MPU_INT_STATUS_DATA_READY       (0x0001)
-#define MPU_INT_STATUS_DMP              (0x0002)
-#define MPU_INT_STATUS_PLL_READY        (0x0004)
-#define MPU_INT_STATUS_I2C_MST          (0x0008)
-#define MPU_INT_STATUS_FIFO_OVERFLOW    (0x0010)
-#define MPU_INT_STATUS_ZMOT             (0x0020)
-#define MPU_INT_STATUS_MOT              (0x0040)
-#define MPU_INT_STATUS_FREE_FALL        (0x0080)
-#define MPU_INT_STATUS_DMP_0            (0x0100)
-#define MPU_INT_STATUS_DMP_1            (0x0200)
-#define MPU_INT_STATUS_DMP_2            (0x0400)
-#define MPU_INT_STATUS_DMP_3            (0x0800)
-#define MPU_INT_STATUS_DMP_4            (0x1000)
-#define MPU_INT_STATUS_DMP_5            (0x2000)
-
-/* Set up APIs */
-int mpu_init(struct int_param_s *int_param);
-int mpu_init_slave(void);
-int mpu_set_bypass(unsigned char bypass_on);
-
-/* Configuration APIs */
-int mpu_lp_accel_mode(unsigned char rate);
-int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time,
-    unsigned char lpa_freq);
-int mpu_set_int_level(unsigned char active_low);
-int mpu_set_int_latched(unsigned char enable);
-
-int mpu_set_dmp_state(unsigned char enable);
-int mpu_get_dmp_state(unsigned char *enabled);
-
-int mpu_get_lpf(unsigned short *lpf);
-int mpu_set_lpf(unsigned short lpf);
-
-int mpu_get_gyro_fsr(unsigned short *fsr);
-int mpu_set_gyro_fsr(unsigned short fsr);
-
-int mpu_get_accel_fsr(unsigned char *fsr);
-int mpu_set_accel_fsr(unsigned char fsr);
-
-int mpu_get_compass_fsr(unsigned short *fsr);
-
-int mpu_get_gyro_sens(float *sens);
-int mpu_get_accel_sens(unsigned short *sens);
-
-int mpu_get_sample_rate(unsigned short *rate);
-int mpu_set_sample_rate(unsigned short rate);
-int mpu_get_compass_sample_rate(unsigned short *rate);
-int mpu_set_compass_sample_rate(unsigned short rate);
-
-int mpu_get_fifo_config(unsigned char *sensors);
-int mpu_configure_fifo(unsigned char sensors);
-
-int mpu_get_power_state(unsigned char *power_on);
-int mpu_set_sensors(unsigned char sensors);
-
-int mpu_set_accel_bias(const long *accel_bias);
-
-/* Data getter/setter APIs */
-int mpu_get_gyro_reg(short *data, unsigned long *timestamp);
-int mpu_get_accel_reg(short *data, unsigned long *timestamp);
-int mpu_get_compass_reg(short *data, unsigned long *timestamp);
-int mpu_get_temperature(long *data, unsigned long *timestamp);
-
-int mpu_get_int_status(short *status);
-int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
-    unsigned char *sensors, unsigned char *more);
-int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
-    unsigned char *more);
-int mpu_reset_fifo(void);
-
-int mpu_write_mem(unsigned short mem_addr, unsigned short length,
-    unsigned char *data);
-int mpu_read_mem(unsigned short mem_addr, unsigned short length,
-    unsigned char *data);
-int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
-    unsigned short start_addr, unsigned short sample_rate);
-
-int mpu_reg_dump(void);
-int mpu_read_reg(unsigned char reg, unsigned char *data);
-int mpu_run_self_test(long *gyro, long *accel);
-int mpu_register_tap_cb(void (*func)(unsigned char, unsigned char));
-
-#endif  /* #ifndef _INV_MPU_H_ */
-

