diff --git a/cmake/modules/FindMotionDriver.cmake b/cmake/modules/FindMotionDriver.cmake deleted file mode 100644 index b24511161b..0000000000 --- a/cmake/modules/FindMotionDriver.cmake +++ /dev/null @@ -1,44 +0,0 @@ -# Try to find the MotionDriver library to access the InvenSense gyros -# -# You must provide a MOTIONDRIVER_ROOT_DIR which contains lib and include directories -# -# Once done this will define -# -# MOTIONDRIVER_FOUND - system found MotionDriver -# MOTIONDRIVER_INCLUDE_DIRS - the MotionDriver include directory -# MOTIONDRIVER_LIBRARIES - Link this to use MotionDriver -# -# Created on 7/9/2013 by Andrzej Kapolka -# Copyright (c) 2013 High Fidelity -# - -if (MOTIONDRIVER_LIBRARIES AND MOTIONDRIVER_INCLUDE_DIRS) - # in cache already - set(MOTIONDRIVER_FOUND TRUE) -else (MOTIONDRIVER_LIBRARIES AND MOTIONDRIVER_INCLUDE_DIRS) - find_path(MOTIONDRIVER_INCLUDE_DIRS inv_mpu.h ${MOTIONDRIVER_ROOT_DIR}/include) - - if (APPLE) - find_library(MOTIONDRIVER_LIBRARIES libMotionDriver.a ${MOTIONDRIVER_ROOT_DIR}/lib/MacOS/) - elseif (UNIX) - find_library(MOTIONDRIVER_LIBRARIES libMotionDriver.a ${MOTIONDRIVER_ROOT_DIR}/lib/UNIX/) - endif () - - if (MOTIONDRIVER_INCLUDE_DIRS AND MOTIONDRIVER_LIBRARIES) - set(MOTIONDRIVER_FOUND TRUE) - endif (MOTIONDRIVER_INCLUDE_DIRS AND MOTIONDRIVER_LIBRARIES) - - if (MOTIONDRIVER_FOUND) - if (NOT MOTIONDRIVER_FIND_QUIETLY) - message(STATUS "Found MotionDriver: ${MOTIONDRIVER_LIBRARIES}") - endif (NOT MOTIONDRIVER_FIND_QUIETLY) - else (MOTIONDRIVER_FOUND) - if (MOTIONDRIVER_FIND_REQUIRED) - message(FATAL_ERROR "Could not find MotionDriver") - endif (MOTIONDRIVER_FIND_REQUIRED) - endif (MOTIONDRIVER_FOUND) - - # show the MOTIONDRIVER_INCLUDE_DIRS and MOTIONDRIVER_LIBRARIES variables only in the advanced view - mark_as_advanced(MOTIONDRIVER_INCLUDE_DIRS MOTIONDRIVER_LIBRARIES) - -endif (MOTIONDRIVER_LIBRARIES AND MOTIONDRIVER_INCLUDE_DIRS) diff --git a/cmake/modules/FindQuazip.cmake b/cmake/modules/FindQuazip.cmake deleted file mode 100644 index c079ee6bbb..0000000000 --- a/cmake/modules/FindQuazip.cmake +++ /dev/null @@ -1,42 +0,0 @@ -# Find the static Quazip library -# -# You must provide a QUAZIP_ROOT_DIR which contains lib and include directories -# -# Once done this will define -# -# QUAZIP_FOUND - system found quazip -# QUAZIP_INCLUDE_DIRS - the quazip include directory -# QUAZIP_LIBRARIES - Link this to use quazip -# -# Created on 6/25/2013 by Stephen Birarda -# Copyright (c) 2013 High Fidelity -# - -if (QUAZIP_LIBRARIES AND QUAZIP_INCLUDE_DIRS) - # in cache already - set(QUAZIP_FOUND TRUE) -else (QUAZIP_LIBRARIES AND QUAZIP_INCLUDE_DIRS) - find_path(QUAZIP_INCLUDE_DIRS quazip.h ${QUAZIP_ROOT_DIR}/include) - - if (APPLE) - find_library(QUAZIP_LIBRARIES libquazip.a ${QUAZIP_ROOT_DIR}/lib/MacOS/) - endif () - - if (QUAZIP_INCLUDE_DIRS AND QUAZIP_LIBRARIES) - set(QUAZIP_FOUND TRUE) - endif (QUAZIP_INCLUDE_DIRS AND QUAZIP_LIBRARIES) - - if (QUAZIP_FOUND) - if (NOT QUAZIP_FIND_QUIETLY) - message(STATUS "Found quazip: ${QUAZIP_LIBRARIES}") - endif (NOT QUAZIP_FIND_QUIETLY) - else (QUAZIP_FOUND) - if (QUAZIP_FIND_REQUIRED) - message(FATAL_ERROR "Could not find quazip") - endif (QUAZIP_FIND_REQUIRED) - endif (QUAZIP_FOUND) - - # show the QUAZIP_INCLUDE_DIRS and QUAZIP_LIBRARIES variables only in the advanced view - mark_as_advanced(QUAZIP_INCLUDE_DIRS QUAZIP_LIBRARIES) - -endif (QUAZIP_LIBRARIES AND QUAZIP_INCLUDE_DIRS) \ No newline at end of file diff --git a/interface/CMakeLists.txt b/interface/CMakeLists.txt index 65fd74bc98..1c2f652436 100644 --- a/interface/CMakeLists.txt +++ b/interface/CMakeLists.txt @@ -10,7 +10,6 @@ project(${TARGET_NAME}) set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/../cmake/modules/") set(FACESHIFT_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/external/faceshift) set(LIBOVR_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/external/LibOVR) -set(MOTIONDRIVER_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/external/MotionDriver) set(SIXENSE_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/external/Sixense) if (DEFINED ENV{JOB_ID}) @@ -128,7 +127,6 @@ link_hifi_library(script-engine ${TARGET_NAME} ${ROOT_DIR}) find_package(Faceshift) find_package(GLM REQUIRED) find_package(LibOVR) -find_package(MotionDriver) find_package(Sixense) find_package(ZLIB) @@ -166,15 +164,11 @@ include_directories( SYSTEM ${FACESHIFT_INCLUDE_DIRS} ${GLM_INCLUDE_DIRS} - ${MOTIONDRIVER_INCLUDE_DIRS} ) -MESSAGE("here..." ${FACESHIFT_LIBRARIES} ) - target_link_libraries( ${TARGET_NAME} ${FACESHIFT_LIBRARIES} - ${MOTIONDRIVER_LIBRARIES} ${ZLIB_LIBRARIES} ) diff --git a/interface/external/MotionDriver/CMakeLists.txt b/interface/external/MotionDriver/CMakeLists.txt deleted file mode 100644 index 521f3f8096..0000000000 --- a/interface/external/MotionDriver/CMakeLists.txt +++ /dev/null @@ -1,14 +0,0 @@ -cmake_minimum_required(VERSION 2.8) - -set(TARGET_NAME MotionDriver) -project(${TARGET_NAME}) - -# let the library know which device we're using -add_definitions(-DMPU9150) - -# grab the implemenation and header files -file(GLOB MOTION_DRIVER_SRCS include/*.h src/*.c) - -include_directories(include) - -add_library(${TARGET_NAME} ${MOTION_DRIVER_SRCS}) diff --git a/interface/external/MotionDriver/License.txt b/interface/external/MotionDriver/License.txt deleted file mode 100644 index ed2e2e1f24..0000000000 --- a/interface/external/MotionDriver/License.txt +++ /dev/null @@ -1,218 +0,0 @@ -SOFTWARE LICENSE AGREEMENT - 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Licensee hereby acknowledges that its breach of this -Agreement would cause irreparable harm and significant injury to InvenSense -that may be difficult to ascertain and that a remedy at law would be -inadequate. Accordingly, Licensee agrees that InvenSense shall have the right -to seek and obtain immediate injunctive relief to enforce obligations under -the Agreement in addition to any other rights and remedies it may have. - -7.6. Waiver. The waiver of, or failure to enforce, any breach or default -hereunder shall not constitute the waiver of any other or subsequent breach -or default. - -7.7. Entire Agreement. This Agreement sets forth the entire Agreement -between the parties and supersedes any and all prior proposals, agreements -and representations between them, whether written or oral concerning the -Software. This Agreement may be changed only by mutual agreement of the -parties in writing. - - diff --git a/interface/external/MotionDriver/include/dmpKey.h b/interface/external/MotionDriver/include/dmpKey.h deleted file mode 100644 index 72f95d69d4..0000000000 --- a/interface/external/MotionDriver/include/dmpKey.h +++ /dev/null @@ -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__ diff --git a/interface/external/MotionDriver/include/dmpmap.h b/interface/external/MotionDriver/include/dmpmap.h deleted file mode 100644 index f63e140398..0000000000 --- a/interface/external/MotionDriver/include/dmpmap.h +++ /dev/null @@ -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 diff --git a/interface/external/MotionDriver/include/inv_mpu.h b/interface/external/MotionDriver/include/inv_mpu.h deleted file mode 100644 index 9610124f04..0000000000 --- a/interface/external/MotionDriver/include/inv_mpu.h +++ /dev/null @@ -1,127 +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 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 - 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_ */ - diff --git a/interface/external/MotionDriver/include/inv_mpu_dmp_motion_driver.h b/interface/external/MotionDriver/include/inv_mpu_dmp_motion_driver.h deleted file mode 100644 index b0afea6caf..0000000000 --- a/interface/external/MotionDriver/include/inv_mpu_dmp_motion_driver.h +++ /dev/null @@ -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_ */ - diff --git a/interface/external/MotionDriver/include/inv_tty.h b/interface/external/MotionDriver/include/inv_tty.h deleted file mode 100644 index d92ece2017..0000000000 --- a/interface/external/MotionDriver/include/inv_tty.h +++ /dev/null @@ -1,22 +0,0 @@ -// -// inv_tty.h -// interface -// -// Created by Andrzej Kapolka on 7/9/13. -// Copyright (c) 2013 High Fidelity, Inc. All rights reserved. -// - -#ifndef __interface__inv_tty__ -#define __interface__inv_tty__ - -void tty_set_file_descriptor(int file_descriptor); - -int tty_i2c_write(unsigned char slave_addr, unsigned char reg_addr, unsigned char length, unsigned char const *data); - -int tty_i2c_read(unsigned char slave_addr, unsigned char reg_addr, unsigned char length, unsigned char *data); - -void tty_delay_ms(unsigned long num_ms); - -void tty_get_ms(unsigned long *count); - -#endif /* defined(__interface__inv_tty__) */ diff --git a/interface/external/MotionDriver/lib/MacOS/libMotionDriver.a b/interface/external/MotionDriver/lib/MacOS/libMotionDriver.a deleted file mode 100644 index 5911eb9f99..0000000000 Binary files a/interface/external/MotionDriver/lib/MacOS/libMotionDriver.a and /dev/null differ diff --git a/interface/external/MotionDriver/lib/UNIX/libMotionDriver.a b/interface/external/MotionDriver/lib/UNIX/libMotionDriver.a deleted file mode 100644 index 82ca139b50..0000000000 Binary files a/interface/external/MotionDriver/lib/UNIX/libMotionDriver.a and /dev/null differ diff --git a/interface/external/MotionDriver/src/inv_mpu.c b/interface/external/MotionDriver/src/inv_mpu.c deleted file mode 100644 index 9969465596..0000000000 --- a/interface/external/MotionDriver/src/inv_mpu.c +++ /dev/null @@ -1,2798 +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 -#include -#include -#include -#include -#include "inv_mpu.h" -#include "inv_tty.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) ((acb, 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) ((apin, 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)) -#else -#define i2c_write tty_i2c_write -#define i2c_read tty_i2c_read -#define delay_ms tty_delay_ms -#define get_ms tty_get_ms -#define min(a,b) ((a> 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 = ®, - .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 = ®, - .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; - - if (int_param) - reg_int_cb(int_param); - -#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; - if (!st.chip_cfg.dmp_on) - return -1; - if (!st.chip_cfg.sensors) - return -1; - - if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, tmp)) - return -1; - fifo_count = (tmp[0] << 8) | tmp[1]; - if (fifo_count < length) { - more[0] = 0; - return -1; - } - 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, tmp)) - return -1; - if (tmp[0] & BIT_FIFO_OVERFLOW) { - mpu_reset_fifo(); - return -2; - } - } - - 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. */ -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 behavior of this feature is very different between the MPU6050 and the - * MPU6500. Each chip's version of this feature is explained below. - * - * \n MPU6050: - * \n When this mode is first enabled, the hardware captures a single accel - * sample, and subsequent samples are compared with this one to determine if - * the device is in motion. Therefore, whenever this "locked" sample needs to - * be changed, this function must be called again. - * - * \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 MPU6050 - /* TODO: Make these const/#defines. */ - /* 1LSb = 32mg. */ - if (thresh > 8160) - thresh_hw = 255; - else if (thresh < 32) - thresh_hw = 1; - else - thresh_hw = thresh >> 5; -#elif 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 MPU6050 - if (lpa_freq > 40) -#elif 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); - } - -#ifdef MPU6050 - /* Disable hardware interrupts for now. */ - set_int_enable(0); - - /* Enter full-power accel-only mode. */ - mpu_lp_accel_mode(0); - - /* Override current LPF (and HPF) settings to obtain a valid accel - * reading. - */ - data[0] = INV_FILTER_256HZ_NOLPF2; - if (i2c_write(st.hw->addr, st.reg->lpf, 1, data)) - return -1; - - /* NOTE: Digital high