Core备份3/imu6/inv_mpu_dmp_motion_driver6.c

@@ -1,1380 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
-    See included License.txt for License information.
- $
- */
-/**
- *  @addtogroup  DRIVERS Sensor Driver Layer
- *  @brief       Hardware drivers to communicate with sensors via I2C.
- *
- *  @{
- *      @file       inv_mpu_dmp_motion_driver.c
- *      @brief      DMP image and interface functions.
- *      @details    All functions are preceded by the dmp_ prefix to
- *                  differentiate among MPL and general driver function calls.
- */
-#include <stdio.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-#include "inv_mpu6.h"
-#include "inv_mpu_dmp_motion_driver6.h"
-#include "dmpKey6.h"
-#include "dmpmap6.h"
-
-#include "MPU60506.h"
-
-/* The following functions must be defined for this platform:
- * i2c_write(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char const *data)
- * i2c_read(unsigned char slave_addr, unsigned char reg_addr,
- *      unsigned char length, unsigned char *data)
- * delay_ms(unsigned long num_ms)
- * get_ms(unsigned long *count)
- */
-#if defined MOTION_DRIVER_TARGET_MSP430
-#include "msp430.h"
-#include "msp430_clock.h"
-#define delay_ms    msp430_delay_ms
-#define get_ms      msp430_get_clock_ms
-#define log_i(...)     do {} while (0)
-#define log_e(...)     do {} while (0)
-
-#elif defined EMPL_TARGET_MSP430
-#include "msp430.h"
-#include "msp430_clock.h"
-#include "log.h"
-#define delay_ms    msp430_delay_ms
-#define get_ms      msp430_get_clock_ms
-#define log_i       MPL_LOGI
-#define log_e       MPL_LOGE
-
-#elif defined EMPL_TARGET_UC3L0
-/* Instead of using the standard TWI driver from the ASF library, we're using
- * a TWI driver that follows the slave address + register address convention.
- */
-#include "delay.h"
-#include "sysclk.h"
-#include "log.h"
-#include "uc3l0_clock.h"
-/* delay_ms is a function already defined in ASF. */
-#define get_ms  uc3l0_get_clock_ms
-#define log_i       MPL_LOGI
-#define log_e       MPL_LOGE
-
-#elif defined MOTION_DRIVER_TARGET_STM32
-
-#define delay_ms    HAL_Delay
-#define get_ms      get_tick_count
-
-#define log_i(...)     do {} while (0)
-#define log_e(...)     do {} while (0)
-
-#else
-#error  Gyro driver is missing the system layer implementations.
-#endif
-
-/* These defines are copied from dmpDefaultMPU6050.c in the general MPL
- * releases. These defines may change for each DMP image, so be sure to modify
- * these values when switching to a new image.
- */
-#define CFG_LP_QUAT             (2712)
-#define END_ORIENT_TEMP         (1866)
-#define CFG_27                  (2742)
-#define CFG_20                  (2224)
-#define CFG_23                  (2745)
-#define CFG_FIFO_ON_EVENT       (2690)
-#define END_PREDICTION_UPDATE   (1761)
-#define CGNOTICE_INTR           (2620)
-#define X_GRT_Y_TMP             (1358)
-#define CFG_DR_INT              (1029)
-#define CFG_AUTH                (1035)
-#define UPDATE_PROP_ROT         (1835)
-#define END_COMPARE_Y_X_TMP2    (1455)
-#define SKIP_X_GRT_Y_TMP        (1359)
-#define SKIP_END_COMPARE        (1435)
-#define FCFG_3                  (1088)
-#define FCFG_2                  (1066)
-#define FCFG_1                  (1062)
-#define END_COMPARE_Y_X_TMP3    (1434)
-#define FCFG_7                  (1073)
-#define FCFG_6                  (1106)
-#define FLAT_STATE_END          (1713)
-#define SWING_END_4             (1616)
-#define SWING_END_2             (1565)
-#define SWING_END_3             (1587)
-#define SWING_END_1             (1550)
-#define CFG_8                   (2718)
-#define CFG_15                  (2727)
-#define CFG_16                  (2746)
-#define CFG_EXT_GYRO_BIAS       (1189)
-#define END_COMPARE_Y_X_TMP     (1407)
-#define DO_NOT_UPDATE_PROP_ROT  (1839)
-#define CFG_7                   (1205)
-#define FLAT_STATE_END_TEMP     (1683)
-#define END_COMPARE_Y_X         (1484)
-#define SKIP_SWING_END_1        (1551)
-#define SKIP_SWING_END_3        (1588)
-#define SKIP_SWING_END_2        (1566)
-#define TILTG75_START           (1672)
-#define CFG_6                   (2753)
-#define TILTL75_END             (1669)
-#define END_ORIENT              (1884)
-#define CFG_FLICK_IN            (2573)
-#define TILTL75_START           (1643)
-#define CFG_MOTION_BIAS         (1208)
-#define X_GRT_Y                 (1408)
-#define TEMPLABEL               (2324)
-#define CFG_ANDROID_ORIENT_INT  (1853)
-#define CFG_GYRO_RAW_DATA       (2722)
-#define X_GRT_Y_TMP2            (1379)
-
-#define D_0_22                  (22+512)
-#define D_0_24                  (24+512)
-
-#define D_0_36                  (36)
-#define D_0_52                  (52)
-#define D_0_96                  (96)
-#define D_0_104                 (104)
-#define D_0_108                 (108)
-#define D_0_163                 (163)
-#define D_0_188                 (188)
-#define D_0_192                 (192)
-#define D_0_224                 (224)
-#define D_0_228                 (228)
-#define D_0_232                 (232)
-#define D_0_236                 (236)
-
-#define D_1_2                   (256 + 2)
-#define D_1_4                   (256 + 4)
-#define D_1_8                   (256 + 8)
-#define D_1_10                  (256 + 10)
-#define D_1_24                  (256 + 24)
-#define D_1_28                  (256 + 28)
-#define D_1_36                  (256 + 36)
-#define D_1_40                  (256 + 40)
-#define D_1_44                  (256 + 44)
-#define D_1_72                  (256 + 72)
-#define D_1_74                  (256 + 74)
-#define D_1_79                  (256 + 79)
-#define D_1_88                  (256 + 88)
-#define D_1_90                  (256 + 90)
-#define D_1_92                  (256 + 92)
-#define D_1_96                  (256 + 96)
-#define D_1_98                  (256 + 98)
-#define D_1_106                 (256 + 106)
-#define D_1_108                 (256 + 108)
-#define D_1_112                 (256 + 112)
-#define D_1_128                 (256 + 144)
-#define D_1_152                 (256 + 12)
-#define D_1_160                 (256 + 160)
-#define D_1_176                 (256 + 176)
-#define D_1_178                 (256 + 178)
-#define D_1_218                 (256 + 218)
-#define D_1_232                 (256 + 232)
-#define D_1_236                 (256 + 236)
-#define D_1_240                 (256 + 240)
-#define D_1_244                 (256 + 244)
-#define D_1_250                 (256 + 250)
-#define D_1_252                 (256 + 252)
-#define D_2_12                  (512 + 12)
-#define D_2_96                  (512 + 96)
-#define D_2_108                 (512 + 108)
-#define D_2_208                 (512 + 208)
-#define D_2_224                 (512 + 224)
-#define D_2_236                 (512 + 236)
-#define D_2_244                 (512 + 244)
-#define D_2_248                 (512 + 248)
-#define D_2_252                 (512 + 252)
-
-#define CPASS_BIAS_X            (35 * 16 + 4)
-#define CPASS_BIAS_Y            (35 * 16 + 8)
-#define CPASS_BIAS_Z            (35 * 16 + 12)
-#define CPASS_MTX_00            (36 * 16)
-#define CPASS_MTX_01            (36 * 16 + 4)
-#define CPASS_MTX_02            (36 * 16 + 8)
-#define CPASS_MTX_10            (36 * 16 + 12)
-#define CPASS_MTX_11            (37 * 16)
-#define CPASS_MTX_12            (37 * 16 + 4)
-#define CPASS_MTX_20            (37 * 16 + 8)
-#define CPASS_MTX_21            (37 * 16 + 12)
-#define CPASS_MTX_22            (43 * 16 + 12)
-#define D_EXT_GYRO_BIAS_X       (61 * 16)
-#define D_EXT_GYRO_BIAS_Y       (61 * 16) + 4
-#define D_EXT_GYRO_BIAS_Z       (61 * 16) + 8
-#define D_ACT0                  (40 * 16)
-#define D_ACSX                  (40 * 16 + 4)
-#define D_ACSY                  (40 * 16 + 8)
-#define D_ACSZ                  (40 * 16 + 12)
-
-#define FLICK_MSG               (45 * 16 + 4)
-#define FLICK_COUNTER           (45 * 16 + 8)
-#define FLICK_LOWER             (45 * 16 + 12)
-#define FLICK_UPPER             (46 * 16 + 12)
-
-#define D_AUTH_OUT              (992)
-#define D_AUTH_IN               (996)
-#define D_AUTH_A                (1000)
-#define D_AUTH_B                (1004)
-
-#define D_PEDSTD_BP_B           (768 + 0x1C)
-#define D_PEDSTD_HP_A           (768 + 0x78)
-#define D_PEDSTD_HP_B           (768 + 0x7C)
-#define D_PEDSTD_BP_A4          (768 + 0x40)
-#define D_PEDSTD_BP_A3          (768 + 0x44)
-#define D_PEDSTD_BP_A2          (768 + 0x48)
-#define D_PEDSTD_BP_A1          (768 + 0x4C)
-#define D_PEDSTD_INT_THRSH      (768 + 0x68)
-#define D_PEDSTD_CLIP           (768 + 0x6C)
-#define D_PEDSTD_SB             (768 + 0x28)
-#define D_PEDSTD_SB_TIME        (768 + 0x2C)
-#define D_PEDSTD_PEAKTHRSH      (768 + 0x98)
-#define D_PEDSTD_TIML           (768 + 0x2A)
-#define D_PEDSTD_TIMH           (768 + 0x2E)
-#define D_PEDSTD_PEAK           (768 + 0X94)
-#define D_PEDSTD_STEPCTR        (768 + 0x60)
-#define D_PEDSTD_TIMECTR        (964)
-#define D_PEDSTD_DECI           (768 + 0xA0)
-
-#define D_HOST_NO_MOT           (976)
-#define D_ACCEL_BIAS            (660)
-
-#define D_ORIENT_GAP            (76)
-
-#define D_TILT0_H               (48)
-#define D_TILT0_L               (50)
-#define D_TILT1_H               (52)
-#define D_TILT1_L               (54)
-#define D_TILT2_H               (56)
-#define D_TILT2_L               (58)
-#define D_TILT3_H               (60)
-#define D_TILT3_L               (62)
-
-#define DMP_CODE_SIZE           (3062)
-
-static const unsigned char dmp_memory[DMP_CODE_SIZE] = {
-    /* bank # 0 */
-    0x00, 0x00, 0x70, 0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,
-    0x00, 0x65, 0x00, 0x54, 0xff, 0xef, 0x00, 0x00, 0xfa, 0x80, 0x00, 0x0b, 0x12, 0x82, 0x00, 0x01,
-    0x03, 0x0c, 0x30, 0xc3, 0x0e, 0x8c, 0x8c, 0xe9, 0x14, 0xd5, 0x40, 0x02, 0x13, 0x71, 0x0f, 0x8e,
-    0x38, 0x83, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83, 0x25, 0x8e, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83,
-    0xff, 0xff, 0xff, 0xff, 0x0f, 0xfe, 0xa9, 0xd6, 0x24, 0x00, 0x04, 0x00, 0x1a, 0x82, 0x79, 0xa1,
-    0x00, 0x00, 0x00, 0x3c, 0xff, 0xff, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x38, 0x83, 0x6f, 0xa2,
-    0x00, 0x3e, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xca, 0xe3, 0x09, 0x3e, 0x80, 0x00, 0x00,
-    0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,
-    0x00, 0x0c, 0x00, 0x00, 0x00, 0x0c, 0x18, 0x6e, 0x00, 0x00, 0x06, 0x92, 0x0a, 0x16, 0xc0, 0xdf,
-    0xff, 0xff, 0x02, 0x56, 0xfd, 0x8c, 0xd3, 0x77, 0xff, 0xe1, 0xc4, 0x96, 0xe0, 0xc5, 0xbe, 0xaa,
-    0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0x0b, 0x2b, 0x00, 0x00, 0x16, 0x57, 0x00, 0x00, 0x03, 0x59,
-    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1d, 0xfa, 0x00, 0x02, 0x6c, 0x1d, 0x00, 0x00, 0x00, 0x00,
-    0x3f, 0xff, 0xdf, 0xeb, 0x00, 0x3e, 0xb3, 0xb6, 0x00, 0x0d, 0x22, 0x78, 0x00, 0x00, 0x2f, 0x3c,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x19, 0x42, 0xb5, 0x00, 0x00, 0x39, 0xa2, 0x00, 0x00, 0xb3, 0x65,
-    0xd9, 0x0e, 0x9f, 0xc9, 0x1d, 0xcf, 0x4c, 0x34, 0x30, 0x00, 0x00, 0x00, 0x50, 0x00, 0x00, 0x00,
-    0x3b, 0xb6, 0x7a, 0xe8, 0x00, 0x64, 0x00, 0x00, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    /* bank # 1 */
-    0x10, 0x00, 0x00, 0x00, 0x10, 0x00, 0xfa, 0x92, 0x10, 0x00, 0x22, 0x5e, 0x00, 0x0d, 0x22, 0x9f,
-    0x00, 0x01, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00, 0xff, 0x46, 0x00, 0x00, 0x63, 0xd4, 0x00, 0x00,
-    0x10, 0x00, 0x00, 0x00, 0x04, 0xd6, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00,
-    0x00, 0x00, 0x10, 0x72, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x06, 0x00, 0x02, 0x00, 0x05, 0x00, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x05, 0x00, 0x64, 0x00, 0x20, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x03, 0x00,
-    0x00, 0x00, 0x00, 0x32, 0xf8, 0x98, 0x00, 0x00, 0xff, 0x65, 0x00, 0x00, 0x83, 0x0f, 0x00, 0x00,
-    0xff, 0x9b, 0xfc, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00,
-    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0xb2, 0x6a, 0x00, 0x02, 0x00, 0x00,
-    0x00, 0x01, 0xfb, 0x83, 0x00, 0x68, 0x00, 0x00, 0x00, 0xd9, 0xfc, 0x00, 0x7c, 0xf1, 0xff, 0x83,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x64, 0x03, 0xe8, 0x00, 0x64, 0x00, 0x28,
-    0x00, 0x00, 0x00, 0x25, 0x00, 0x00, 0x00, 0x00, 0x16, 0xa0, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00,
-    0x00, 0x00, 0x10, 0x00, 0x00, 0x2f, 0x00, 0x00, 0x00, 0x00, 0x01, 0xf4, 0x00, 0x00, 0x10, 0x00,
-    /* bank # 2 */
-    0x00, 0x28, 0x00, 0x00, 0xff, 0xff, 0x45, 0x81, 0xff, 0xff, 0xfa, 0x72, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x44, 0x00, 0x05, 0x00, 0x05, 0xba, 0xc6, 0x00, 0x47, 0x78, 0xa2,
-    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
-    0x00, 0x00, 0x25, 0x4d, 0x00, 0x2f, 0x70, 0x6d, 0x00, 0x00, 0x05, 0xae, 0x00, 0x0c, 0x02, 0xd0,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x64, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0e, 0x00, 0x0e,
-    0x00, 0x00, 0x0a, 0xc7, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x32, 0xff, 0xff, 0xff, 0x9c,
-    0x00, 0x00, 0x0b, 0x2b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x64,
-    0xff, 0xe5, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    /* bank # 3 */
-    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x24, 0x26, 0xd3,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x10, 0x00, 0x96, 0x00, 0x3c,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x0c, 0x0a, 0x4e, 0x68, 0xcd, 0xcf, 0x77, 0x09, 0x50, 0x16, 0x67, 0x59, 0xc6, 0x19, 0xce, 0x82,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0xd7, 0x84, 0x00, 0x03, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xc7, 0x93, 0x8f, 0x9d, 0x1e, 0x1b, 0x1c, 0x19,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0x18, 0x85, 0x00, 0x00, 0x40, 0x00,
-    0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x67, 0x7d, 0xdf, 0x7e, 0x72, 0x90, 0x2e, 0x55, 0x4c, 0xf6, 0xe6, 0x88,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-
-    /* bank # 4 */
-    0xd8, 0xdc, 0xb4, 0xb8, 0xb0, 0xd8, 0xb9, 0xab, 0xf3, 0xf8, 0xfa, 0xb3, 0xb7, 0xbb, 0x8e, 0x9e,
-    0xae, 0xf1, 0x32, 0xf5, 0x1b, 0xf1, 0xb4, 0xb8, 0xb0, 0x80, 0x97, 0xf1, 0xa9, 0xdf, 0xdf, 0xdf,
-    0xaa, 0xdf, 0xdf, 0xdf, 0xf2, 0xaa, 0xc5, 0xcd, 0xc7, 0xa9, 0x0c, 0xc9, 0x2c, 0x97, 0xf1, 0xa9,
-    0x89, 0x26, 0x46, 0x66, 0xb2, 0x89, 0x99, 0xa9, 0x2d, 0x55, 0x7d, 0xb0, 0xb0, 0x8a, 0xa8, 0x96,
-    0x36, 0x56, 0x76, 0xf1, 0xba, 0xa3, 0xb4, 0xb2, 0x80, 0xc0, 0xb8, 0xa8, 0x97, 0x11, 0xb2, 0x83,
-    0x98, 0xba, 0xa3, 0xf0, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xb2, 0xb9, 0xb4, 0x98, 0x83, 0xf1,
-    0xa3, 0x29, 0x55, 0x7d, 0xba, 0xb5, 0xb1, 0xa3, 0x83, 0x93, 0xf0, 0x00, 0x28, 0x50, 0xf5, 0xb2,
-    0xb6, 0xaa, 0x83, 0x93, 0x28, 0x54, 0x7c, 0xf1, 0xb9, 0xa3, 0x82, 0x93, 0x61, 0xba, 0xa2, 0xda,
-    0xde, 0xdf, 0xdb, 0x81, 0x9a, 0xb9, 0xae, 0xf5, 0x60, 0x68, 0x70, 0xf1, 0xda, 0xba, 0xa2, 0xdf,
-    0xd9, 0xba, 0xa2, 0xfa, 0xb9, 0xa3, 0x82, 0x92, 0xdb, 0x31, 0xba, 0xa2, 0xd9, 0xba, 0xa2, 0xf8,
-    0xdf, 0x85, 0xa4, 0xd0, 0xc1, 0xbb, 0xad, 0x83, 0xc2, 0xc5, 0xc7, 0xb8, 0xa2, 0xdf, 0xdf, 0xdf,
-    0xba, 0xa0, 0xdf, 0xdf, 0xdf, 0xd8, 0xd8, 0xf1, 0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35,
-    0x5d, 0xb2, 0xb6, 0xba, 0xaf, 0x8c, 0x96, 0x19, 0x8f, 0x9f, 0xa7, 0x0e, 0x16, 0x1e, 0xb4, 0x9a,
-    0xb8, 0xaa, 0x87, 0x2c, 0x54, 0x7c, 0xba, 0xa4, 0xb0, 0x8a, 0xb6, 0x91, 0x32, 0x56, 0x76, 0xb2,
-    0x84, 0x94, 0xa4, 0xc8, 0x08, 0xcd, 0xd8, 0xb8, 0xb4, 0xb0, 0xf1, 0x99, 0x82, 0xa8, 0x2d, 0x55,
-    0x7d, 0x98, 0xa8, 0x0e, 0x16, 0x1e, 0xa2, 0x2c, 0x54, 0x7c, 0x92, 0xa4, 0xf0, 0x2c, 0x50, 0x78,
-    /* bank # 5 */
-    0xf1, 0x84, 0xa8, 0x98, 0xc4, 0xcd, 0xfc, 0xd8, 0x0d, 0xdb, 0xa8, 0xfc, 0x2d, 0xf3, 0xd9, 0xba,
-    0xa6, 0xf8, 0xda, 0xba, 0xa6, 0xde, 0xd8, 0xba, 0xb2, 0xb6, 0x86, 0x96, 0xa6, 0xd0, 0xf3, 0xc8,
-    0x41, 0xda, 0xa6, 0xc8, 0xf8, 0xd8, 0xb0, 0xb4, 0xb8, 0x82, 0xa8, 0x92, 0xf5, 0x2c, 0x54, 0x88,
-    0x98, 0xf1, 0x35, 0xd9, 0xf4, 0x18, 0xd8, 0xf1, 0xa2, 0xd0, 0xf8, 0xf9, 0xa8, 0x84, 0xd9, 0xc7,
-    0xdf, 0xf8, 0xf8, 0x83, 0xc5, 0xda, 0xdf, 0x69, 0xdf, 0x83, 0xc1, 0xd8, 0xf4, 0x01, 0x14, 0xf1,
-    0xa8, 0x82, 0x4e, 0xa8, 0x84, 0xf3, 0x11, 0xd1, 0x82, 0xf5, 0xd9, 0x92, 0x28, 0x97, 0x88, 0xf1,
-    0x09, 0xf4, 0x1c, 0x1c, 0xd8, 0x84, 0xa8, 0xf3, 0xc0, 0xf9, 0xd1, 0xd9, 0x97, 0x82, 0xf1, 0x29,
-    0xf4, 0x0d, 0xd8, 0xf3, 0xf9, 0xf9, 0xd1, 0xd9, 0x82, 0xf4, 0xc2, 0x03, 0xd8, 0xde, 0xdf, 0x1a,
-    0xd8, 0xf1, 0xa2, 0xfa, 0xf9, 0xa8, 0x84, 0x98, 0xd9, 0xc7, 0xdf, 0xf8, 0xf8, 0xf8, 0x83, 0xc7,
-    0xda, 0xdf, 0x69, 0xdf, 0xf8, 0x83, 0xc3, 0xd8, 0xf4, 0x01, 0x14, 0xf1, 0x98, 0xa8, 0x82, 0x2e,
-    0xa8, 0x84, 0xf3, 0x11, 0xd1, 0x82, 0xf5, 0xd9, 0x92, 0x50, 0x97, 0x88, 0xf1, 0x09, 0xf4, 0x1c,
-    0xd8, 0x84, 0xa8, 0xf3, 0xc0, 0xf8, 0xf9, 0xd1, 0xd9, 0x97, 0x82, 0xf1, 0x49, 0xf4, 0x0d, 0xd8,
-    0xf3, 0xf9, 0xf9, 0xd1, 0xd9, 0x82, 0xf4, 0xc4, 0x03, 0xd8, 0xde, 0xdf, 0xd8, 0xf1, 0xad, 0x88,
-    0x98, 0xcc, 0xa8, 0x09, 0xf9, 0xd9, 0x82, 0x92, 0xa8, 0xf5, 0x7c, 0xf1, 0x88, 0x3a, 0xcf, 0x94,
-    0x4a, 0x6e, 0x98, 0xdb, 0x69, 0x31, 0xda, 0xad, 0xf2, 0xde, 0xf9, 0xd8, 0x87, 0x95, 0xa8, 0xf2,
-    0x21, 0xd1, 0xda, 0xa5, 0xf9, 0xf4, 0x17, 0xd9, 0xf1, 0xae, 0x8e, 0xd0, 0xc0, 0xc3, 0xae, 0x82,
-    /* bank # 6 */
-    0xc6, 0x84, 0xc3, 0xa8, 0x85, 0x95, 0xc8, 0xa5, 0x88, 0xf2, 0xc0, 0xf1, 0xf4, 0x01, 0x0e, 0xf1,
-    0x8e, 0x9e, 0xa8, 0xc6, 0x3e, 0x56, 0xf5, 0x54, 0xf1, 0x88, 0x72, 0xf4, 0x01, 0x15, 0xf1, 0x98,
-    0x45, 0x85, 0x6e, 0xf5, 0x8e, 0x9e, 0x04, 0x88, 0xf1, 0x42, 0x98, 0x5a, 0x8e, 0x9e, 0x06, 0x88,
-    0x69, 0xf4, 0x01, 0x1c, 0xf1, 0x98, 0x1e, 0x11, 0x08, 0xd0, 0xf5, 0x04, 0xf1, 0x1e, 0x97, 0x02,
-    0x02, 0x98, 0x36, 0x25, 0xdb, 0xf9, 0xd9, 0x85, 0xa5, 0xf3, 0xc1, 0xda, 0x85, 0xa5, 0xf3, 0xdf,
-    0xd8, 0x85, 0x95, 0xa8, 0xf3, 0x09, 0xda, 0xa5, 0xfa, 0xd8, 0x82, 0x92, 0xa8, 0xf5, 0x78, 0xf1,
-    0x88, 0x1a, 0x84, 0x9f, 0x26, 0x88, 0x98, 0x21, 0xda, 0xf4, 0x1d, 0xf3, 0xd8, 0x87, 0x9f, 0x39,
-    0xd1, 0xaf, 0xd9, 0xdf, 0xdf, 0xfb, 0xf9, 0xf4, 0x0c, 0xf3, 0xd8, 0xfa, 0xd0, 0xf8, 0xda, 0xf9,
-    0xf9, 0xd0, 0xdf, 0xd9, 0xf9, 0xd8, 0xf4, 0x0b, 0xd8, 0xf3, 0x87, 0x9f, 0x39, 0xd1, 0xaf, 0xd9,
-    0xdf, 0xdf, 0xf4, 0x1d, 0xf3, 0xd8, 0xfa, 0xfc, 0xa8, 0x69, 0xf9, 0xf9, 0xaf, 0xd0, 0xda, 0xde,
-    0xfa, 0xd9, 0xf8, 0x8f, 0x9f, 0xa8, 0xf1, 0xcc, 0xf3, 0x98, 0xdb, 0x45, 0xd9, 0xaf, 0xdf, 0xd0,
-    0xf8, 0xd8, 0xf1, 0x8f, 0x9f, 0xa8, 0xca, 0xf3, 0x88, 0x09, 0xda, 0xaf, 0x8f, 0xcb, 0xf8, 0xd8,
-    0xf2, 0xad, 0x97, 0x8d, 0x0c, 0xd9, 0xa5, 0xdf, 0xf9, 0xba, 0xa6, 0xf3, 0xfa, 0xf4, 0x12, 0xf2,
-    0xd8, 0x95, 0x0d, 0xd1, 0xd9, 0xba, 0xa6, 0xf3, 0xfa, 0xda, 0xa5, 0xf2, 0xc1, 0xba, 0xa6, 0xf3,
-    0xdf, 0xd8, 0xf1, 0xba, 0xb2, 0xb6, 0x86, 0x96, 0xa6, 0xd0, 0xca, 0xf3, 0x49, 0xda, 0xa6, 0xcb,
-    0xf8, 0xd8, 0xb0, 0xb4, 0xb8, 0xd8, 0xad, 0x84, 0xf2, 0xc0, 0xdf, 0xf1, 0x8f, 0xcb, 0xc3, 0xa8,
-    /* bank # 7 */
-    0xb2, 0xb6, 0x86, 0x96, 0xc8, 0xc1, 0xcb, 0xc3, 0xf3, 0xb0, 0xb4, 0x88, 0x98, 0xa8, 0x21, 0xdb,
-    0x71, 0x8d, 0x9d, 0x71, 0x85, 0x95, 0x21, 0xd9, 0xad, 0xf2, 0xfa, 0xd8, 0x85, 0x97, 0xa8, 0x28,
-    0xd9, 0xf4, 0x08, 0xd8, 0xf2, 0x8d, 0x29, 0xda, 0xf4, 0x05, 0xd9, 0xf2, 0x85, 0xa4, 0xc2, 0xf2,
-    0xd8, 0xa8, 0x8d, 0x94, 0x01, 0xd1, 0xd9, 0xf4, 0x11, 0xf2, 0xd8, 0x87, 0x21, 0xd8, 0xf4, 0x0a,
-    0xd8, 0xf2, 0x84, 0x98, 0xa8, 0xc8, 0x01, 0xd1, 0xd9, 0xf4, 0x11, 0xd8, 0xf3, 0xa4, 0xc8, 0xbb,
-    0xaf, 0xd0, 0xf2, 0xde, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xd8, 0xf1, 0xb8, 0xf6,
-    0xb5, 0xb9, 0xb0, 0x8a, 0x95, 0xa3, 0xde, 0x3c, 0xa3, 0xd9, 0xf8, 0xd8, 0x5c, 0xa3, 0xd9, 0xf8,
-    0xd8, 0x7c, 0xa3, 0xd9, 0xf8, 0xd8, 0xf8, 0xf9, 0xd1, 0xa5, 0xd9, 0xdf, 0xda, 0xfa, 0xd8, 0xb1,
-    0x85, 0x30, 0xf7, 0xd9, 0xde, 0xd8, 0xf8, 0x30, 0xad, 0xda, 0xde, 0xd8, 0xf2, 0xb4, 0x8c, 0x99,
-    0xa3, 0x2d, 0x55, 0x7d, 0xa0, 0x83, 0xdf, 0xdf, 0xdf, 0xb5, 0x91, 0xa0, 0xf6, 0x29, 0xd9, 0xfb,
-    0xd8, 0xa0, 0xfc, 0x29, 0xd9, 0xfa, 0xd8, 0xa0, 0xd0, 0x51, 0xd9, 0xf8, 0xd8, 0xfc, 0x51, 0xd9,
-    0xf9, 0xd8, 0x79, 0xd9, 0xfb, 0xd8, 0xa0, 0xd0, 0xfc, 0x79, 0xd9, 0xfa, 0xd8, 0xa1, 0xf9, 0xf9,
-    0xf9, 0xf9, 0xf9, 0xa0, 0xda, 0xdf, 0xdf, 0xdf, 0xd8, 0xa1, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xac,
-    0xde, 0xf8, 0xad, 0xde, 0x83, 0x93, 0xac, 0x2c, 0x54, 0x7c, 0xf1, 0xa8, 0xdf, 0xdf, 0xdf, 0xf6,
-    0x9d, 0x2c, 0xda, 0xa0, 0xdf, 0xd9, 0xfa, 0xdb, 0x2d, 0xf8, 0xd8, 0xa8, 0x50, 0xda, 0xa0, 0xd0,
-    0xde, 0xd9, 0xd0, 0xf8, 0xf8, 0xf8, 0xdb, 0x55, 0xf8, 0xd8, 0xa8, 0x78, 0xda, 0xa0, 0xd0, 0xdf,
-    /* bank # 8 */
-    0xd9, 0xd0, 0xfa, 0xf8, 0xf8, 0xf8, 0xf8, 0xdb, 0x7d, 0xf8, 0xd8, 0x9c, 0xa8, 0x8c, 0xf5, 0x30,
-    0xdb, 0x38, 0xd9, 0xd0, 0xde, 0xdf, 0xa0, 0xd0, 0xde, 0xdf, 0xd8, 0xa8, 0x48, 0xdb, 0x58, 0xd9,
-    0xdf, 0xd0, 0xde, 0xa0, 0xdf, 0xd0, 0xde, 0xd8, 0xa8, 0x68, 0xdb, 0x70, 0xd9, 0xdf, 0xdf, 0xa0,
-    0xdf, 0xdf, 0xd8, 0xf1, 0xa8, 0x88, 0x90, 0x2c, 0x54, 0x7c, 0x98, 0xa8, 0xd0, 0x5c, 0x38, 0xd1,
-    0xda, 0xf2, 0xae, 0x8c, 0xdf, 0xf9, 0xd8, 0xb0, 0x87, 0xa8, 0xc1, 0xc1, 0xb1, 0x88, 0xa8, 0xc6,
-    0xf9, 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xa8,
-    0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xf7, 0x8d, 0x9d, 0xad, 0xf8, 0x18, 0xda,
-    0xf2, 0xae, 0xdf, 0xd8, 0xf7, 0xad, 0xfa, 0x30, 0xd9, 0xa4, 0xde, 0xf9, 0xd8, 0xf2, 0xae, 0xde,
-    0xfa, 0xf9, 0x83, 0xa7, 0xd9, 0xc3, 0xc5, 0xc7, 0xf1, 0x88, 0x9b, 0xa7, 0x7a, 0xad, 0xf7, 0xde,
-    0xdf, 0xa4, 0xf8, 0x84, 0x94, 0x08, 0xa7, 0x97, 0xf3, 0x00, 0xae, 0xf2, 0x98, 0x19, 0xa4, 0x88,
-    0xc6, 0xa3, 0x94, 0x88, 0xf6, 0x32, 0xdf, 0xf2, 0x83, 0x93, 0xdb, 0x09, 0xd9, 0xf2, 0xaa, 0xdf,
-    0xd8, 0xd8, 0xae, 0xf8, 0xf9, 0xd1, 0xda, 0xf3, 0xa4, 0xde, 0xa7, 0xf1, 0x88, 0x9b, 0x7a, 0xd8,
-    0xf3, 0x84, 0x94, 0xae, 0x19, 0xf9, 0xda, 0xaa, 0xf1, 0xdf, 0xd8, 0xa8, 0x81, 0xc0, 0xc3, 0xc5,
-    0xc7, 0xa3, 0x92, 0x83, 0xf6, 0x28, 0xad, 0xde, 0xd9, 0xf8, 0xd8, 0xa3, 0x50, 0xad, 0xd9, 0xf8,
-    0xd8, 0xa3, 0x78, 0xad, 0xd9, 0xf8, 0xd8, 0xf8, 0xf9, 0xd1, 0xa1, 0xda, 0xde, 0xc3, 0xc5, 0xc7,
-    0xd8, 0xa1, 0x81, 0x94, 0xf8, 0x18, 0xf2, 0xb0, 0x89, 0xac, 0xc3, 0xc5, 0xc7, 0xf1, 0xd8, 0xb8,
-    /* bank # 9 */
-    0xb4, 0xb0, 0x97, 0x86, 0xa8, 0x31, 0x9b, 0x06, 0x99, 0x07, 0xab, 0x97, 0x28, 0x88, 0x9b, 0xf0,
-    0x0c, 0x20, 0x14, 0x40, 0xb0, 0xb4, 0xb8, 0xf0, 0xa8, 0x8a, 0x9a, 0x28, 0x50, 0x78, 0xb7, 0x9b,
-    0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xf1, 0xbb, 0xab,
-    0x88, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0xb3, 0x8b, 0xb8, 0xa8, 0x04, 0x28, 0x50, 0x78, 0xf1, 0xb0,
-    0x88, 0xb4, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xbb, 0xab, 0xb3, 0x8b, 0x02, 0x26, 0x46, 0x66, 0xb0,
-    0xb8, 0xf0, 0x8a, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x8b, 0x29, 0x51, 0x79, 0x8a, 0x24, 0x70, 0x59,
-    0x8b, 0x20, 0x58, 0x71, 0x8a, 0x44, 0x69, 0x38, 0x8b, 0x39, 0x40, 0x68, 0x8a, 0x64, 0x48, 0x31,
-    0x8b, 0x30, 0x49, 0x60, 0x88, 0xf1, 0xac, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0x8c, 0xa8, 0x04, 0x28,
-    0x50, 0x78, 0xf1, 0x88, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xac, 0x8c, 0x02, 0x26, 0x46, 0x66, 0xf0,
-    0x89, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xa9,
-    0x88, 0x09, 0x20, 0x59, 0x70, 0xab, 0x11, 0x38, 0x40, 0x69, 0xa8, 0x19, 0x31, 0x48, 0x60, 0x8c,
-    0xa8, 0x3c, 0x41, 0x5c, 0x20, 0x7c, 0x00, 0xf1, 0x87, 0x98, 0x19, 0x86, 0xa8, 0x6e, 0x76, 0x7e,
-    0xa9, 0x99, 0x88, 0x2d, 0x55, 0x7d, 0xd8, 0xb1, 0xb5, 0xb9, 0xa3, 0xdf, 0xdf, 0xdf, 0xae, 0xd0,
-    0xdf, 0xaa, 0xd0, 0xde, 0xf2, 0xab, 0xf8, 0xf9, 0xd9, 0xb0, 0x87, 0xc4, 0xaa, 0xf1, 0xdf, 0xdf,
-    0xbb, 0xaf, 0xdf, 0xdf, 0xb9, 0xd8, 0xb1, 0xf1, 0xa3, 0x97, 0x8e, 0x60, 0xdf, 0xb0, 0x84, 0xf2,
-    0xc8, 0xf8, 0xf9, 0xd9, 0xde, 0xd8, 0x93, 0x85, 0xf1, 0x4a, 0xb1, 0x83, 0xa3, 0x08, 0xb5, 0x83,
-    /* bank # 10 */
-    0x9a, 0x08, 0x10, 0xb7, 0x9f, 0x10, 0xd8, 0xf1, 0xb0, 0xba, 0xae, 0xb0, 0x8a, 0xc2, 0xb2, 0xb6,
-    0x8e, 0x9e, 0xf1, 0xfb, 0xd9, 0xf4, 0x1d, 0xd8, 0xf9, 0xd9, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad,
-    0x61, 0xd9, 0xae, 0xfb, 0xd8, 0xf4, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad, 0x19, 0xd9, 0xae, 0xfb,
-    0xdf, 0xd8, 0xf4, 0x16, 0xf1, 0xd8, 0xf8, 0xad, 0x8d, 0x61, 0xd9, 0xf4, 0xf4, 0xac, 0xf5, 0x9c,
-    0x9c, 0x8d, 0xdf, 0x2b, 0xba, 0xb6, 0xae, 0xfa, 0xf8, 0xf4, 0x0b, 0xd8, 0xf1, 0xae, 0xd0, 0xf8,
-    0xad, 0x51, 0xda, 0xae, 0xfa, 0xf8, 0xf1, 0xd8, 0xb9, 0xb1, 0xb6, 0xa3, 0x83, 0x9c, 0x08, 0xb9,
-    0xb1, 0x83, 0x9a, 0xb5, 0xaa, 0xc0, 0xfd, 0x30, 0x83, 0xb7, 0x9f, 0x10, 0xb5, 0x8b, 0x93, 0xf2,
-    0x02, 0x02, 0xd1, 0xab, 0xda, 0xde, 0xd8, 0xf1, 0xb0, 0x80, 0xba, 0xab, 0xc0, 0xc3, 0xb2, 0x84,
-    0xc1, 0xc3, 0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9, 0xab, 0xde, 0xb0,
-    0x87, 0x9c, 0xb9, 0xa3, 0xdd, 0xf1, 0xb3, 0x8b, 0x8b, 0x8b, 0x8b, 0x8b, 0xb0, 0x87, 0xa3, 0xa3,
-    0xa3, 0xa3, 0xb2, 0x8b, 0xb6, 0x9b, 0xf2, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3,
-    0xa3, 0xf1, 0xb0, 0x87, 0xb5, 0x9a, 0xa3, 0xf3, 0x9b, 0xa3, 0xa3, 0xdc, 0xba, 0xac, 0xdf, 0xb9,
-    0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3,
-    0xd8, 0xd8, 0xd8, 0xbb, 0xb3, 0xb7, 0xf1, 0xaa, 0xf9, 0xda, 0xff, 0xd9, 0x80, 0x9a, 0xaa, 0x28,
-    0xb4, 0x80, 0x98, 0xa7, 0x20, 0xb7, 0x97, 0x87, 0xa8, 0x66, 0x88, 0xf0, 0x79, 0x51, 0xf1, 0x90,
-    0x2c, 0x87, 0x0c, 0xa7, 0x81, 0x97, 0x62, 0x93, 0xf0, 0x71, 0x71, 0x60, 0x85, 0x94, 0x01, 0x29,
-    /* bank # 11 */
-    0x51, 0x79, 0x90, 0xa5, 0xf1, 0x28, 0x4c, 0x6c, 0x87, 0x0c, 0x95, 0x18, 0x85, 0x78, 0xa3, 0x83,
-    0x90, 0x28, 0x4c, 0x6c, 0x88, 0x6c, 0xd8, 0xf3, 0xa2, 0x82, 0x00, 0xf2, 0x10, 0xa8, 0x92, 0x19,
-    0x80, 0xa2, 0xf2, 0xd9, 0x26, 0xd8, 0xf1, 0x88, 0xa8, 0x4d, 0xd9, 0x48, 0xd8, 0x96, 0xa8, 0x39,
-    0x80, 0xd9, 0x3c, 0xd8, 0x95, 0x80, 0xa8, 0x39, 0xa6, 0x86, 0x98, 0xd9, 0x2c, 0xda, 0x87, 0xa7,
-    0x2c, 0xd8, 0xa8, 0x89, 0x95, 0x19, 0xa9, 0x80, 0xd9, 0x38, 0xd8, 0xa8, 0x89, 0x39, 0xa9, 0x80,
-    0xda, 0x3c, 0xd8, 0xa8, 0x2e, 0xa8, 0x39, 0x90, 0xd9, 0x0c, 0xd8, 0xa8, 0x95, 0x31, 0x98, 0xd9,
-    0x0c, 0xd8, 0xa8, 0x09, 0xd9, 0xff, 0xd8, 0x01, 0xda, 0xff, 0xd8, 0x95, 0x39, 0xa9, 0xda, 0x26,
-    0xff, 0xd8, 0x90, 0xa8, 0x0d, 0x89, 0x99, 0xa8, 0x10, 0x80, 0x98, 0x21, 0xda, 0x2e, 0xd8, 0x89,
-    0x99, 0xa8, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x86, 0x96, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8,
-    0x87, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x82, 0x92, 0xf3, 0x41, 0x80, 0xf1, 0xd9, 0x2e, 0xd8,
-    0xa8, 0x82, 0xf3, 0x19, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, 0x82, 0xac, 0xf3, 0xc0, 0xa2, 0x80, 0x22,
-    0xf1, 0xa6, 0x2e, 0xa7, 0x2e, 0xa9, 0x22, 0x98, 0xa8, 0x29, 0xda, 0xac, 0xde, 0xff, 0xd8, 0xa2,
-    0xf2, 0x2a, 0xf1, 0xa9, 0x2e, 0x82, 0x92, 0xa8, 0xf2, 0x31, 0x80, 0xa6, 0x96, 0xf1, 0xd9, 0x00,
-    0xac, 0x8c, 0x9c, 0x0c, 0x30, 0xac, 0xde, 0xd0, 0xde, 0xff, 0xd8, 0x8c, 0x9c, 0xac, 0xd0, 0x10,
-    0xac, 0xde, 0x80, 0x92, 0xa2, 0xf2, 0x4c, 0x82, 0xa8, 0xf1, 0xca, 0xf2, 0x35, 0xf1, 0x96, 0x88,
-    0xa6, 0xd9, 0x00, 0xd8, 0xf1, 0xff
-};
-
-static const unsigned short sStartAddress = 0x0400;
-
-/* END OF SECTION COPIED FROM dmpDefaultMPU6050.c */
-
-#define INT_SRC_TAP             (0x01)
-#define INT_SRC_ANDROID_ORIENT  (0x08)
-
-#define DMP_FEATURE_SEND_ANY_GYRO   (DMP_FEATURE_SEND_RAW_GYRO | \
-                                     DMP_FEATURE_SEND_CAL_GYRO)
-
-#define MAX_PACKET_LENGTH   (32)
-
-#define DMP_SAMPLE_RATE     (200)
-#define GYRO_SF             (46850825LL * 200 / DMP_SAMPLE_RATE)
-
-#define FIFO_CORRUPTION_CHECK
-#ifdef FIFO_CORRUPTION_CHECK
-#define QUAT_ERROR_THRESH       (1L<<24)
-#define QUAT_MAG_SQ_NORMALIZED  (1L<<28)
-#define QUAT_MAG_SQ_MIN         (QUAT_MAG_SQ_NORMALIZED - QUAT_ERROR_THRESH)
-#define QUAT_MAG_SQ_MAX         (QUAT_MAG_SQ_NORMALIZED + QUAT_ERROR_THRESH)
-#endif
-
-struct dmp_s {
-    void (*tap_cb)(unsigned char count, unsigned char direction);
-    void (*android_orient_cb)(unsigned char orientation);
-    unsigned short orient;
-    unsigned short feature_mask;
-    unsigned short fifo_rate;
-    unsigned char packet_length;
-};
-
-static struct dmp_s dmp = {
-    .tap_cb = NULL,