pass filter should be configured here. Since this - * driver doesn't modify those bits anywhere, they should already be - * cleared by default. - */ - - /* Configure the device to send motion interrupts. */ - /* Enable motion interrupt. */ - data[0] = BIT_MOT_INT_EN; - if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data)) - goto lp_int_restore; - - /* Set motion interrupt parameters. */ - data[0] = thresh_hw; - data[1] = time; - if (i2c_write(st.hw->addr, st.reg->motion_thr, 2, data)) - goto lp_int_restore; - - /* Force hardware to "lock" current accel sample. */ - delay_ms(5); - data[0] = (st.chip_cfg.accel_fsr << 3) | BITS_HPF; - if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, data)) - goto lp_int_restore; - - /* Set up LP accel mode. */ - data[0] = BIT_LPA_CYCLE; - if (lpa_freq == 1) - data[1] = INV_LPA_1_25HZ; - else if (lpa_freq <= 5) - data[1] = INV_LPA_5HZ; - else if (lpa_freq <= 20) - data[1] = INV_LPA_20HZ; - else - data[1] = INV_LPA_40HZ; - data[1] = (data[1] << 6) | BIT_STBY_XYZG; - if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, data)) - goto lp_int_restore; - - st.chip_cfg.int_motion_only = 1; - return 0; -#elif 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; -} - -/** - * @} - */ - diff --git a/interface/external/MotionDriver/src/inv_mpu_dmp_motion_driver.c b/interface/external/MotionDriver/src/inv_mpu_dmp_motion_driver.c deleted file mode 100644 index db71b4b74c..0000000000 --- a/interface/external/MotionDriver/src/inv_mpu_dmp_motion_driver.c +++ /dev/null @@ -1,1373 +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 -#include -#include -#include -#include -#include "inv_mpu.h" -#include "inv_mpu_dmp_motion_driver.h" -#include "dmpKey.h" -#include "dmpmap.h" -#include "inv_tty.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 - -#else -#define i2c_write tty_i2c_write -#define i2c_read tty_i2c_read -#define delay_ms tty_delay_ms -#define get_ms tty_get_clock_ms -#endif - -/* These defines are copied from dmpDefaultMPU6050.c in the general MPL - * releases. These defines may change for each DMP image, so be sure to modify - * these values when switching to a new image. - */ -#define CFG_LP_QUAT (2712) -#define END_ORIENT_TEMP (1866) -#define CFG_27 (2742) -#define CFG_20 (2224) -#define CFG_23 (2745) -#define CFG_FIFO_ON_EVENT (2690) -#define END_PREDICTION_UPDATE (1761) -#define CGNOTICE_INTR (2620) -#define X_GRT_Y_TMP (1358) -#define CFG_DR_INT (1029) -#define CFG_AUTH (1035) -#define UPDATE_PROP_ROT (1835) -#define END_COMPARE_Y_X_TMP2 (1455) -#define SKIP_X_GRT_Y_TMP (1359) -#define SKIP_END_COMPARE (1435) -#define FCFG_3 (1088) -#define FCFG_2 (1066) -#define FCFG_1 (1062) -#define END_COMPARE_Y_X_TMP3 (1434) -#define FCFG_7 (1073) -#define FCFG_6 (1106) -#define FLAT_STATE_END (1713) -#define SWING_END_4 (1616) -#define SWING_END_2 (1565) -#define SWING_END_3 (1587) -#define SWING_END_1 (1550) -#define CFG_8 (2718) -#define CFG_15 (2727) -#define CFG_16 (2746) -#define CFG_EXT_GYRO_BIAS (1189) -#define END_COMPARE_Y_X_TMP (1407) -#define DO_NOT_UPDATE_PROP_ROT (1839) -#define CFG_7 (1205) -#define FLAT_STATE_END_TEMP (1683) -#define END_COMPARE_Y_X (1484) -#define SKIP_SWING_END_1 (1551) -#define SKIP_SWING_END_3 (1588) -#define SKIP_SWING_END_2 (1566) -#define TILTG75_START (1672) -#define CFG_6 (2753) -#define TILTL75_END (1669) -#define END_ORIENT (1884) -#define CFG_FLICK_IN (2573) -#define TILTL75_START (1643) -#define CFG_MOTION_BIAS (1208) -#define X_GRT_Y (1408) -#define TEMPLABEL (2324) -#define CFG_ANDROID_ORIENT_INT (1853) -#define CFG_GYRO_RAW_DATA (2722) -#define X_GRT_Y_TMP2 (1379) - -#define D_0_22 (22+512) -#define D_0_24 (24+512) - -#define D_0_36 (36) -#define D_0_52 (52) -#define D_0_96 (96) -#define D_0_104 (104) -#define D_0_108 (108) -#define D_0_163 (163) -#define D_0_188 (188) -#define D_0_192 (192) -#define D_0_224 (224) -#define D_0_228 (228) -#define D_0_232 (232) -#define D_0_236 (236) - -#define D_1_2 (256 + 2) -#define D_1_4 (256 + 