-    .android_orient_cb = NULL,
-    .orient = 0,
-    .feature_mask = 0,
-    .fifo_rate = 0,
-    .packet_length = 0
-};
-
-/**
- *  @brief  Load the DMP with this image.
- *  @return 0 if successful.
- */
-int dmp_load_motion_driver_firmware(void)
-{
-    return mpu_load_firmware(DMP_CODE_SIZE, dmp_memory, sStartAddress,
-        DMP_SAMPLE_RATE);
-}
-
-/**
- *  @brief      Push gyro and accel orientation to the DMP.
- *  The orientation is represented here as the output of
- *  @e inv_orientation_matrix_to_scalar.
- *  @param[in]  orient  Gyro and accel orientation in body frame.
- *  @return     0 if successful.
- */
-int dmp_set_orientation(unsigned short orient)
-{
-    unsigned char gyro_regs[3], accel_regs[3];
-    const unsigned char gyro_axes[3] = {DINA4C, DINACD, DINA6C};
-    const unsigned char accel_axes[3] = {DINA0C, DINAC9, DINA2C};
-    const unsigned char gyro_sign[3] = {DINA36, DINA56, DINA76};
-    const unsigned char accel_sign[3] = {DINA26, DINA46, DINA66};
-
-    gyro_regs[0] = gyro_axes[orient & 3];
-    gyro_regs[1] = gyro_axes[(orient >> 3) & 3];
-    gyro_regs[2] = gyro_axes[(orient >> 6) & 3];
-    accel_regs[0] = accel_axes[orient & 3];
-    accel_regs[1] = accel_axes[(orient >> 3) & 3];
-    accel_regs[2] = accel_axes[(orient >> 6) & 3];
-
-    /* Chip-to-body, axes only. */
-    if (mpu_write_mem(FCFG_1, 3, gyro_regs))
-        return -1;
-    if (mpu_write_mem(FCFG_2, 3, accel_regs))
-        return -1;
-
-    memcpy(gyro_regs, gyro_sign, 3);
-    memcpy(accel_regs, accel_sign, 3);
-    if (orient & 4) {
-        gyro_regs[0] |= 1;
-        accel_regs[0] |= 1;
-    }
-    if (orient & 0x20) {
-        gyro_regs[1] |= 1;
-        accel_regs[1] |= 1;
-    }
-    if (orient & 0x100) {
-        gyro_regs[2] |= 1;
-        accel_regs[2] |= 1;
-    }
-
-    /* Chip-to-body, sign only. */
-    if (mpu_write_mem(FCFG_3, 3, gyro_regs))
-        return -1;
-    if (mpu_write_mem(FCFG_7, 3, accel_regs))
-        return -1;
-    dmp.orient = orient;
-    return 0;
-}
-
-/**
- *  @brief      Push gyro biases to the DMP.
- *  Because the gyro integration is handled in the DMP, any gyro biases
- *  calculated by the MPL should be pushed down to DMP memory to remove
- *  3-axis quaternion drift.
- *  \n NOTE: If the DMP-based gyro calibration is enabled, the DMP will
- *  overwrite the biases written to this location once a new one is computed.
- *  @param[in]  bias    Gyro biases in q16.
- *  @return     0 if successful.
- */
-int dmp_set_gyro_bias(long *bias)
-{
-    long gyro_bias_body[3];
-    unsigned char regs[4];
-
-    gyro_bias_body[0] = bias[dmp.orient & 3];
-    if (dmp.orient & 4)
-        gyro_bias_body[0] *= -1;
-    gyro_bias_body[1] = bias[(dmp.orient >> 3) & 3];
-    if (dmp.orient & 0x20)
-        gyro_bias_body[1] *= -1;
-    gyro_bias_body[2] = bias[(dmp.orient >> 6) & 3];
-    if (dmp.orient & 0x100)
-        gyro_bias_body[2] *= -1;
-
-#ifdef EMPL_NO_64BIT
-    gyro_bias_body[0] = (long)(((float)gyro_bias_body[0] * GYRO_SF) / 1073741824.f);
-    gyro_bias_body[1] = (long)(((float)gyro_bias_body[1] * GYRO_SF) / 1073741824.f);
-    gyro_bias_body[2] = (long)(((float)gyro_bias_body[2] * GYRO_SF) / 1073741824.f);
-#else
-    gyro_bias_body[0] = (long)(((long long)gyro_bias_body[0] * GYRO_SF) >> 30);
-    gyro_bias_body[1] = (long)(((long long)gyro_bias_body[1] * GYRO_SF) >> 30);
-    gyro_bias_body[2] = (long)(((long long)gyro_bias_body[2] * GYRO_SF) >> 30);
-#endif
-
-    regs[0] = (unsigned char)((gyro_bias_body[0] >> 24) & 0xFF);
-    regs[1] = (unsigned char)((gyro_bias_body[0] >> 16) & 0xFF);
-    regs[2] = (unsigned char)((gyro_bias_body[0] >> 8) & 0xFF);
-    regs[3] = (unsigned char)(gyro_bias_body[0] & 0xFF);
-    if (mpu_write_mem(D_EXT_GYRO_BIAS_X, 4, regs))
-        return -1;
-
-    regs[0] = (unsigned char)((gyro_bias_body[1] >> 24) & 0xFF);
-    regs[1] = (unsigned char)((gyro_bias_body[1] >> 16) & 0xFF);
-    regs[2] = (unsigned char)((gyro_bias_body[1] >> 8) & 0xFF);
-    regs[3] = (unsigned char)(gyro_bias_body[1] & 0xFF);
-    if (mpu_write_mem(D_EXT_GYRO_BIAS_Y, 4, regs))
-        return -1;
-
-    regs[0] = (unsigned char)((gyro_bias_body[2] >> 24) & 0xFF);
-    regs[1] = (unsigned char)((gyro_bias_body[2] >> 16) & 0xFF);
-    regs[2] = (unsigned char)((gyro_bias_body[2] >> 8) & 0xFF);
-    regs[3] = (unsigned char)(gyro_bias_body[2] & 0xFF);
-    return mpu_write_mem(D_EXT_GYRO_BIAS_Z, 4, regs);
-}
-
-/**
- *  @brief      Push accel biases to the DMP.
- *  These biases will be removed from the DMP 6-axis quaternion.
- *  @param[in]  bias    Accel biases in q16.
- *  @return     0 if successful.
- */
-int dmp_set_accel_bias(long *bias)
-{
-    long accel_bias_body[3];
-    unsigned char regs[12];
-    long long accel_sf;
-    unsigned short accel_sens;
-
-    mpu_get_accel_sens(&accel_sens);
-    accel_sf = (long long)accel_sens << 15;
-//    __no_operation();
-    __NOP();
-
-    accel_bias_body[0] = bias[dmp.orient & 3];
-    if (dmp.orient & 4)
-        accel_bias_body[0] *= -1;
-    accel_bias_body[1] = bias[(dmp.orient >> 3) & 3];
-    if (dmp.orient & 0x20)
-        accel_bias_body[1] *= -1;
-    accel_bias_body[2] = bias[(dmp.orient >> 6) & 3];
-    if (dmp.orient & 0x100)
-        accel_bias_body[2] *= -1;
-
-#ifdef EMPL_NO_64BIT
-    accel_bias_body[0] = (long)(((float)accel_bias_body[0] * accel_sf) / 1073741824.f);
-    accel_bias_body[1] = (long)(((float)accel_bias_body[1] * accel_sf) / 1073741824.f);
-    accel_bias_body[2] = (long)(((float)accel_bias_body[2] * accel_sf) / 1073741824.f);
-#else
-    accel_bias_body[0] = (long)(((long long)accel_bias_body[0] * accel_sf) >> 30);
-    accel_bias_body[1] = (long)(((long long)accel_bias_body[1] * accel_sf) >> 30);
-    accel_bias_body[2] = (long)(((long long)accel_bias_body[2] * accel_sf) >> 30);
-#endif
-
-    regs[0] = (unsigned char)((accel_bias_body[0] >> 24) & 0xFF);
-    regs[1] = (unsigned char)((accel_bias_body[0] >> 16) & 0xFF);
-    regs[2] = (unsigned char)((accel_bias_body[0] >> 8) & 0xFF);
-    regs[3] = (unsigned char)(accel_bias_body[0] & 0xFF);
-    regs[4] = (unsigned char)((accel_bias_body[1] >> 24) & 0xFF);
-    regs[5] = (unsigned char)((accel_bias_body[1] >> 16) & 0xFF);
-    regs[6] = (unsigned char)((accel_bias_body[1] >> 8) & 0xFF);
-    regs[7] = (unsigned char)(accel_bias_body[1] & 0xFF);
-    regs[8] = (unsigned char)((accel_bias_body[2] >> 24) & 0xFF);
-    regs[9] = (unsigned char)((accel_bias_body[2] >> 16) & 0xFF);
-    regs[10] = (unsigned char)((accel_bias_body[2] >> 8) & 0xFF);
-    regs[11] = (unsigned char)(accel_bias_body[2] & 0xFF);
-    return mpu_write_mem(D_ACCEL_BIAS, 12, regs);
-}
-
-/**
- *  @brief      Set DMP output rate.
- *  Only used when DMP is on.
- *  @param[in]  rate    Desired fifo rate (Hz).
- *  @return     0 if successful.
- */
-int dmp_set_fifo_rate(unsigned short rate)
-{
-    const unsigned char regs_end[12] = {DINAFE, DINAF2, DINAAB,
-        0xc4, DINAAA, DINAF1, DINADF, DINADF, 0xBB, 0xAF, DINADF, DINADF};
-    unsigned short div;
-    unsigned char tmp[8];
-
-    if (rate > DMP_SAMPLE_RATE)
-        return -1;
-    div = DMP_SAMPLE_RATE / rate - 1;
-    tmp[0] = (unsigned char)((div >> 8) & 0xFF);
-    tmp[1] = (unsigned char)(div & 0xFF);
-    if (mpu_write_mem(D_0_22, 2, tmp))
-        return -1;
-    if (mpu_write_mem(CFG_6, 12, (unsigned char*)regs_end))
-        return -1;
-
-    dmp.fifo_rate = rate;
-    return 0;
-}
-
-/**
- *  @brief      Get DMP output rate.
- *  @param[out] rate    Current fifo rate (Hz).
- *  @return     0 if successful.
- */
-int dmp_get_fifo_rate(unsigned short *rate)
-{
-    rate[0] = dmp.fifo_rate;
-    return 0;
-}
-
-/**
- *  @brief      Set tap threshold for a specific axis.
- *  @param[in]  axis    1, 2, and 4 for XYZ accel, respectively.
- *  @param[in]  thresh  Tap threshold, in mg/ms.
- *  @return     0 if successful.
- */
-int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh)
-{
-    unsigned char tmp[4], accel_fsr;
-    float scaled_thresh;
-    unsigned short dmp_thresh, dmp_thresh_2;
-    if (!(axis & TAP_XYZ) || thresh > 1600)
-        return -1;
-
-    scaled_thresh = (float)thresh / DMP_SAMPLE_RATE;
-
-    mpu_get_accel_fsr(&accel_fsr);
-    switch (accel_fsr) {
-    case 2:
-        dmp_thresh = (unsigned short)(scaled_thresh * 16384);
-        /* dmp_thresh * 0.75 */
-        dmp_thresh_2 = (unsigned short)(scaled_thresh * 12288);
-        break;
-    case 4:
-        dmp_thresh = (unsigned short)(scaled_thresh * 8192);
-        /* dmp_thresh * 0.75 */
-        dmp_thresh_2 = (unsigned short)(scaled_thresh * 6144);
-        break;
-    case 8:
-        dmp_thresh = (unsigned short)(scaled_thresh * 4096);
-        /* dmp_thresh * 0.75 */
-        dmp_thresh_2 = (unsigned short)(scaled_thresh * 3072);
-        break;
-    case 16:
-        dmp_thresh = (unsigned short)(scaled_thresh * 2048);
-        /* dmp_thresh * 0.75 */
-        dmp_thresh_2 = (unsigned short)(scaled_thresh * 1536);
-        break;
-    default:
-        return -1;
-    }
-    tmp[0] = (unsigned char)(dmp_thresh >> 8);
-    tmp[1] = (unsigned char)(dmp_thresh & 0xFF);
-    tmp[2] = (unsigned char)(dmp_thresh_2 >> 8);
-    tmp[3] = (unsigned char)(dmp_thresh_2 & 0xFF);
-
-    if (axis & TAP_X) {
-        if (mpu_write_mem(DMP_TAP_THX, 2, tmp))
-            return -1;
-        if (mpu_write_mem(D_1_36, 2, tmp+2))
-            return -1;
-    }
-    if (axis & TAP_Y) {
-        if (mpu_write_mem(DMP_TAP_THY, 2, tmp))
-            return -1;
-        if (mpu_write_mem(D_1_40, 2, tmp+2))
-            return -1;
-    }
-    if (axis & TAP_Z) {
-        if (mpu_write_mem(DMP_TAP_THZ, 2, tmp))
-            return -1;
-        if (mpu_write_mem(D_1_44, 2, tmp+2))
-            return -1;
-    }
-    return 0;
-}
-
-/**
- *  @brief      Set which axes will register a tap.
- *  @param[in]  axis    1, 2, and 4 for XYZ, respectively.
- *  @return     0 if successful.
- */
-int dmp_set_tap_axes(unsigned char axis)
-{
-    unsigned char tmp = 0;
-
-    if (axis & TAP_X)
-        tmp |= 0x30;
-    if (axis & TAP_Y)
-        tmp |= 0x0C;
-    if (axis & TAP_Z)
-        tmp |= 0x03;
-    return mpu_write_mem(D_1_72, 1, &tmp);
-}
-
-/**
- *  @brief      Set minimum number of taps needed for an interrupt.
- *  @param[in]  min_taps    Minimum consecutive taps (1-4).
- *  @return     0 if successful.
- */
-int dmp_set_tap_count(unsigned char min_taps)
-{
-    unsigned char tmp;
-
-    if (min_taps < 1)
-        min_taps = 1;
-    else if (min_taps > 4)
-        min_taps = 4;
-
-    tmp = min_taps - 1;
-    return mpu_write_mem(D_1_79, 1, &tmp);
-}
-
-/**
- *  @brief      Set length between valid taps.
- *  @param[in]  time    Milliseconds between taps.
- *  @return     0 if successful.
- */
-int dmp_set_tap_time(unsigned short time)
-{
-    unsigned short dmp_time;
-    unsigned char tmp[2];
-
-    dmp_time = time / (1000 / DMP_SAMPLE_RATE);
-    tmp[0] = (unsigned char)(dmp_time >> 8);
-    tmp[1] = (unsigned char)(dmp_time & 0xFF);
-    return mpu_write_mem(DMP_TAPW_MIN, 2, tmp);
-}
-
-/**
- *  @brief      Set max time between taps to register as a multi-tap.
- *  @param[in]  time    Max milliseconds between taps.
- *  @return     0 if successful.
- */
-int dmp_set_tap_time_multi(unsigned short time)
-{
-    unsigned short dmp_time;
-    unsigned char tmp[2];
-
-    dmp_time = time / (1000 / DMP_SAMPLE_RATE);
-    tmp[0] = (unsigned char)(dmp_time >> 8);
-    tmp[1] = (unsigned char)(dmp_time & 0xFF);
-    return mpu_write_mem(D_1_218, 2, tmp);
-}
-
-/**
- *  @brief      Set shake rejection threshold.
- *  If the DMP detects a gyro sample larger than @e thresh, taps are rejected.
- *  @param[in]  sf      Gyro scale factor.
- *  @param[in]  thresh  Gyro threshold in dps.
- *  @return     0 if successful.
- */
-int dmp_set_shake_reject_thresh(long sf, unsigned short thresh)
-{
-    unsigned char tmp[4];
-    long thresh_scaled = sf / 1000 * thresh;
-    tmp[0] = (unsigned char)(((long)thresh_scaled >> 24) & 0xFF);
-    tmp[1] = (unsigned char)(((long)thresh_scaled >> 16) & 0xFF);
-    tmp[2] = (unsigned char)(((long)thresh_scaled >> 8) & 0xFF);
-    tmp[3] = (unsigned char)((long)thresh_scaled & 0xFF);
-    return mpu_write_mem(D_1_92, 4, tmp);
-}
-
-/**
- *  @brief      Set shake rejection time.
- *  Sets the length of time that the gyro must be outside of the threshold set
- *  by @e gyro_set_shake_reject_thresh before taps are rejected. A mandatory
- *  60 ms is added to this parameter.
- *  @param[in]  time    Time in milliseconds.
- *  @return     0 if successful.
- */
-int dmp_set_shake_reject_time(unsigned short time)
-{
-    unsigned char tmp[2];
-
-    time /= (1000 / DMP_SAMPLE_RATE);
-    tmp[0] = time >> 8;
-    tmp[1] = time & 0xFF;
-    return mpu_write_mem(D_1_90,2,tmp);
-}
-
-/**
- *  @brief      Set shake rejection timeout.
- *  Sets the length of time after a shake rejection that the gyro must stay
- *  inside of the threshold before taps can be detected again. A mandatory
- *  60 ms is added to this parameter.
- *  @param[in]  time    Time in milliseconds.
- *  @return     0 if successful.
- */
-int dmp_set_shake_reject_timeout(unsigned short time)
-{
-    unsigned char tmp[2];
-
-    time /= (1000 / DMP_SAMPLE_RATE);
-    tmp[0] = time >> 8;
-    tmp[1] = time & 0xFF;
-    return mpu_write_mem(D_1_88,2,tmp);
-}
-
-/**
- *  @brief      Get current step count.
- *  @param[out] count   Number of steps detected.
- *  @return     0 if successful.
- */
-int dmp_get_pedometer_step_count(unsigned long *count)
-{
-    unsigned char tmp[4];
-    if (!count)
-        return -1;
-
-    if (mpu_read_mem(D_PEDSTD_STEPCTR, 4, tmp))
-        return -1;
-
-    count[0] = ((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) |
-        ((unsigned long)tmp[2] << 8) | tmp[3];
-    return 0;
-}
-
-/**
- *  @brief      Overwrite current step count.
- *  WARNING: This function writes to DMP memory and could potentially encounter
- *  a race condition if called while the pedometer is enabled.
- *  @param[in]  count   New step count.
- *  @return     0 if successful.
- */
-int dmp_set_pedometer_step_count(unsigned long count)