4) -#define D_1_8 (256 + 8) -#define D_1_10 (256 + 10) -#define D_1_24 (256 + 24) -#define D_1_28 (256 + 28) -#define D_1_36 (256 + 36) -#define D_1_40 (256 + 40) -#define D_1_44 (256 + 44) -#define D_1_72 (256 + 72) -#define D_1_74 (256 + 74) -#define D_1_79 (256 + 79) -#define D_1_88 (256 + 88) -#define D_1_90 (256 + 90) -#define D_1_92 (256 + 92) -#define D_1_96 (256 + 96) -#define D_1_98 (256 + 98) -#define D_1_106 (256 + 106) -#define D_1_108 (256 + 108) -#define D_1_112 (256 + 112) -#define D_1_128 (256 + 144) -#define D_1_152 (256 + 12) -#define D_1_160 (256 + 160) -#define D_1_176 (256 + 176) -#define D_1_178 (256 + 178) -#define D_1_218 (256 + 218) -#define D_1_232 (256 + 232) -#define D_1_236 (256 + 236) -#define D_1_240 (256 + 240) -#define D_1_244 (256 + 244) -#define D_1_250 (256 + 250) -#define D_1_252 (256 + 252) -#define D_2_12 (512 + 12) -#define D_2_96 (512 + 96) -#define D_2_108 (512 + 108) -#define D_2_208 (512 + 208) -#define D_2_224 (512 + 224) -#define D_2_236 (512 + 236) -#define D_2_244 (512 + 244) -#define D_2_248 (512 + 248) -#define D_2_252 (512 + 252) - -#define CPASS_BIAS_X (35 * 16 + 4) -#define CPASS_BIAS_Y (35 * 16 + 8) -#define CPASS_BIAS_Z (35 * 16 + 12) -#define CPASS_MTX_00 (36 * 16) -#define CPASS_MTX_01 (36 * 16 + 4) -#define CPASS_MTX_02 (36 * 16 + 8) -#define CPASS_MTX_10 (36 * 16 + 12) -#define CPASS_MTX_11 (37 * 16) -#define CPASS_MTX_12 (37 * 16 + 4) -#define CPASS_MTX_20 (37 * 16 + 8) -#define CPASS_MTX_21 (37 * 16 + 12) -#define CPASS_MTX_22 (43 * 16 + 12) -#define D_EXT_GYRO_BIAS_X (61 * 16) -#define D_EXT_GYRO_BIAS_Y (61 * 16) + 4 -#define D_EXT_GYRO_BIAS_Z (61 * 16) + 8 -#define D_ACT0 (40 * 16) -#define D_ACSX (40 * 16 + 4) -#define D_ACSY (40 * 16 + 8) -#define D_ACSZ (40 * 16 + 12) - -#define FLICK_MSG (45 * 16 + 4) -#define FLICK_COUNTER (45 * 16 + 8) -#define FLICK_LOWER (45 * 16 + 12) -#define FLICK_UPPER (46 * 16 + 12) - -#define D_AUTH_OUT (992) -#define D_AUTH_IN (996) -#define D_AUTH_A (1000) -#define D_AUTH_B (1004) - -#define D_PEDSTD_BP_B (768 + 0x1C) -#define D_PEDSTD_HP_A (768 + 0x78) -#define D_PEDSTD_HP_B (768 + 0x7C) -#define D_PEDSTD_BP_A4 (768 + 0x40) -#define D_PEDSTD_BP_A3 (768 + 0x44) -#define D_PEDSTD_BP_A2 (768 + 0x48) -#define D_PEDSTD_BP_A1 (768 + 0x4C) -#define D_PEDSTD_INT_THRSH (768 + 0x68) -#define D_PEDSTD_CLIP (768 + 0x6C) -#define D_PEDSTD_SB (768 + 0x28) -#define D_PEDSTD_SB_TIME (768 + 0x2C) -#define D_PEDSTD_PEAKTHRSH (768 + 0x98) -#define D_PEDSTD_TIML (768 + 0x2A) -#define D_PEDSTD_TIMH (768 + 0x2E) -#define D_PEDSTD_PEAK (768 + 0X94) -#define D_PEDSTD_STEPCTR (768 + 0x60) -#define D_PEDSTD_TIMECTR (964) -#define D_PEDSTD_DECI (768 + 0xA0) - -#define D_HOST_NO_MOT (976) -#define D_ACCEL_BIAS (660) - -#define D_ORIENT_GAP (76) - -#define D_TILT0_H (48) -#define D_TILT0_L (50) -#define D_TILT1_H (52) -#define D_TILT1_L (54) -#define D_TILT2_H (56) -#define D_TILT2_L (58) -#define D_TILT3_H (60) -#define D_TILT3_L (62) - -#define DMP_CODE_SIZE (3062) - -static const unsigned char dmp_memory[DMP_CODE_SIZE] = { - /* bank # 0 */ - 0x00, 0x00, 0x70, 0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00, - 0x00, 0x65, 0x00, 0x54, 0xff, 0xef, 0x00, 0x00, 0xfa, 0x80, 0x00, 0x0b, 0x12, 0x82, 0x00, 0x01, - 0x03, 0x0c, 0x30, 0xc3, 0x0e, 0x8c, 0x8c, 0xe9, 0x14, 0xd5, 0x40, 0x02, 0x13, 0x71, 0x0f, 0x8e, - 0x38, 0x83, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83, 0x25, 0x8e, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83, - 0xff, 0xff, 0xff, 0xff, 0x0f, 0xfe, 0xa9, 0xd6, 0x24, 0x00, 0x04, 0x00, 0x1a, 0x82, 0x79, 0xa1, - 0x00, 0x00, 0x00, 0x3c, 0xff, 0xff, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x38, 0x83, 0x6f, 0xa2, - 0x00, 0x3e, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xca, 0xe3, 0x09, 0x3e, 0x80, 0x00, 0x00, - 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, - 0x00, 0x0c, 0x00, 0x00, 0x00, 0x0c, 0x18, 0x6e, 0x00, 0x00, 0x06, 0x92, 0x0a, 0x16, 0xc0, 0xdf, - 0xff, 0xff, 0x02, 0x56, 0xfd, 0x8c, 0xd3, 0x77, 0xff, 