-{
-    unsigned char tmp[4];
-
-    tmp[0] = (unsigned char)((count >> 24) & 0xFF);
-    tmp[1] = (unsigned char)((count >> 16) & 0xFF);
-    tmp[2] = (unsigned char)((count >> 8) & 0xFF);
-    tmp[3] = (unsigned char)(count & 0xFF);
-    return mpu_write_mem(D_PEDSTD_STEPCTR, 4, tmp);
-}
-
-/**
- *  @brief      Get duration of walking time.
- *  @param[in]  time    Walk time in milliseconds.
- *  @return     0 if successful.
- */
-int dmp_get_pedometer_walk_time(unsigned long *time)
-{
-    unsigned char tmp[4];
-    if (!time)
-        return -1;
-
-    if (mpu_read_mem(D_PEDSTD_TIMECTR, 4, tmp))
-        return -1;
-
-    time[0] = (((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) |
-        ((unsigned long)tmp[2] << 8) | tmp[3]) * 20;
-    return 0;
-}
-
-/**
- *  @brief      Overwrite current walk time.
- *  WARNING: This function writes to DMP memory and could potentially encounter
- *  a race condition if called while the pedometer is enabled.
- *  @param[in]  time    New walk time in milliseconds.
- */
-int dmp_set_pedometer_walk_time(unsigned long time)
-{
-    unsigned char tmp[4];
-
-    time /= 20;
-
-    tmp[0] = (unsigned char)((time >> 24) & 0xFF);
-    tmp[1] = (unsigned char)((time >> 16) & 0xFF);
-    tmp[2] = (unsigned char)((time >> 8) & 0xFF);
-    tmp[3] = (unsigned char)(time & 0xFF);
-    return mpu_write_mem(D_PEDSTD_TIMECTR, 4, tmp);
-}
-
-/**
- *  @brief      Enable DMP features.
- *  The following \#define's are used in the input mask:
- *  \n DMP_FEATURE_TAP
- *  \n DMP_FEATURE_ANDROID_ORIENT
- *  \n DMP_FEATURE_LP_QUAT
- *  \n DMP_FEATURE_6X_LP_QUAT
- *  \n DMP_FEATURE_GYRO_CAL
- *  \n DMP_FEATURE_SEND_RAW_ACCEL
- *  \n DMP_FEATURE_SEND_RAW_GYRO
- *  \n NOTE: DMP_FEATURE_LP_QUAT and DMP_FEATURE_6X_LP_QUAT are mutually
- *  exclusive.
- *  \n NOTE: DMP_FEATURE_SEND_RAW_GYRO and DMP_FEATURE_SEND_CAL_GYRO are also
- *  mutually exclusive.
- *  @param[in]  mask    Mask of features to enable.
- *  @return     0 if successful.
- */
-int dmp_enable_feature(unsigned short mask)
-{
-    unsigned char tmp[10];
-
-    /* TODO: All of these settings can probably be integrated into the default
-     * DMP image.
-     */
-    /* Set integration scale factor. */
-    tmp[0] = (unsigned char)((GYRO_SF >> 24) & 0xFF);
-    tmp[1] = (unsigned char)((GYRO_SF >> 16) & 0xFF);
-    tmp[2] = (unsigned char)((GYRO_SF >> 8) & 0xFF);
-    tmp[3] = (unsigned char)(GYRO_SF & 0xFF);
-    mpu_write_mem(D_0_104, 4, tmp);
-
-    /* Send sensor data to the FIFO. */
-    tmp[0] = 0xA3;
-    if (mask & DMP_FEATURE_SEND_RAW_ACCEL) {
-        tmp[1] = 0xC0;
-        tmp[2] = 0xC8;
-        tmp[3] = 0xC2;
-    } else {
-        tmp[1] = 0xA3;
-        tmp[2] = 0xA3;
-        tmp[3] = 0xA3;
-    }
-    if (mask & DMP_FEATURE_SEND_ANY_GYRO) {
-        tmp[4] = 0xC4;
-        tmp[5] = 0xCC;
-        tmp[6] = 0xC6;
-    } else {
-        tmp[4] = 0xA3;
-        tmp[5] = 0xA3;
-        tmp[6] = 0xA3;
-    }
-    tmp[7] = 0xA3;
-    tmp[8] = 0xA3;
-    tmp[9] = 0xA3;
-    mpu_write_mem(CFG_15,10,tmp);
-
-    /* Send gesture data to the FIFO. */
-    if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT))
-        tmp[0] = DINA20;
-    else
-        tmp[0] = 0xD8;
-    mpu_write_mem(CFG_27,1,tmp);
-
-    if (mask & DMP_FEATURE_GYRO_CAL)
-        dmp_enable_gyro_cal(1);
-    else
-        dmp_enable_gyro_cal(0);
-
-    if (mask & DMP_FEATURE_SEND_ANY_GYRO) {
-        if (mask & DMP_FEATURE_SEND_CAL_GYRO) {
-            tmp[0] = 0xB2;
-            tmp[1] = 0x8B;
-            tmp[2] = 0xB6;
-            tmp[3] = 0x9B;
-        } else {
-            tmp[0] = DINAC0;
-            tmp[1] = DINA80;
-            tmp[2] = DINAC2;
-            tmp[3] = DINA90;
-        }
-        mpu_write_mem(CFG_GYRO_RAW_DATA, 4, tmp);
-    }
-
-    if (mask & DMP_FEATURE_TAP) {
-        /* Enable tap. */
-        tmp[0] = 0xF8;
-        mpu_write_mem(CFG_20, 1, tmp);
-        dmp_set_tap_thresh(TAP_XYZ, 250);
-        dmp_set_tap_axes(TAP_XYZ);
-        dmp_set_tap_count(1);
-        dmp_set_tap_time(100);
-        dmp_set_tap_time_multi(500);
-
-        dmp_set_shake_reject_thresh(GYRO_SF, 200);
-        dmp_set_shake_reject_time(40);
-        dmp_set_shake_reject_timeout(10);
-    } else {
-        tmp[0] = 0xD8;
-        mpu_write_mem(CFG_20, 1, tmp);
-    }
-
-    if (mask & DMP_FEATURE_ANDROID_ORIENT) {
-        tmp[0] = 0xD9;
-    } else
-        tmp[0] = 0xD8;
-    mpu_write_mem(CFG_ANDROID_ORIENT_INT, 1, tmp);
-
-    if (mask & DMP_FEATURE_LP_QUAT)
-        dmp_enable_lp_quat(1);
-    else
-        dmp_enable_lp_quat(0);
-
-    if (mask & DMP_FEATURE_6X_LP_QUAT)
-        dmp_enable_6x_lp_quat(1);
-    else
-        dmp_enable_6x_lp_quat(0);
-
-    /* Pedometer is always enabled. */
-    dmp.feature_mask = mask | DMP_FEATURE_PEDOMETER;
-    mpu_reset_fifo();
-
-    dmp.packet_length = 0;
-    if (mask & DMP_FEATURE_SEND_RAW_ACCEL)
-        dmp.packet_length += 6;
-    if (mask & DMP_FEATURE_SEND_ANY_GYRO)
-        dmp.packet_length += 6;
-    if (mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT))
-        dmp.packet_length += 16;
-    if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT))
-        dmp.packet_length += 4;
-
-    return 0;
-}
-
-/**
- *  @brief      Get list of currently enabled DMP features.
- *  @param[out] Mask of enabled features.
- *  @return     0 if successful.
- */
-int dmp_get_enabled_features(unsigned short *mask)
-{
-    mask[0] = dmp.feature_mask;
-    return 0;
-}
-
-/**
- *  @brief      Calibrate the gyro data in the DMP.
- *  After eight seconds of no motion, the DMP will compute gyro biases and
- *  subtract them from the quaternion output. If @e dmp_enable_feature is
- *  called with @e DMP_FEATURE_SEND_CAL_GYRO, the biases will also be
- *  subtracted from the gyro output.
- *  @param[in]  enable  1 to enable gyro calibration.
- *  @return     0 if successful.
- */
-int dmp_enable_gyro_cal(unsigned char enable)
-{
-    if (enable) {
-        unsigned char regs[9] = {0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35, 0x5d};
-        return mpu_write_mem(CFG_MOTION_BIAS, 9, regs);
-    } else {
-        unsigned char regs[9] = {0xb8, 0xaa, 0xaa, 0xaa, 0xb0, 0x88, 0xc3, 0xc5, 0xc7};
-        return mpu_write_mem(CFG_MOTION_BIAS, 9, regs);
-    }
-}
-
-/**
- *  @brief      Generate 3-axis quaternions from the DMP.
- *  In this driver, the 3-axis and 6-axis DMP quaternion features are mutually
- *  exclusive.
- *  @param[in]  enable  1 to enable 3-axis quaternion.
- *  @return     0 if successful.
- */
-int dmp_enable_lp_quat(unsigned char enable)
-{
-    unsigned char regs[4];
-    if (enable) {
-        regs[0] = DINBC0;
-        regs[1] = DINBC2;
-        regs[2] = DINBC4;
-        regs[3] = DINBC6;
-    }
-    else
-        memset(regs, 0x8B, 4);
-
-    mpu_write_mem(CFG_LP_QUAT, 4, regs);
-
-    return mpu_reset_fifo();
-}
-
-/**
- *  @brief       Generate 6-axis quaternions from the DMP.
- *  In this driver, the 3-axis and 6-axis DMP quaternion features are mutually
- *  exclusive.
- *  @param[in]   enable  1 to enable 6-axis quaternion.
- *  @return      0 if successful.
- */
-int dmp_enable_6x_lp_quat(unsigned char enable)
-{
-    unsigned char regs[4];
-    if (enable) {
-        regs[0] = DINA20;
-        regs[1] = DINA28;
-        regs[2] = DINA30;
-        regs[3] = DINA38;
-    } else
-        memset(regs, 0xA3, 4);
-
-    mpu_write_mem(CFG_8, 4, regs);
-
-    return mpu_reset_fifo();
-}
-
-/**
- *  @brief      Decode the four-byte gesture data and execute any callbacks.
- *  @param[in]  gesture Gesture data from DMP packet.
- *  @return     0 if successful.
- */
-static int decode_gesture(unsigned char *gesture)
-{
-    unsigned char tap, android_orient;
-
-    android_orient = gesture[3] & 0xC0;
-    tap = 0x3F & gesture[3];
-
-    if (gesture[1] & INT_SRC_TAP) {
-        unsigned char direction, count;
-        direction = tap >> 3;
-        count = (tap % 8) + 1;
-        if (dmp.tap_cb)
-            dmp.tap_cb(direction, count);
-    }
-
-    if (gesture[1] & INT_SRC_ANDROID_ORIENT) {
-        if (dmp.android_orient_cb)
-            dmp.android_orient_cb(android_orient >> 6);
-    }
-
-    return 0;
-}
-
-/**
- *  @brief      Specify when a DMP interrupt should occur.
- *  A DMP interrupt can be configured to trigger on either of the two
- *  conditions below:
- *  \n a. One FIFO period has elapsed (set by @e mpu_set_sample_rate).
- *  \n b. A tap event has been detected.
- *  @param[in]  mode    DMP_INT_GESTURE or DMP_INT_CONTINUOUS.
- *  @return     0 if successful.
- */
-int dmp_set_interrupt_mode(unsigned char mode)
-{
-    const unsigned char regs_continuous[11] =
-        {0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9};
-    const unsigned char regs_gesture[11] =
-        {0xda, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0xda, 0xb4, 0xda};
-
-    switch (mode) {
-    case DMP_INT_CONTINUOUS:
-        return mpu_write_mem(CFG_FIFO_ON_EVENT, 11,
-            (unsigned char*)regs_continuous);
-    case DMP_INT_GESTURE:
-        return mpu_write_mem(CFG_FIFO_ON_EVENT, 11,
-            (unsigned char*)regs_gesture);
-    default:
-        return -1;
-    }
-}
-
-/**
- *  @brief      Get one packet from the FIFO.
- *  If @e sensors does not contain a particular sensor, disregard the data
- *  returned to that pointer.
- *  \n @e sensors can contain a combination of the following flags:
- *  \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
- *  \n INV_XYZ_GYRO
- *  \n INV_XYZ_ACCEL
- *  \n INV_WXYZ_QUAT
- *  \n If the FIFO has no new data, @e sensors will be zero.
- *  \n If the FIFO is disabled, @e sensors will be zero and this function will
- *  return a non-zero error code.
- *  @param[out] gyro        Gyro data in hardware units.
- *  @param[out] accel       Accel data in hardware units.
- *  @param[out] quat        3-axis quaternion data in hardware units.
- *  @param[out] timestamp   Timestamp in milliseconds.
- *  @param[out] sensors     Mask of sensors read from FIFO.
- *  @param[out] more        Number of remaining packets.
- *  @return     0 if successful.
- */
-int dmp_read_fifo(short *gyro, short *accel, long *quat,
-    unsigned long *timestamp, short *sensors, unsigned char *more)
-{
-    unsigned char fifo_data[MAX_PACKET_LENGTH];
-    unsigned char ii = 0;
-
-    /* TODO: sensors[0] only changes when dmp_enable_feature is called. We can
-     * cache this value and save some cycles.
-     */
-    sensors[0] = 0;
-
-    /* Get a packet. */
-    if (mpu_read_fifo_stream(dmp.packet_length, fifo_data, more))
-        return -1;
-
-    /* Parse DMP packet. */
-    if (dmp.feature_mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT)) {
-#ifdef FIFO_CORRUPTION_CHECK
-        long quat_q14[4], quat_mag_sq;
-#endif
-        quat[0] = ((long)fifo_data[0] << 24) | ((long)fifo_data[1] << 16) |
-            ((long)fifo_data[2] << 8) | fifo_data[3];
-        quat[1] = ((long)fifo_data[4] << 24) | ((long)fifo_data[5] << 16) |
-            ((long)fifo_data[6] << 8) | fifo_data[7];
-        quat[2] = ((long)fifo_data[8] << 24) | ((long)fifo_data[9] << 16) |
-            ((long)fifo_data[10] << 8) | fifo_data[11];
-        quat[3] = ((long)fifo_data[12] << 24) | ((long)fifo_data[13] << 16) |
-            ((long)fifo_data[14] << 8) | fifo_data[15];
-        ii += 16;
-#ifdef FIFO_CORRUPTION_CHECK
-        /* We can detect a corrupted FIFO by monitoring the quaternion data and
-         * ensuring that the magnitude is always normalized to one. This
-         * shouldn't happen in normal operation, but if an I2C error occurs,
-         * the FIFO reads might become misaligned.
-         *
-         * Let's start by scaling down the quaternion data to avoid long long
-         * math.
-         */
-        quat_q14[0] = quat[0] >> 16;
-        quat_q14[1] = quat[1] >> 16;
-        quat_q14[2] = quat[2] >> 16;
-        quat_q14[3] = quat[3] >> 16;
-        quat_mag_sq = quat_q14[0] * quat_q14[0] + quat_q14[1] * quat_q14[1] +
-            quat_q14[2] * quat_q14[2] + quat_q14[3] * quat_q14[3];
-        if ((quat_mag_sq < QUAT_MAG_SQ_MIN) ||
-            (quat_mag_sq > QUAT_MAG_SQ_MAX)) {
-            /* Quaternion is outside of the acceptable threshold. */
-            mpu_reset_fifo();
-            sensors[0] = 0;
-            return -1;
-        }
-        sensors[0] |= INV_WXYZ_QUAT;
-#endif
-    }
-
-    if (dmp.feature_mask & DMP_FEATURE_SEND_RAW_ACCEL) {
-        accel[0] = ((short)fifo_data[ii+0] << 8) | fifo_data[ii+1];
-        accel[1] = ((short)fifo_data[ii+2] << 8) | fifo_data[ii+3];
-        accel[2] = ((short)fifo_data[ii+4] << 8) | fifo_data[ii+5];
-        ii += 6;
-        sensors[0] |= INV_XYZ_ACCEL;
-    }
-
-    if (dmp.feature_mask & DMP_FEATURE_SEND_ANY_GYRO) {
-        gyro[0] = ((short)fifo_data[ii+0] << 8) | fifo_data[ii+1];
-        gyro[1] = ((short)fifo_data[ii+2] << 8) | fifo_data[ii+3];
-        gyro[2] = ((short)fifo_data[ii+4] << 8) | fifo_data[ii+5];
-        ii += 6;
-        sensors[0] |= INV_XYZ_GYRO;
-    }
-
-    /* Gesture data is at the end of the DMP packet. Parse it and call
-     * the gesture callbacks (if registered).
-     */
-    if (dmp.feature_mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT))
-        decode_gesture(fifo_data + ii);
-
-    get_ms(timestamp);
-    return 0;
-}
-
-/**
- *  @brief      Register a function to be executed on a tap event.
- *  The tap direction is represented by one of the following:
- *  \n TAP_X_UP
- *  \n TAP_X_DOWN
- *  \n TAP_Y_UP
- *  \n TAP_Y_DOWN
- *  \n TAP_Z_UP
- *  \n TAP_Z_DOWN
- *  @param[in]  func    Callback function.
- *  @return     0 if successful.
- */
-int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char))
-{
-    dmp.tap_cb = func;
-    return 0;
-}
-
-/**
- *  @brief      Register a function to be executed on a android orientation event.
- *  @param[in]  func    Callback function.
- *  @return     0 if successful.
- */
-int dmp_register_android_orient_cb(void (*func)(unsigned char))
-{
-    dmp.android_orient_cb = func;
-    return 0;
-}
-
-/**
- *  @}
- */
-

Core备份3/imu6/inv_mpu_dmp_motion_driver6.h

@@ -1,97 +0,0 @@
-/*
- $License:
-    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
-    See included License.txt for License information.
- $
- */
-/**
- *  @addtogroup  DRIVERS Sensor Driver Layer
- *  @brief       Hardware drivers to communicate with sensors via I2C.
- *
- *  @{
- *      @file       inv_mpu_dmp_motion_driver.h
- *      @brief      DMP image and interface functions.
- *      @details    All functions are preceded by the dmp_ prefix to
- *                  differentiate among MPL and general driver function calls.
- */
-#ifndef _INV_MPU_DMP_MOTION_DRIVER_H_
-#define _INV_MPU_DMP_MOTION_DRIVER_H_
-
-#define TAP_X               (0x01)
-#define TAP_Y               (0x02)
-#define TAP_Z               (0x04)
-#define TAP_XYZ             (0x07)
-
-#define TAP_X_UP            (0x01)
-#define TAP_X_DOWN          (0x02)
-#define TAP_Y_UP            (0x03)
-#define TAP_Y_DOWN          (0x04)
-#define TAP_Z_UP            (0x05)
-#define TAP_Z_DOWN          (0x06)
-
-#define ANDROID_ORIENT_PORTRAIT             (0x00)
-#define ANDROID_ORIENT_LANDSCAPE            (0x01)
-#define ANDROID_ORIENT_REVERSE_PORTRAIT     (0x02)
-#define ANDROID_ORIENT_REVERSE_LANDSCAPE    (0x03)
-
-#define DMP_INT_GESTURE     (0x01)
-#define DMP_INT_CONTINUOUS  (0x02)
-
-#define DMP_FEATURE_TAP             (0x001)
-#define DMP_FEATURE_ANDROID_ORIENT  (0x002)
-#define DMP_FEATURE_LP_QUAT         (0x004)
-#define DMP_FEATURE_PEDOMETER       (0x008)
-#define DMP_FEATURE_6X_LP_QUAT      (0x010)
-#define DMP_FEATURE_GYRO_CAL        (0x020)
-#define DMP_FEATURE_SEND_RAW_ACCEL  (0x040)
-#define DMP_FEATURE_SEND_RAW_GYRO   (0x080)
-#define DMP_FEATURE_SEND_CAL_GYRO   (0x100)
-
-#define INV_WXYZ_QUAT       (0x100)
-
-/* Set up functions. */
-int dmp_load_motion_driver_firmware(void);
-int dmp_set_fifo_rate(unsigned short rate);
-int dmp_get_fifo_rate(unsigned short *rate);
-int dmp_enable_feature(unsigned short mask);
-int dmp_get_enabled_features(unsigned short *mask);
-int dmp_set_interrupt_mode(unsigned char mode);
-int dmp_set_orientation(unsigned short orient);
-int dmp_set_gyro_bias(long *bias);
-int dmp_set_accel_bias(long *bias);
-
-/* Tap functions. */
-int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char));
-int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh);
-int dmp_set_tap_axes(unsigned char axis);
-int dmp_set_tap_count(unsigned char min_taps);
-int dmp_set_tap_time(unsigned short time);
-int dmp_set_tap_time_multi(unsigned short time);
-int dmp_set_shake_reject_thresh(long sf, unsigned short thresh);
-int dmp_set_shake_reject_time(unsigned short time);
-int dmp_set_shake_reject_timeout(unsigned short time);
-
-/* Android orientation functions. */
-int dmp_register_android_orient_cb(void (*func)(unsigned char));
-
-/* LP quaternion functions. */
-int dmp_enable_lp_quat(unsigned char enable);
-int dmp_enable_6x_lp_quat(unsigned char enable);
-
-/* Pedometer functions. */
-int dmp_get_pedometer_step_count(unsigned long *count);
-int dmp_set_pedometer_step_count(unsigned long count);
-int dmp_get_pedometer_walk_time(unsigned long *time);
-int dmp_set_pedometer_walk_time(unsigned long time);
-
-/* DMP gyro calibration functions. */
-int dmp_enable_gyro_cal(unsigned char enable);
-
-/* Read function. This function should be called whenever the MPU interrupt is
- * detected.
- */
-int dmp_read_fifo(short *gyro, short *accel, long *quat,
-    unsigned long *timestamp, short *sensors, unsigned char *more);
-
-#endif  /* #ifndef _INV_MPU_DMP_MOTION_DRIVER_H_ */
-

MDK-ARM/.vscode/keil-assistant.log

@@ -52,3 +52,5 @@
 
 [info] Log at : 2024/5/10|19:52:20|GMT+0800
 
+[info] Log at : 2024/5/12|12:12:35|GMT+0800
+

MDK-ARM/EventRecorderStub.scvd

@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+
+<component_viewer schemaVersion="0.1" xmlns:xs="http://www.w3.org/2001/XMLSchema-instance" xs:noNamespaceSchemaLocation="Component_Viewer.xsd">
+
+<component name="EventRecorderStub" version="1.0.0"/>       <!--name and version of the component-->
+  <events>
+  </events>
+
+</component_viewer>

MDK-ARM/SmartGlove.uvoptx

@@ -117,10 +117,30 @@
         <pMon>BIN\CMSIS_AGDI.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMRTXEVENTFLAGS</Key>
+          <Name>-L70 -Z18 -C0 -M0 -T1</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGTARM</Key>
+          <Name>(1010=-1,-1,-1,-1,0)(6017=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(6016=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMDBGFLAGS</Key>
+          <Name></Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGUARM</Key>
+          <Name></Name>
+        </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>CMSIS_AGDI</Key>
-          <Name>-X"Any" -UAny -O2254 -S0 -C0 -P00000000 -N00("") -D00(00000000) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC8000 -FN1 -FF0STM32H7x_128k.FLM -FS08000000 -FL020000 -FP0($$Device:STM32H750VBTx$CMSIS\Flash\STM32H7x_128k.FLM)</Name>
+          <Name>-X"Any" -UAny -O2254 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(6BA02477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC8000 -FN1 -FF0STM32H7x_128k.FLM -FS08000000 -FL020000 -FP0($$Device:STM32H750VBTx$CMSIS\Flash\STM32H7x_128k.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -215,24 +235,24 @@
     <File>
       <GroupNumber>2</GroupNumber>
       <FileNumber>2</FileNumber>
-      <FileType>1</FileType>
+      <FileType>5</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>../Core/Src/main.c</PathWithFileName>
-      <FilenameWithoutPath>main.c</FilenameWithoutPath>
+      <PathWithFileName>..\Core\imu\dmpKey.h</PathWithFileName>
+      <FilenameWithoutPath>dmpKey.h</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
       <FileNumber>3</FileNumber>
-      <FileType>1</FileType>
+      <FileType>5</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>../Core/Src/gpio.c</PathWithFileName>
-      <FilenameWithoutPath>gpio.c</FilenameWithoutPath>
+      <PathWithFileName>..\Core\imu\dmpmap.h</PathWithFileName>
+      <FilenameWithoutPath>dmpmap.h</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -243,20 +263,20 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>../Core/Src/adc.c</PathWithFileName>
-      <FilenameWithoutPath>adc.c</FilenameWithoutPath>
+      <PathWithFileName>..\Core\imu\inv_mpu.c</PathWithFileName>
+      <FilenameWithoutPath>inv_mpu.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
       <FileNumber>5</FileNumber>
-      <FileType>1</FileType>
+      <FileType>5</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>../Core/Src/i2c.c</PathWithFileName>
-      <FilenameWithoutPath>i2c.c</FilenameWithoutPath>
+      <PathWithFileName>..\Core\imu\inv_mpu.h</PathWithFileName>
+      <FilenameWithoutPath>inv_mpu.h</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -267,20 +287,20 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>../Core/Src/quadspi.c</PathWithFileName>
-      <FilenameWithoutPath>quadspi.c</FilenameWithoutPath>
+      <PathWithFileName>..\Core\imu\inv_mpu_dmp_motion_driver.c</PathWithFileName>
+      <FilenameWithoutPath>inv_mpu_dmp_motion_driver.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
       <FileNumber>7</FileNumber>
-      <FileType>1</FileType>
+      <FileType>5</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>../Core/Src/tim.c</PathWithFileName>
-      <FilenameWithoutPath>tim.c</FilenameWithoutPath>
+      <PathWithFileName>..\Core\imu\inv_mpu_dmp_motion_driver.h</PathWithFileName>
+      <FilenameWithoutPath>inv_mpu_dmp_motion_driver.h</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -291,20 +311,20 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>../Core/Src/usart.c</PathWithFileName>
-      <FilenameWithoutPath>usart.c</FilenameWithoutPath>
+      <PathWithFileName>..\Core\imu\MPU6050.c</PathWithFileName>
+      <FilenameWithoutPath>MPU6050.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
       <FileNumber>9</FileNumber>
-      <FileType>1</FileType>
+      <FileType>5</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>../Core/Src/stm32h7xx_it.c</PathWithFileName>
-      <FilenameWithoutPath>stm32h7xx_it.c</FilenameWithoutPath>
+      <PathWithFileName>..\Core\imu\MPU6050.h</PathWithFileName>
+      <FilenameWithoutPath>MPU6050.h</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -315,32 +335,32 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>../Core/Src/stm32h7xx_hal_msp.c</PathWithFileName>
-      <FilenameWithoutPath>stm32h7xx_hal_msp.c</FilenameWithoutPath>
+      <PathWithFileName>../Core/Src/main.c</PathWithFileName>
+      <FilenameWithoutPath>main.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
       <FileNumber>11</FileNumber>
-      <FileType>5</FileType>
+      <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\Core\imu\dmpKey.h</PathWithFileName>
-      <FilenameWithoutPath>dmpKey.h</FilenameWithoutPath>
+      <PathWithFileName>../Core/Src/gpio.c</PathWithFileName>
+      <FilenameWithoutPath>gpio.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
       <FileNumber>12</FileNumber>
-      <FileType>5</FileType>
+      <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\Core\imu\dmpmap.h</PathWithFileName>
-      <FilenameWithoutPath>dmpmap.h</FilenameWithoutPath>
+      <PathWithFileName>../Core/Src/adc.c</PathWithFileName>
+      <FilenameWithoutPath>adc.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -351,20 +371,20 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\Core\imu\inv_mpu.c</PathWithFileName>
-      <FilenameWithoutPath>inv_mpu.c</FilenameWithoutPath>
+      <PathWithFileName>../Core/Src/i2c.c</PathWithFileName>
+      <FilenameWithoutPath>i2c.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
       <FileNumber>14</FileNumber>
-      <FileType>5</FileType>
+      <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\Core\imu\inv_mpu.h</PathWithFileName>
-      <FilenameWithoutPath>inv_mpu.h</FilenameWithoutPath>
+      <PathWithFileName>../Core/Src/quadspi.c</PathWithFileName>
+      <FilenameWithoutPath>quadspi.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -375,20 +395,20 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\Core\imu\inv_mpu_dmp_motion_driver.c</PathWithFileName>
-      <FilenameWithoutPath>inv_mpu_dmp_motion_driver.c</FilenameWithoutPath>
+      <PathWithFileName>../Core/Src/tim.c</PathWithFileName>
+      <FilenameWithoutPath>tim.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
       <FileNumber>16</FileNumber>
-      <FileType>5</FileType>
+      <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\Core\imu\inv_mpu_dmp_motion_driver.h</PathWithFileName>
-      <FilenameWithoutPath>inv_mpu_dmp_motion_driver.h</FilenameWithoutPath>
+      <PathWithFileName>../Core/Src/usart.c</PathWithFileName>
+      <FilenameWithoutPath>usart.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -399,20 +419,20 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\Core\imu\MPU6050.c</PathWithFileName>
-      <FilenameWithoutPath>MPU6050.c</FilenameWithoutPath>
+      <PathWithFileName>../Core/Src/stm32h7xx_it.c</PathWithFileName>
+      <FilenameWithoutPath>stm32h7xx_it.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
       <FileNumber>18</FileNumber>
-      <FileType>5</FileType>
+      <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\Core\imu\MPU6050.h</PathWithFileName>
-      <FilenameWithoutPath>MPU6050.h</FilenameWithoutPath>
+      <PathWithFileName>../Core/Src/stm32h7xx_hal_msp.c</PathWithFileName>
+      <FilenameWithoutPath>stm32h7xx_hal_msp.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>

MDK-ARM/SmartGlove.uvprojx

@@ -339,7 +339,7 @@
               <MiscControls></MiscControls>
               <Define>USE_HAL_DRIVER,STM32H750xx</Define>
               <Undefine></Undefine>
-              <IncludePath>../Core/Inc;../Drivers/STM32H7xx_HAL_Driver/Inc;../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32H7xx/Include;../Drivers/CMSIS/Include;..\Core\imu</IncludePath>
+              <IncludePath>../Core/Inc;../Drivers/STM32H7xx_HAL_Driver/Inc;../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32H7xx/Include;../Drivers/CMSIS/Include;../Core/imu</IncludePath>
             </VariousControls>
           </Cads>
           <Aads>
@@ -393,6 +393,46 @@
         <Group>
           <GroupName>Application/User/Core</GroupName>
           <Files>
+            <File>
+              <FileName>dmpKey.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\Core\imu\dmpKey.h</FilePath>
+            </File>
+            <File>
+              <FileName>dmpmap.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\Core\imu\dmpmap.h</FilePath>
+            </File>
+            <File>
+              <FileName>inv_mpu.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Core\imu\inv_mpu.c</FilePath>
+            </File>
+            <File>
+              <FileName>inv_mpu.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\Core\imu\inv_mpu.h</FilePath>
+            </File>
+            <File>
+              <FileName>inv_mpu_dmp_motion_driver.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Core\imu\inv_mpu_dmp_motion_driver.c</FilePath>
+            </File>
+            <File>
+              <FileName>inv_mpu_dmp_motion_driver.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\Core\imu\inv_mpu_dmp_motion_driver.h</FilePath>
+            </File>
+            <File>
+              <FileName>MPU6050.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Core\imu\MPU6050.c</FilePath>
+            </File>
+            <File>
+              <FileName>MPU6050.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\Core\imu\MPU6050.h</FilePath>
+            </File>
             <File>
               <FileName>main.c</FileName>
               <FileType>1</FileType>
@@ -438,46 +478,6 @@
               <FileType>1</FileType>
               <FilePath>../Core/Src/stm32h7xx_hal_msp.c</FilePath>
             </File>
-            <File>
-              <FileName>dmpKey.h</FileName>
-              <FileType>5</FileType>
-              <FilePath>..\Core\imu\dmpKey.h</FilePath>
-            </File>
-            <File>
-              <FileName>dmpmap.h</FileName>
-              <FileType>5</FileType>
-              <FilePath>..\Core\imu\dmpmap.h</FilePath>
-            </File>
-            <File>
-              <FileName>inv_mpu.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\Core\imu\inv_mpu.c</FilePath>
-            </File>
-            <File>
-              <FileName>inv_mpu.h</FileName>
-              <FileType>5</FileType>
-              <FilePath>..\Core\imu\inv_mpu.h</FilePath>
-            </File>
-            <File>
-              <FileName>inv_mpu_dmp_motion_driver.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\Core\imu\inv_mpu_dmp_motion_driver.c</FilePath>
-            </File>
-            <File>
-              <FileName>inv_mpu_dmp_motion_driver.h</FileName>
-              <FileType>5</FileType>
-              <FilePath>..\Core\imu\inv_mpu_dmp_motion_driver.h</FilePath>
-            </File>
-            <File>
-              <FileName>MPU6050.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\Core\imu\MPU6050.c</FilePath>
-            </File>
-            <File>
-              <FileName>MPU6050.h</FileName>
-              <FileType>5</FileType>
-              <FilePath>..\Core\imu\MPU6050.h</FilePath>
-            </File>
           </Files>
         </Group>
         <Group>

MDK-ARM/SmartGlove/ExtDll.iex

@@ -0,0 +1,2 @@
+[EXTDLL]
+Count=0

MDK-ARM/SmartGlove/SmartGlove.build_log.htm

@@ -22,21 +22,55 @@ Dialog DLL:      TCM.DLL V1.53.0.0
  
 <h2>Project:</h2>
 D:\keil5 project\SmartGlove\MDK-ARM\SmartGlove.uvprojx
-Project File Date:  05/09/2024
+Project File Date:  05/12/2024
 