0xe1, 0xc4, 0x96, 0xe0, 0xc5, 0xbe, 0xaa, - 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0x0b, 0x2b, 0x00, 0x00, 0x16, 0x57, 0x00, 0x00, 0x03, 0x59, - 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1d, 0xfa, 0x00, 0x02, 0x6c, 0x1d, 0x00, 0x00, 0x00, 0x00, - 0x3f, 0xff, 0xdf, 0xeb, 0x00, 0x3e, 0xb3, 0xb6, 0x00, 0x0d, 0x22, 0x78, 0x00, 0x00, 0x2f, 0x3c, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x19, 0x42, 0xb5, 0x00, 0x00, 0x39, 0xa2, 0x00, 0x00, 0xb3, 0x65, - 0xd9, 0x0e, 0x9f, 0xc9, 0x1d, 0xcf, 0x4c, 0x34, 0x30, 0x00, 0x00, 0x00, 0x50, 0x00, 0x00, 0x00, - 0x3b, 0xb6, 0x7a, 0xe8, 0x00, 0x64, 0x00, 0x00, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - /* bank # 1 */ - 0x10, 0x00, 0x00, 0x00, 0x10, 0x00, 0xfa, 0x92, 0x10, 0x00, 0x22, 0x5e, 0x00, 0x0d, 0x22, 0x9f, - 0x00, 0x01, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00, 0xff, 0x46, 0x00, 0x00, 0x63, 0xd4, 0x00, 0x00, - 0x10, 0x00, 0x00, 0x00, 0x04, 0xd6, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00, - 0x00, 0x00, 0x10, 0x72, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x06, 0x00, 0x02, 0x00, 0x05, 0x00, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x05, 0x00, 0x64, 0x00, 0x20, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x03, 0x00, - 0x00, 0x00, 0x00, 0x32, 0xf8, 0x98, 0x00, 0x00, 0xff, 0x65, 0x00, 0x00, 0x83, 0x0f, 0x00, 0x00, - 0xff, 0x9b, 0xfc, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, - 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0xb2, 0x6a, 0x00, 0x02, 0x00, 0x00, - 0x00, 0x01, 0xfb, 0x83, 0x00, 0x68, 0x00, 0x00, 0x00, 0xd9, 0xfc, 0x00, 0x7c, 0xf1, 0xff, 0x83, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x64, 0x03, 0xe8, 0x00, 0x64, 0x00, 0x28, - 0x00, 0x00, 0x00, 0x25, 0x00, 0x00, 0x00, 0x00, 0x16, 0xa0, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, - 0x00, 0x00, 0x10, 0x00, 0x00, 0x2f, 0x00, 0x00, 0x00, 0x00, 0x01, 0xf4, 0x00, 0x00, 0x10, 0x00, - /* bank # 2 */ - 0x00, 0x28, 0x00, 0x00, 0xff, 0xff, 0x45, 0x81, 0xff, 0xff, 0xfa, 0x72, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x44, 0x00, 0x05, 0x00, 0x05, 0xba, 0xc6, 0x00, 0x47, 0x78, 0xa2, - 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14, - 0x00, 0x00, 0x25, 0x4d, 0x00, 0x2f, 0x70, 0x6d, 0x00, 0x00, 0x05, 0xae, 0x00, 0x0c, 0x02, 0xd0, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x64, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0e, 0x00, 0x0e, - 0x00, 0x00, 0x0a, 0xc7, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x32, 0xff, 0xff, 0xff, 0x9c, - 0x00, 0x00, 0x0b, 0x2b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x64, - 0xff, 0xe5, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - /* bank # 3 */ - 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x24, 0x26, 0xd3, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x10, 0x00, 0x96, 0x00, 0x3c, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x0c, 0x0a, 0x4e, 0x68, 0xcd, 0xcf, 0x77, 0x09, 0x50, 0x16, 0x67, 0x59, 0xc6, 0x19, 0xce, 0x82, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0xd7, 0x84, 0x00, 0x03, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xc7, 0x93, 0x8f, 0x9d, 0x1e, 0x1b, 0x1c, 0x19, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0x18, 0x85, 0x00, 0x00, 0x40, 0x00, - 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x67, 0x7d, 0xdf, 0x7e, 0x72, 0x90, 0x2e, 0x55, 0x4c, 0xf6, 0xe6, 0x88, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - - /* bank # 4 */ - 0xd8, 0xdc, 0xb4, 0xb8, 0xb0, 0xd8, 0xb9, 0xab, 0xf3, 0xf8, 0xfa, 0xb3, 0xb7, 0xbb, 0x8e, 0x9e, - 0xae, 0xf1, 0x32, 0xf5, 0x1b, 0xf1, 0xb4, 0xb8, 0xb0, 0x80, 0x97, 0xf1, 0xa9, 0xdf, 0xdf, 0xdf, - 0xaa, 0xdf, 0xdf, 0xdf, 0xf2, 0xaa, 0xc5, 0xcd, 0xc7, 0xa9, 0x0c, 0xc9, 0x2c, 0x97, 0xf1, 0xa9, - 0x89, 0x26, 0x46, 0x66, 0xb2, 0x89, 0x99, 0xa9, 0x2d, 0x55, 0x7d, 0xb0, 0xb0, 0x8a, 0xa8, 0x96, - 0x36, 0x56, 0x76, 0xf1, 0xba, 0xa3, 0xb4, 0xb2, 0x80, 0xc0, 0xb8, 0xa8, 0x97, 0x11, 0xb2, 0x83, - 0x98, 0xba, 0xa3, 