 <h2>Output:</h2>
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil5\ARM\ARMCC\Bin'
 Build target 'SmartGlove'
 compiling main.c...
-../Core/Src/main.c(148): warning:  #177-D: variable "buff"  was declared but never referenced
-  char buff[100]={0};
-../Core/Src/main.c(218): warning:  #188-D: enumerated type mixed with another type
-  		HAL_GPIO_WritePin(GPIOC,GPIO_PIN_13,1);
-../Core/Src/main.c: 2 warnings, 0 errors
+../Core/Src/main.c(213): warning:  #167-D: argument of type "int *" is incompatible with parameter of type "short *"
+  			    MPU_Get_Gyroscope(&gx1,&gy1,&gz1);
+../Core/Src/main.c(213): warning:  #167-D: argument of type "int *" is incompatible with parameter of type "short *"
+  			    MPU_Get_Gyroscope(&gx1,&gy1,&gz1);
+../Core/Src/main.c(213): warning:  #167-D: argument of type "int *" is incompatible with parameter of type "short *"
+  			    MPU_Get_Gyroscope(&gx1,&gy1,&gz1);
+../Core/Src/main.c(295): warning:  #188-D: enumerated type mixed with another type
+      HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, 1);
+../Core/Src/main.c(167): warning:  #177-D: variable "gx2"  was declared but never referenced
+  	short gx2,gy2,gz2;
+../Core/Src/main.c(167): warning:  #177-D: variable "gy2"  was declared but never referenced
+  	short gx2,gy2,gz2;
+../Core/Src/main.c(167): warning:  #177-D: variable "gz2"  was declared but never referenced
+  	short gx2,gy2,gz2;
+../Core/Src/main.c(168): warning:  #177-D: variable "gx3"  was declared but never referenced
+  	short gx3,gy3,gz3;
+../Core/Src/main.c(168): warning:  #177-D: variable "gy3"  was declared but never referenced
+  	short gx3,gy3,gz3;
+../Core/Src/main.c(168): warning:  #177-D: variable "gz3"  was declared but never referenced
+  	short gx3,gy3,gz3;
+../Core/Src/main.c(169): warning:  #177-D: variable "gx4"  was declared but never referenced
+  	short gx4,gy4,gz4;
+../Core/Src/main.c(169): warning:  #177-D: variable "gy4"  was declared but never referenced
+  	short gx4,gy4,gz4;
+../Core/Src/main.c(169): warning:  #177-D: variable "gz4"  was declared but never referenced
+  	short gx4,gy4,gz4;
+../Core/Src/main.c(170): warning:  #177-D: variable "gx5"  was declared but never referenced
+  	short gx5,gy5,gz5;
+../Core/Src/main.c(170): warning:  #177-D: variable "gy5"  was declared but never referenced
+  	short gx5,gy5,gz5;
+../Core/Src/main.c(170): warning:  #177-D: variable "gz5"  was declared but never referenced
+  	short gx5,gy5,gz5;
+../Core/Src/main.c(171): warning:  #177-D: variable "gx6"  was declared but never referenced
+  	short gx6,gy6,gz6;
+../Core/Src/main.c(171): warning:  #177-D: variable "gy6"  was declared but never referenced
+  	short gx6,gy6,gz6;
+../Core/Src/main.c(171): warning:  #177-D: variable "gz6"  was declared but never referenced
+  	short gx6,gy6,gz6;
+../Core/Src/main.c: 19 warnings, 0 errors
 linking...
-Program Size: Code=45148 RO-data=4220 RW-data=108 ZI-data=1860  
+Program Size: Code=44540 RO-data=4220 RW-data=100 ZI-data=1860  
 FromELF: creating hex file...
-"SmartGlove\SmartGlove.axf" - 0 Error(s), 2 Warning(s).
+"SmartGlove\SmartGlove.axf" - 0 Error(s), 19 Warning(s).
 
 <h2>Software Packages used:</h2>
 

MDK-ARM/SmartGlove/SmartGlove.hex

@@ -1,8 +1,8 @@
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@@ -41,9 +41,9 @@
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@@ -123,8 +123,8 @@
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@@ -141,11 +141,11 @@
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@@ -162,21 +162,21 @@
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@@ -191,7 +191,7 @@
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@@ -207,19 +207,19 @@
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@@ -229,7 +229,7 @@
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@@ -237,9 +237,9 @@
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+:10BDE0006E204CC5CD45B73F513DD0A0660DB13F4B
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+:10BE0000000000000000000050726F647563742031
+:10BE100049442072656164206173203020696E643A
+:10BE2000696361746573206465766963652069730D
+:10BE30002065697468657220696E636F6D706174E6
+:10BE400069626C65206F7220616E204D50553330F1
+:10BE500035302E0A0000000078BE000800000024E3
+:10BE600064000000D87D0008DCBE000864000024E7
+:10BE700044070000E87D000894B00008B2B0000854
+:10BE800000000000000000000000000000000000B2
+:10BE900000000000000000000000000000000000A2
+:10BEA000C0B0000800FF000000FF0000000100001B
+:10BEB00068000000D1000000D00000000100000078
+:10BEC0000000000010000000010000000090D003FE
+:0CBED0000090D003000000000000000003
 :040000050800029954
 :00000001FF

MDK-ARM/SmartGlove/SmartGlove.lnp

@@ -1,5 +1,8 @@
 --cpu Cortex-M7.fp.dp
 "smartglove\startup_stm32h750xx.o"
+"smartglove\inv_mpu.o"
+"smartglove\inv_mpu_dmp_motion_driver.o"
+"smartglove\mpu6050.o"
 "smartglove\main.o"
 "smartglove\gpio.o"
 "smartglove\adc.o"
@@ -9,9 +12,6 @@
 "smartglove\usart.o"
 "smartglove\stm32h7xx_it.o"
 "smartglove\stm32h7xx_hal_msp.o"
-"smartglove\inv_mpu.o"
-"smartglove\inv_mpu_dmp_motion_driver.o"
-"smartglove\mpu6050.o"
 "smartglove\stm32h7xx_hal_adc.o"
 "smartglove\stm32h7xx_hal_adc_ex.o"
 "smartglove\stm32h7xx_hal_rcc.o"

MDK-ARM/SmartGlove/SmartGlove_SmartGlove.dep

@@ -1,7 +1,17 @@
 Dependencies for Project 'SmartGlove', Target 'SmartGlove': (DO NOT MODIFY !)
 CompilerVersion: 5060960::V5.06 update 7 (build 960)::.\ARMCC
-F (startup_stm32h750xx.s)(0x663C6F16)(--cpu Cortex-M7.fp.dp -g --apcs=interwork --pd "__MICROLIB SETA 1"

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

--pd "__UVISION_VERSION SETA 536" --pd "_RTE_ SETA 1" --pd "STM32H750xx SETA 1" --pd "_RTE_ SETA 1"

--list startup_stm32h750xx.lst --xref -o smartglove\startup_stm32h750xx.o --depend smartglove\startup_stm32h750xx.d)
-F (../Core/Src/main.c)(0x663E0BF1)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\main.o --omf_browse smartglove\main.crf --depend smartglove\main.d)
+F (startup_stm32h750xx.s)(0x664043B7)(--cpu Cortex-M7.fp.dp -g --apcs=interwork --pd "__MICROLIB SETA 1"

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

--pd "__UVISION_VERSION SETA 536" --pd "_RTE_ SETA 1" --pd "STM32H750xx SETA 1" --pd "_RTE_ SETA 1"

--list startup_stm32h750xx.lst --xref -o smartglove\startup_stm32h750xx.o --depend smartglove\startup_stm32h750xx.d)
+F (..\Core\imu\dmpKey.h)(0x617B5AA4)()
+F (..\Core\imu\dmpmap.h)(0x617B5AA4)()
+F (..\Core\imu\inv_mpu.c)(0x617B5AA4)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\inv_mpu.o --omf_browse smartglove\inv_mpu.crf --depend smartglove\inv_mpu.d)
+I (D:\keil5\ARM\ARMCC\include\stdio.h)(0x60252374)
+I (D:\keil5\ARM\ARMCC\include\stdint.h)(0x6025237E)
+I (D:\keil5\ARM\ARMCC\include\stdlib.h)(0x60252374)
+I (D:\keil5\ARM\ARMCC\include\string.h)(0x6025237E)
+I (D:\keil5\ARM\ARMCC\include\math.h)(0x60252378)
+I (..\Core\imu\inv_mpu.h)(0x617B5AA4)
+I (..\Core\imu\MPU6050.h)(0x617B5AA4)
+I (../Core/Inc/i2c.h)(0x663C6F14)
 I (../Core/Inc/main.h)(0x663C7C90)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
@@ -10,7 +20,6 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_def.h)(0x661E8971)
 I (../Drivers/CMSIS/Device/ST/STM32H7xx/Include/stm32h7xx.h)(0x661E8971)
 I (../Drivers/CMSIS/Device/ST/STM32H7xx/Include/stm32h750xx.h)(0x661E8971)
 I (../Drivers/CMSIS/Include/core_cm7.h)(0x661E88AB)
-I (D:\keil5\ARM\ARMCC\include\stdint.h)(0x6025237E)
 I (../Drivers/CMSIS/Include/cmsis_version.h)(0x661E88AB)
 I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x661E88AB)
 I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x661E88AB)
@@ -18,7 +27,6 @@ I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x661E88AB)
 I (../Drivers/CMSIS/Device/ST/STM32H7xx/Include/system_stm32h7xx.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x661E8971)
 I (D:\keil5\ARM\ARMCC\include\stddef.h)(0x6025237E)
-I (D:\keil5\ARM\ARMCC\include\math.h)(0x60252378)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_gpio.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_gpio_ex.h)(0x661E8971)
@@ -42,17 +50,19 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-I (../Core/Inc/adc.h)(0x661E833E)
-I (../Core/Inc/i2c.h)(0x663C6F14)
-I (../Core/Inc/quadspi.h)(0x661E833F)
-I (../Core/Inc/tim.h)(0x661E833F)
-I (../Core/Inc/usart.h)(0x661E833F)
-I (../Core/Inc/gpio.h)(0x661E833E)
-I (..\Core\imu\MPU6050.h)(0x663DF9EE)
-I (..\Core\imu\inv_mpu.h)(0x617B5AA4)
+F (..\Core\imu\inv_mpu.h)(0x617B5AA4)()
+F (..\Core\imu\inv_mpu_dmp_motion_driver.c)(0x617B5AA4)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\inv_mpu_dmp_motion_driver.o --omf_browse smartglove\inv_mpu_dmp_motion_driver.crf --depend smartglove\inv_mpu_dmp_motion_driver.d)
 I (D:\keil5\ARM\ARMCC\include\stdio.h)(0x60252374)
-F (../Core/Src/gpio.c)(0x663C6F13)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\gpio.o --omf_browse smartglove\gpio.crf --depend smartglove\gpio.d)
-I (../Core/Inc/gpio.h)(0x661E833E)
+I (D:\keil5\ARM\ARMCC\include\stdint.h)(0x6025237E)
+I (D:\keil5\ARM\ARMCC\include\stdlib.h)(0x60252374)
+I (D:\keil5\ARM\ARMCC\include\string.h)(0x6025237E)
+I (D:\keil5\ARM\ARMCC\include\math.h)(0x60252378)
+I (..\Core\imu\inv_mpu.h)(0x617B5AA4)
+I (..\Core\imu\inv_mpu_dmp_motion_driver.h)(0x617B5AA4)
+I (..\Core\imu\dmpKey.h)(0x617B5AA4)
+I (..\Core\imu\dmpmap.h)(0x617B5AA4)
+I (..\Core\imu\MPU6050.h)(0x617B5AA4)
+I (../Core/Inc/i2c.h)(0x663C6F14)
 I (../Core/Inc/main.h)(0x663C7C90)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
@@ -61,7 +71,6 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_def.h)(0x661E8971)
 I (../Drivers/CMSIS/Device/ST/STM32H7xx/Include/stm32h7xx.h)(0x661E8971)
 I (../Drivers/CMSIS/Device/ST/STM32H7xx/Include/stm32h750xx.h)(0x661E8971)
 I (../Drivers/CMSIS/Include/core_cm7.h)(0x661E88AB)
-I (D:\keil5\ARM\ARMCC\include\stdint.h)(0x6025237E)
 I (../Drivers/CMSIS/Include/cmsis_version.h)(0x661E88AB)
 I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x661E88AB)
 I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x661E88AB)
@@ -69,7 +78,6 @@ I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x661E88AB)
 I (../Drivers/CMSIS/Device/ST/STM32H7xx/Include/system_stm32h7xx.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x661E8971)
 I (D:\keil5\ARM\ARMCC\include\stddef.h)(0x6025237E)
-I (D:\keil5\ARM\ARMCC\include\math.h)(0x60252378)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_gpio.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_gpio_ex.h)(0x661E8971)
@@ -93,8 +101,10 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Core/Src/adc.c)(0x663C4ADE)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\adc.o --omf_browse smartglove\adc.crf --depend smartglove\adc.d)
-I (../Core/Inc/adc.h)(0x661E833E)
+F (..\Core\imu\inv_mpu_dmp_motion_driver.h)(0x617B5AA4)()
+F (..\Core\imu\MPU6050.c)(0x664042CD)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\mpu6050.o --omf_browse smartglove\mpu6050.crf --depend smartglove\mpu6050.d)
+I (..\Core\imu\MPU6050.h)(0x617B5AA4)
+I (../Core/Inc/i2c.h)(0x663C6F14)
 I (../Core/Inc/main.h)(0x663C7C90)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
@@ -135,8 +145,11 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Core/Src/i2c.c)(0x663C6F14)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\i2c.o --omf_browse smartglove\i2c.crf --depend smartglove\i2c.d)
-I (../Core/Inc/i2c.h)(0x663C6F14)
+I (..\Core\imu\inv_mpu.h)(0x617B5AA4)
+I (D:\keil5\ARM\ARMCC\include\stdio.h)(0x60252374)
+I (..\Core\imu\inv_mpu_dmp_motion_driver.h)(0x617B5AA4)
+F (..\Core\imu\MPU6050.h)(0x617B5AA4)()
+F (../Core/Src/main.c)(0x6640468D)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\main.o --omf_browse smartglove\main.crf --depend smartglove\main.d)
 I (../Core/Inc/main.h)(0x663C7C90)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
@@ -177,8 +190,17 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Core/Src/quadspi.c)(0x661E833F)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\quadspi.o --omf_browse smartglove\quadspi.crf --depend smartglove\quadspi.d)
+I (../Core/Inc/adc.h)(0x661E833E)
+I (../Core/Inc/i2c.h)(0x663C6F14)
 I (../Core/Inc/quadspi.h)(0x661E833F)
+I (../Core/Inc/tim.h)(0x661E833F)
+I (../Core/Inc/usart.h)(0x661E833F)
+I (../Core/Inc/gpio.h)(0x661E833E)
+I (../Core/imu/MPU6050.h)(0x617B5AA4)
+I (../Core/imu/inv_mpu.h)(0x617B5AA4)
+I (D:\keil5\ARM\ARMCC\include\stdio.h)(0x60252374)
+F (../Core/Src/gpio.c)(0x663C6F13)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\gpio.o --omf_browse smartglove\gpio.crf --depend smartglove\gpio.d)
+I (../Core/Inc/gpio.h)(0x661E833E)
 I (../Core/Inc/main.h)(0x663C7C90)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
@@ -219,8 +241,8 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Core/Src/tim.c)(0x661E833F)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\tim.o --omf_browse smartglove\tim.crf --depend smartglove\tim.d)
-I (../Core/Inc/tim.h)(0x661E833F)
+F (../Core/Src/adc.c)(0x663C4ADE)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\adc.o --omf_browse smartglove\adc.crf --depend smartglove\adc.d)
+I (../Core/Inc/adc.h)(0x661E833E)
 I (../Core/Inc/main.h)(0x663C7C90)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
@@ -261,8 +283,8 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Core/Src/usart.c)(0x663C4ADF)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\usart.o --omf_browse smartglove\usart.crf --depend smartglove\usart.d)
-I (../Core/Inc/usart.h)(0x661E833F)
+F (../Core/Src/i2c.c)(0x663ED18D)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\i2c.o --omf_browse smartglove\i2c.crf --depend smartglove\i2c.d)
+I (../Core/Inc/i2c.h)(0x663C6F14)
 I (../Core/Inc/main.h)(0x663C7C90)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
@@ -303,7 +325,8 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Core/Src/stm32h7xx_it.c)(0x661E833F)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_it.o --omf_browse smartglove\stm32h7xx_it.crf --depend smartglove\stm32h7xx_it.d)
+F (../Core/Src/quadspi.c)(0x661E833F)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\quadspi.o --omf_browse smartglove\quadspi.crf --depend smartglove\quadspi.d)
+I (../Core/Inc/quadspi.h)(0x661E833F)
 I (../Core/Inc/main.h)(0x663C7C90)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
@@ -344,8 +367,8 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-I (../Core/Inc/stm32h7xx_it.h)(0x661E833F)
-F (../Core/Src/stm32h7xx_hal_msp.c)(0x661E833F)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_msp.o --omf_browse smartglove\stm32h7xx_hal_msp.crf --depend smartglove\stm32h7xx_hal_msp.d)
+F (../Core/Src/tim.c)(0x661E833F)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\tim.o --omf_browse smartglove\tim.crf --depend smartglove\tim.d)
+I (../Core/Inc/tim.h)(0x661E833F)
 I (../Core/Inc/main.h)(0x663C7C90)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
@@ -386,17 +409,8 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (..\Core\imu\dmpKey.h)(0x663E02F9)()
-F (..\Core\imu\dmpmap.h)(0x617B5AA4)()
-F (..\Core\imu\inv_mpu.c)(0x663E0988)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\inv_mpu.o --omf_browse smartglove\inv_mpu.crf --depend smartglove\inv_mpu.d)
-I (D:\keil5\ARM\ARMCC\include\stdio.h)(0x60252374)
-I (D:\keil5\ARM\ARMCC\include\stdint.h)(0x6025237E)
-I (D:\keil5\ARM\ARMCC\include\stdlib.h)(0x60252374)
-I (D:\keil5\ARM\ARMCC\include\string.h)(0x6025237E)
-I (D:\keil5\ARM\ARMCC\include\math.h)(0x60252378)
-I (..\Core\imu\inv_mpu.h)(0x617B5AA4)
-I (..\Core\imu\MPU6050.h)(0x663DF9EE)
-I (../Core/Inc/i2c.h)(0x663C6F14)
+F (../Core/Src/usart.c)(0x664043B5)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\usart.o --omf_browse smartglove\usart.crf --depend smartglove\usart.d)
+I (../Core/Inc/usart.h)(0x661E833F)
 I (../Core/Inc/main.h)(0x663C7C90)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
@@ -405,6 +419,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_def.h)(0x661E8971)
 I (../Drivers/CMSIS/Device/ST/STM32H7xx/Include/stm32h7xx.h)(0x661E8971)
 I (../Drivers/CMSIS/Device/ST/STM32H7xx/Include/stm32h750xx.h)(0x661E8971)
 I (../Drivers/CMSIS/Include/core_cm7.h)(0x661E88AB)
+I (D:\keil5\ARM\ARMCC\include\stdint.h)(0x6025237E)
 I (../Drivers/CMSIS/Include/cmsis_version.h)(0x661E88AB)
 I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x661E88AB)
 I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x661E88AB)
@@ -412,6 +427,7 @@ I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x661E88AB)
 I (../Drivers/CMSIS/Device/ST/STM32H7xx/Include/system_stm32h7xx.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x661E8971)
 I (D:\keil5\ARM\ARMCC\include\stddef.h)(0x6025237E)
+I (D:\keil5\ARM\ARMCC\include\math.h)(0x60252378)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_gpio.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_gpio_ex.h)(0x661E8971)
@@ -435,19 +451,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (..\Core\imu\inv_mpu.h)(0x617B5AA4)()
-F (..\Core\imu\inv_mpu_dmp_motion_driver.c)(0x617B5AA4)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\inv_mpu_dmp_motion_driver.o --omf_browse smartglove\inv_mpu_dmp_motion_driver.crf --depend smartglove\inv_mpu_dmp_motion_driver.d)
-I (D:\keil5\ARM\ARMCC\include\stdio.h)(0x60252374)
-I (D:\keil5\ARM\ARMCC\include\stdint.h)(0x6025237E)
-I (D:\keil5\ARM\ARMCC\include\stdlib.h)(0x60252374)
-I (D:\keil5\ARM\ARMCC\include\string.h)(0x6025237E)
-I (D:\keil5\ARM\ARMCC\include\math.h)(0x60252378)
-I (..\Core\imu\inv_mpu.h)(0x617B5AA4)
-I (..\Core\imu\inv_mpu_dmp_motion_driver.h)(0x617B5AA4)
-I (..\Core\imu\dmpKey.h)(0x663E02F9)
-I (..\Core\imu\dmpmap.h)(0x617B5AA4)
-I (..\Core\imu\MPU6050.h)(0x663DF9EE)
-I (../Core/Inc/i2c.h)(0x663C6F14)
+F (../Core/Src/stm32h7xx_it.c)(0x661E833F)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_it.o --omf_browse smartglove\stm32h7xx_it.crf --depend smartglove\stm32h7xx_it.d)
 I (../Core/Inc/main.h)(0x663C7C90)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
@@ -456,6 +460,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_def.h)(0x661E8971)
 I (../Drivers/CMSIS/Device/ST/STM32H7xx/Include/stm32h7xx.h)(0x661E8971)
 I (../Drivers/CMSIS/Device/ST/STM32H7xx/Include/stm32h750xx.h)(0x661E8971)
 I (../Drivers/CMSIS/Include/core_cm7.h)(0x661E88AB)
+I (D:\keil5\ARM\ARMCC\include\stdint.h)(0x6025237E)
 I (../Drivers/CMSIS/Include/cmsis_version.h)(0x661E88AB)
 I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x661E88AB)
 I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x661E88AB)
@@ -463,6 +468,7 @@ I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x661E88AB)
 I (../Drivers/CMSIS/Device/ST/STM32H7xx/Include/system_stm32h7xx.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x661E8971)
 I (D:\keil5\ARM\ARMCC\include\stddef.h)(0x6025237E)
+I (D:\keil5\ARM\ARMCC\include\math.h)(0x60252378)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_gpio.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_gpio_ex.h)(0x661E8971)
@@ -486,10 +492,8 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (..\Core\imu\inv_mpu_dmp_motion_driver.h)(0x617B5AA4)()
-F (..\Core\imu\MPU6050.c)(0x663DFDFF)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\mpu6050.o --omf_browse smartglove\mpu6050.crf --depend smartglove\mpu6050.d)
-I (..\Core\imu\MPU6050.h)(0x663DF9EE)
-I (../Core/Inc/i2c.h)(0x663C6F14)
+I (../Core/Inc/stm32h7xx_it.h)(0x661E833F)
+F (../Core/Src/stm32h7xx_hal_msp.c)(0x661E833F)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_msp.o --omf_browse smartglove\stm32h7xx_hal_msp.crf --depend smartglove\stm32h7xx_hal_msp.d)
 I (../Core/Inc/main.h)(0x663C7C90)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
@@ -530,11 +534,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-I (..\Core\imu\inv_mpu.h)(0x617B5AA4)
-I (D:\keil5\ARM\ARMCC\include\stdio.h)(0x60252374)
-I (..\Core\imu\inv_mpu_dmp_motion_driver.h)(0x617B5AA4)
-F (..\Core\imu\MPU6050.h)(0x663DF9EE)()
-F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_adc.o --omf_browse smartglove\stm32h7xx_hal_adc.crf --depend smartglove\stm32h7xx_hal_adc.d)
+F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_adc.o --omf_browse smartglove\stm32h7xx_hal_adc.crf --depend smartglove\stm32h7xx_hal_adc.d)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h)(0x661E8971)
@@ -574,7 +574,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc_ex.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_adc_ex.o --omf_browse smartglove\stm32h7xx_hal_adc_ex.crf --depend smartglove\stm32h7xx_hal_adc_ex.d)
+F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc_ex.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_adc_ex.o --omf_browse smartglove\stm32h7xx_hal_adc_ex.crf --depend smartglove\stm32h7xx_hal_adc_ex.d)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h)(0x661E8971)
@@ -614,7 +614,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_rcc.o --omf_browse smartglove\stm32h7xx_hal_rcc.crf --depend smartglove\stm32h7xx_hal_rcc.d)
+F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_rcc.o --omf_browse smartglove\stm32h7xx_hal_rcc.crf --depend smartglove\stm32h7xx_hal_rcc.d)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h)(0x661E8971)
@@ -654,7 +654,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_rcc_ex.o --omf_browse smartglove\stm32h7xx_hal_rcc_ex.crf --depend smartglove\stm32h7xx_hal_rcc_ex.d)
+F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_rcc_ex.o --omf_browse smartglove\stm32h7xx_hal_rcc_ex.crf --depend smartglove\stm32h7xx_hal_rcc_ex.d)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h)(0x661E8971)
@@ -694,7 +694,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_flash.o --omf_browse smartglove\stm32h7xx_hal_flash.crf --depend smartglove\stm32h7xx_hal_flash.d)
+F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_flash.o --omf_browse smartglove\stm32h7xx_hal_flash.crf --depend smartglove\stm32h7xx_hal_flash.d)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h)(0x661E8971)
@@ -734,7 +734,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash_ex.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_flash_ex.o --omf_browse smartglove\stm32h7xx_hal_flash_ex.crf --depend smartglove\stm32h7xx_hal_flash_ex.d)
+F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash_ex.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_flash_ex.o --omf_browse smartglove\stm32h7xx_hal_flash_ex.crf --depend smartglove\stm32h7xx_hal_flash_ex.d)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h)(0x661E8971)
@@ -774,7 +774,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_gpio.o --omf_browse smartglove\stm32h7xx_hal_gpio.crf --depend smartglove\stm32h7xx_hal_gpio.d)
+F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_gpio.o --omf_browse smartglove\stm32h7xx_hal_gpio.crf --depend smartglove\stm32h7xx_hal_gpio.d)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h)(0x661E8971)
@@ -814,7 +814,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_hsem.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_hsem.o --omf_browse smartglove\stm32h7xx_hal_hsem.crf --depend smartglove\stm32h7xx_hal_hsem.d)
+F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_hsem.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_hsem.o --omf_browse smartglove\stm32h7xx_hal_hsem.crf --depend smartglove\stm32h7xx_hal_hsem.d)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h)(0x661E8971)
@@ -854,7 +854,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_dma.o --omf_browse smartglove\stm32h7xx_hal_dma.crf --depend smartglove\stm32h7xx_hal_dma.d)
+F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_dma.o --omf_browse smartglove\stm32h7xx_hal_dma.crf --depend smartglove\stm32h7xx_hal_dma.d)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h)(0x661E8971)
@@ -894,7 +894,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma_ex.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_dma_ex.o --omf_browse smartglove\stm32h7xx_hal_dma_ex.crf --depend smartglove\stm32h7xx_hal_dma_ex.d)
+F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma_ex.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_dma_ex.o --omf_browse smartglove\stm32h7xx_hal_dma_ex.crf --depend smartglove\stm32h7xx_hal_dma_ex.d)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h)(0x661E8971)
@@ -934,7 +934,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_mdma.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_mdma.o --omf_browse smartglove\stm32h7xx_hal_mdma.crf --depend smartglove\stm32h7xx_hal_mdma.d)
+F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_mdma.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_mdma.o --omf_browse smartglove\stm32h7xx_hal_mdma.crf --depend smartglove\stm32h7xx_hal_mdma.d)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h)(0x661E8971)
@@ -974,7 +974,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_pwr.o --omf_browse smartglove\stm32h7xx_hal_pwr.crf --depend smartglove\stm32h7xx_hal_pwr.d)
+F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_pwr.o --omf_browse smartglove\stm32h7xx_hal_pwr.crf --depend smartglove\stm32h7xx_hal_pwr.d)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h)(0x661E8971)
@@ -1014,7 +1014,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr_ex.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_pwr_ex.o --omf_browse smartglove\stm32h7xx_hal_pwr_ex.crf --depend smartglove\stm32h7xx_hal_pwr_ex.d)
+F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr_ex.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_pwr_ex.o --omf_browse smartglove\stm32h7xx_hal_pwr_ex.crf --depend smartglove\stm32h7xx_hal_pwr_ex.d)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h)(0x661E8971)
@@ -1054,7 +1054,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_cortex.o --omf_browse smartglove\stm32h7xx_hal_cortex.crf --depend smartglove\stm32h7xx_hal_cortex.d)
+F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_cortex.o --omf_browse smartglove\stm32h7xx_hal_cortex.crf --depend smartglove\stm32h7xx_hal_cortex.d)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h)(0x661E8971)
@@ -1094,7 +1094,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal.o --omf_browse smartglove\stm32h7xx_hal.crf --depend smartglove\stm32h7xx_hal.d)
+F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal.o --omf_browse smartglove\stm32h7xx_hal.crf --depend smartglove\stm32h7xx_hal.d)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h)(0x661E8971)
@@ -1134,7 +1134,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_i2c.o --omf_browse smartglove\stm32h7xx_hal_i2c.crf --depend smartglove\stm32h7xx_hal_i2c.d)
+F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_i2c.o --omf_browse smartglove\stm32h7xx_hal_i2c.crf --depend smartglove\stm32h7xx_hal_i2c.d)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h)(0x661E8971)
@@ -1174,7 +1174,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c_ex.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_i2c_ex.o --omf_browse smartglove\stm32h7xx_hal_i2c_ex.crf --depend smartglove\stm32h7xx_hal_i2c_ex.d)
+F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c_ex.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_i2c_ex.o --omf_browse smartglove\stm32h7xx_hal_i2c_ex.crf --depend smartglove\stm32h7xx_hal_i2c_ex.d)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h)(0x661E8971)
@@ -1214,7 +1214,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_exti.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_exti.o --omf_browse smartglove\stm32h7xx_hal_exti.crf --depend smartglove\stm32h7xx_hal_exti.d)
+F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_exti.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_exti.o --omf_browse smartglove\stm32h7xx_hal_exti.crf --depend smartglove\stm32h7xx_hal_exti.d)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h)(0x661E8971)
@@ -1254,7 +1254,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_qspi.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_qspi.o --omf_browse smartglove\stm32h7xx_hal_qspi.crf --depend smartglove\stm32h7xx_hal_qspi.d)
+F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_qspi.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_qspi.o --omf_browse smartglove\stm32h7xx_hal_qspi.crf --depend smartglove\stm32h7xx_hal_qspi.d)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h)(0x661E8971)
@@ -1294,7 +1294,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_tim.o --omf_browse smartglove\stm32h7xx_hal_tim.crf --depend smartglove\stm32h7xx_hal_tim.d)
+F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_tim.o --omf_browse smartglove\stm32h7xx_hal_tim.crf --depend smartglove\stm32h7xx_hal_tim.d)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h)(0x661E8971)
@@ -1334,7 +1334,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_tim_ex.o --omf_browse smartglove\stm32h7xx_hal_tim_ex.crf --depend smartglove\stm32h7xx_hal_tim_ex.d)
+F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_tim_ex.o --omf_browse smartglove\stm32h7xx_hal_tim_ex.crf --depend smartglove\stm32h7xx_hal_tim_ex.d)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h)(0x661E8971)
@@ -1374,7 +1374,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_uart.o --omf_browse smartglove\stm32h7xx_hal_uart.crf --depend smartglove\stm32h7xx_hal_uart.d)
+F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_uart.o --omf_browse smartglove\stm32h7xx_hal_uart.crf --depend smartglove\stm32h7xx_hal_uart.d)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h)(0x661E8971)
@@ -1414,7 +1414,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_uart_ex.o --omf_browse smartglove\stm32h7xx_hal_uart_ex.crf --depend smartglove\stm32h7xx_hal_uart_ex.d)
+F (../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\stm32h7xx_hal_uart_ex.o --omf_browse smartglove\stm32h7xx_hal_uart_ex.crf --depend smartglove\stm32h7xx_hal_uart_ex.d)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x661E8971)
 I (../Core/Inc/stm32h7xx_hal_conf.h)(0x661E833F)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h)(0x661E8971)
@@ -1454,7 +1454,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x661E8971)
 I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x661E8971)
-F (../Core/Src/system_stm32h7xx.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ..\Core\imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\system_stm32h7xx.o --omf_browse smartglove\system_stm32h7xx.crf --depend smartglove\system_stm32h7xx.d)
+F (../Core/Src/system_stm32h7xx.c)(0x661E8971)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Core/imu

-I.\RTE\_SmartGlove

-I"D:\keil5 pack\ARM\CMSIS\5.8.0\CMSIS\Core\Include"

-I"D:\keil5 pack\Keil\STM32H7xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32H7xx\Include"

-D__UVISION_VERSION="536" -D_RTE_ -DSTM32H750xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32H750xx

-o smartglove\system_stm32h7xx.o --omf_browse smartglove\system_stm32h7xx.crf --depend smartglove\system_stm32h7xx.d)
 I (../Drivers/CMSIS/Device/ST/STM32H7xx/Include/stm32h7xx.h)(0x661E8971)
 I (../Drivers/CMSIS/Device/ST/STM32H7xx/Include/stm32h750xx.h)(0x661E8971)
 I (../Drivers/CMSIS/Include/core_cm7.h)(0x661E88AB)