0xf0, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xb2, 0xb9, 0xb4, 0x98, 0x83, 0xf1, - 0xa3, 0x29, 0x55, 0x7d, 0xba, 0xb5, 0xb1, 0xa3, 0x83, 0x93, 0xf0, 0x00, 0x28, 0x50, 0xf5, 0xb2, - 0xb6, 0xaa, 0x83, 0x93, 0x28, 0x54, 0x7c, 0xf1, 0xb9, 0xa3, 0x82, 0x93, 0x61, 0xba, 0xa2, 0xda, - 0xde, 0xdf, 0xdb, 0x81, 0x9a, 0xb9, 0xae, 0xf5, 0x60, 0x68, 0x70, 0xf1, 0xda, 0xba, 0xa2, 0xdf, - 0xd9, 0xba, 0xa2, 0xfa, 0xb9, 0xa3, 0x82, 0x92, 0xdb, 0x31, 0xba, 0xa2, 0xd9, 0xba, 0xa2, 0xf8, - 0xdf, 0x85, 0xa4, 0xd0, 0xc1, 0xbb, 0xad, 0x83, 0xc2, 0xc5, 0xc7, 0xb8, 0xa2, 0xdf, 0xdf, 0xdf, - 0xba, 0xa0, 0xdf, 0xdf, 0xdf, 0xd8, 0xd8, 0xf1, 0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35, - 0x5d, 0xb2, 0xb6, 0xba, 0xaf, 0x8c, 0x96, 0x19, 0x8f, 0x9f, 0xa7, 0x0e, 0x16, 0x1e, 0xb4, 0x9a, - 0xb8, 0xaa, 0x87, 0x2c, 0x54, 0x7c, 0xba, 0xa4, 0xb0, 0x8a, 0xb6, 0x91, 0x32, 0x56, 0x76, 0xb2, - 0x84, 0x94, 0xa4, 0xc8, 0x08, 0xcd, 0xd8, 0xb8, 0xb4, 0xb0, 0xf1, 0x99, 0x82, 0xa8, 0x2d, 0x55, - 0x7d, 0x98, 0xa8, 0x0e, 0x16, 0x1e, 0xa2, 0x2c, 0x54, 0x7c, 0x92, 0xa4, 0xf0, 0x2c, 0x50, 0x78, - /* bank # 5 */ - 0xf1, 0x84, 0xa8, 0x98, 0xc4, 0xcd, 0xfc, 0xd8, 0x0d, 0xdb, 0xa8, 0xfc, 0x2d, 0xf3, 0xd9, 0xba, - 0xa6, 0xf8, 0xda, 0xba, 0xa6, 0xde, 0xd8, 0xba, 0xb2, 0xb6, 0x86, 0x96, 0xa6, 0xd0, 0xf3, 0xc8, - 0x41, 0xda, 0xa6, 0xc8, 0xf8, 0xd8, 0xb0, 0xb4, 0xb8, 0x82, 0xa8, 0x92, 0xf5, 0x2c, 0x54, 0x88, - 0x98, 0xf1, 0x35, 0xd9, 0xf4, 0x18, 0xd8, 0xf1, 0xa2, 0xd0, 0xf8, 0xf9, 0xa8, 0x84, 0xd9, 0xc7, - 0xdf, 0xf8, 0xf8, 0x83, 0xc5, 0xda, 0xdf, 0x69, 0xdf, 0x83, 0xc1, 0xd8, 0xf4, 0x01, 0x14, 0xf1, - 0xa8, 0x82, 0x4e, 0xa8, 0x84, 0xf3, 0x11, 0xd1, 0x82, 0xf5, 0xd9, 0x92, 0x28, 0x97, 0x88, 0xf1, - 0x09, 0xf4, 0x1c, 0x1c, 0xd8, 0x84, 0xa8, 0xf3, 0xc0, 0xf9, 0xd1, 0xd9, 0x97, 0x82, 0xf1, 0x29, - 0xf4, 0x0d, 0xd8, 0xf3, 0xf9, 0xf9, 0xd1, 0xd9, 0x82, 0xf4, 0xc2, 0x03, 0xd8, 0xde, 0xdf, 0x1a, - 0xd8, 0xf1, 0xa2, 0xfa, 0xf9, 0xa8, 0x84, 0x98, 0xd9, 0xc7, 0xdf, 0xf8, 0xf8, 0xf8, 0x83, 0xc7, - 0xda, 0xdf, 0x69, 0xdf, 0xf8, 0x83, 0xc3, 0xd8, 0xf4, 0x01, 0x14, 0xf1, 0x98, 0xa8, 0x82, 0x2e, - 0xa8, 0x84, 0xf3, 0x11, 0xd1, 0x82, 0xf5, 0xd9, 0x92, 0x50, 0x97, 0x88, 0xf1, 0x09, 0xf4, 0x1c, - 0xd8, 0x84, 0xa8, 0xf3, 0xc0, 0xf8, 0xf9, 0xd1, 0xd9, 0x97, 0x82, 0xf1, 0x49, 0xf4, 0x0d, 0xd8, - 0xf3, 0xf9, 0xf9, 0xd1, 0xd9, 0x82, 0xf4, 0xc4, 0x03, 0xd8, 0xde, 0xdf, 0xd8, 0xf1, 0xad, 0x88, - 0x98, 0xcc, 0xa8, 0x09, 0xf9, 0xd9, 0x82, 0x92, 0xa8, 0xf5, 0x7c, 0xf1, 0x88, 0x3a, 0xcf, 0x94, - 0x4a, 0x6e, 0x98, 0xdb, 0x69, 0x31, 0xda, 0xad, 0xf2, 0xde, 0xf9, 0xd8, 0x87, 0x95, 0xa8, 0xf2, - 0x21, 0xd1, 0xda, 0xa5, 0xf9, 0xf4, 0x17, 0xd9, 0xf1, 0xae, 0x8e, 0xd0, 0xc0, 0xc3, 0xae, 0x82, - /* bank # 6 */ - 0xc6, 0x84, 0xc3, 0xa8, 0x85, 0x95, 0xc8, 0xa5, 0x88, 0xf2, 0xc0, 0xf1, 0xf4, 0x01, 0x0e, 0xf1, - 0x8e, 0x9e, 0xa8, 0xc6, 0x3e, 0x56, 0xf5, 0x54, 0xf1, 0x88, 0x72, 0xf4, 0x01, 0x15, 0xf1, 0x98, - 0x45, 0x85, 0x6e, 0xf5, 0x8e, 0x9e, 0x04, 0x88, 0xf1, 0x42, 0x98, 0x5a, 0x8e, 0x9e, 0x06, 0x88, - 0x69, 0xf4, 0x01, 0x1c, 0xf1, 0x98, 0x1e, 0x11, 0x08, 0xd0, 0xf5, 0x04, 0xf1, 0x1e, 0x97, 0x02, - 0x02, 0x98, 0x36, 0x25, 0xdb, 0xf9, 0xd9, 0x85, 0xa5, 0xf3, 0xc1, 0xda, 0x85, 0xa5, 0xf3, 0xdf, - 0xd8, 0x85, 0x95, 0xa8, 0xf3, 0x09, 0xda, 0xa5, 0xfa, 0xd8, 0x82, 0x92, 0xa8, 0xf5, 0x78, 0xf1, - 0x88, 0x1a, 0x84, 0x9f, 0x26, 0x88, 0x98, 0x21, 0xda, 0xf4, 0x1d, 0xf3, 0xd8, 0x87, 0x9f, 0x39, - 0xd1, 0xaf, 0xd9, 0xdf, 0xdf, 0xfb, 0xf9, 0xf4, 0x0c, 0xf3, 0xd8, 0xfa, 0xd0, 0xf8, 0xda, 0xf9, - 0xf9, 0xd0, 0xdf, 0xd9, 0xf9, 0xd8, 0xf4, 0x0b, 0xd8, 0xf3, 0x87, 0x9f, 0x39, 0xd1, 0xaf, 0xd9, - 0xdf, 0xdf, 0xf4, 0x1d, 0xf3, 0xd8, 0xfa, 0xfc, 0xa8, 0x69, 0xf9, 0xf9, 0xaf, 0xd0, 0xda, 0xde, - 0xfa, 0xd9, 0xf8, 0x8f, 0x9f, 0xa8, 0xf1, 0xcc, 0xf3, 0x98, 0xdb, 0x45, 0xd9, 0xaf, 0xdf, 0xd0, - 0xf8, 0xd8, 0xf1, 0x8f, 0x9f, 0xa8, 0xca, 0xf3, 0x88, 0x09, 0xda, 0xaf, 0x8f, 0xcb, 0xf8, 0xd8, - 0xf2, 0xad, 0x97, 0x8d, 0x0c, 0xd9, 0xa5, 0xdf, 0xf9, 0xba, 0xa6, 0xf3, 0xfa, 0xf4, 0x12, 0xf2, - 0xd8, 0x95, 0x0d, 0xd1, 0xd9, 0xba, 0xa6, 0xf3, 0xfa, 0xda, 0xa5, 0xf2, 0xc1, 0xba, 0xa6, 0xf3, - 0xdf, 0xd8, 0xf1, 0xba, 0xb2, 0xb6, 0x86, 0x96, 0xa6, 0xd0, 0xca, 0xf3, 0x49, 0xda, 0xa6, 0xcb, - 0xf8, 0xd8, 0xb0, 0xb4, 0xb8, 0xd8, 0xad, 0x84, 0xf2, 0xc0, 0xdf, 0xf1, 0x8f, 0xcb, 0xc3, 0xa8, - /* bank # 7 */ - 0xb2, 0xb6, 0x86, 0x96, 0xc8, 0xc1, 0xcb, 0xc3, 0xf3, 0xb0, 0xb4, 0x88, 0x98, 0xa8, 0x21, 0xdb, - 0x71, 0x8d, 0x9d, 0x71, 0x85, 0x95, 0x21, 0xd9, 0xad, 0xf2, 0xfa, 0xd8, 0x85, 0x97, 0xa8, 0x28, - 0xd9, 0xf4, 0x08, 0xd8, 0xf2, 0x8d, 0x29, 0xda, 0xf4, 0x05, 0xd9, 0xf2, 0x85, 0xa4, 0xc2, 0xf2, - 0xd8, 0xa8, 0x8d, 0x94, 0x01, 0xd1, 0xd9, 0xf4, 0x11, 0xf2, 0xd8, 0x87, 0x21, 0xd8, 0xf4, 0x0a, - 0xd8, 0xf2, 0x84, 0x98, 0xa8, 0xc8, 0x01, 0xd1, 0xd9, 0xf4, 0x11, 0xd8, 0xf3, 0xa4, 0xc8, 0xbb, - 0xaf, 0xd0, 0xf2, 0xde, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xd8, 0xf1, 0xb8, 0xf6, - 0xb5, 0xb9, 0xb0, 0x8a, 0x95, 0xa3, 0xde, 0x3c, 0xa3, 0xd9, 0xf8, 0xd8, 0x5c, 0xa3, 0xd9, 0xf8, - 0xd8, 0x7c, 0xa3, 0xd9, 0xf8, 0xd8, 0xf8, 0xf9, 0xd1, 0xa5, 0xd9, 0xdf, 0xda, 0xfa, 0xd8, 0xb1, - 0x85, 0x30, 0xf7, 0xd9, 0xde, 0xd8, 0xf8, 0x30, 0xad, 0xda, 0xde, 0xd8, 0xf2, 0xb4, 0x8c, 0x99, - 0xa3, 0x2d, 0x55, 0x7d, 0xa0, 0x83, 0xdf, 0xdf, 0xdf, 0xb5, 0x91, 0xa0, 0xf6, 0x29, 0xd9, 0xfb, - 0xd8, 0xa0, 0xfc, 0x29, 0xd9, 0xfa, 0xd8, 0xa0, 0xd0, 0x51, 0xd9, 0xf8, 0xd8, 0xfc, 0x51, 0xd9, - 0xf9, 0xd8, 0x79, 0xd9, 0xfb, 0xd8, 0xa0, 0xd0, 0xfc, 0x79, 0xd9, 0xfa, 0xd8, 0xa1, 0xf9, 0xf9, - 0xf9, 0xf9, 0xf9, 0xa0, 0xda, 0xdf, 0xdf, 0xdf, 0xd8, 0xa1, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xac, - 0xde, 0xf8, 0xad, 0xde, 0x83, 0x93, 0xac, 0x2c, 0x54, 0x7c, 0xf1, 0xa8, 0xdf, 0xdf, 0xdf, 0xf6, - 0x9d, 0x2c, 0xda, 0xa0, 0xdf, 0xd9, 0xfa, 0xdb, 0x2d, 0xf8, 0xd8, 0xa8, 0x50, 0xda, 0xa0, 0xd0, - 0xde, 0xd9, 0xd0, 0xf8, 0xf8, 0xf8, 0xdb, 0x55, 0xf8, 0xd8, 0xa8, 0x78, 0xda, 0xa0, 0xd0, 0xdf, - /* bank # 8 */ - 0xd9, 0xd0, 0xfa, 0xf8, 0xf8, 0xf8, 0xf8, 0xdb, 0x7d, 0xf8, 0xd8, 0x9c, 0xa8, 0x8c, 0xf5, 0x30, - 0xdb, 0x38, 0xd9, 0xd0, 0xde, 0xdf, 0xa0, 0xd0, 0xde, 0xdf, 0xd8, 0xa8, 0x48, 0xdb, 0x58, 0xd9, - 0xdf, 0xd0, 0xde, 0xa0, 0xdf, 0xd0, 0xde, 0xd8, 0xa8, 0x68, 0xdb, 0x70, 0xd9, 0xdf, 0xdf, 0xa0, - 0xdf, 0xdf, 0xd8, 0xf1, 0xa8, 0x88, 0x90, 0x2c, 0x54, 0x7c, 0x98, 0xa8, 0xd0, 0x5c, 0x38, 0xd1, - 0xda, 0xf2, 0xae, 0x8c, 0xdf, 0xf9, 0xd8, 0xb0, 0x87, 0xa8, 0xc1, 0xc1, 0xb1, 0x88, 0xa8, 0xc6, - 0xf9, 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xa8, - 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xf7, 0x8d, 0x9d, 0xad, 0xf8, 0x18, 0xda, - 0xf2, 0xae, 0xdf, 0xd8, 0xf7, 0xad, 0xfa, 0x30, 0xd9, 0xa4, 0xde, 0xf9, 0xd8, 0xf2, 0xae, 0xde, - 0xfa, 0xf9, 0x83, 0xa7, 0xd9, 0xc3, 0xc5, 0xc7, 0xf1, 0x88, 0x9b, 0xa7, 0x7a, 0xad, 0xf7, 0xde, - 0xdf, 0xa4, 0xf8, 0x84, 0x94, 0x08, 0xa7, 0x97, 0xf3, 0x00, 0xae, 0xf2, 0x98, 0x19, 0xa4, 0x88, - 0xc6, 0xa3, 0x94, 0x88, 0xf6, 0x32, 0xdf, 0xf2, 0x83, 0x93, 0xdb, 0x09, 0xd9, 0xf2, 0xaa, 0xdf, - 0xd8, 0xd8, 0xae, 0xf8, 0xf9, 0xd1, 0xda, 0xf3, 0xa4, 0xde, 0xa7, 0xf1, 0x88, 0x9b, 0x7a, 0xd8, - 0xf3, 0x84, 0x94, 0xae, 0x19, 0xf9, 0xda, 0xaa, 0xf1, 0xdf, 0xd8, 0xa8, 0x81, 0xc0, 0xc3, 0xc5, - 0xc7, 0xa3, 0x92, 0x83, 0xf6, 0x28, 0xad, 0xde, 0xd9, 0xf8, 0xd8, 0xa3, 0x50, 0xad, 0xd9, 0xf8, - 0xd8, 0xa3, 0x78, 0xad, 0xd9, 0xf8, 0xd8, 0xf8, 0xf9, 0xd1, 0xa1, 0xda, 0xde, 0xc3, 0xc5, 0xc7, - 0xd8, 0xa1, 0x81, 0x94, 0xf8, 0x18, 0xf2, 0xb0, 0x89, 0xac, 0xc3, 0xc5, 0xc7, 0xf1, 0xd8, 0xb8, - /* bank # 9 */ - 0xb4, 0xb0, 0x97, 0x86, 0xa8, 0x31, 0x9b, 0x06, 0x99, 0x07, 0xab, 0x97, 0x28, 0x88, 0x9b, 0xf0, - 0x0c, 0x20, 0x14, 0x40, 0xb0, 0xb4, 0xb8, 0xf0, 0xa8, 0x8a, 0x9a, 0x28, 0x50, 0x78, 0xb7, 0x9b, - 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xf1, 0xbb, 0xab, - 0x88, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0xb3, 0x8b, 0xb8, 0xa8, 0x04, 0x28, 0x50, 0x78, 0xf1, 0xb0, - 0x88, 0xb4, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xbb, 0xab, 0xb3, 0x8b, 0x02, 0x26, 0x46, 0x66, 0xb0, - 0xb8, 0xf0, 0x8a, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x8b, 0x29, 0x51, 0x79, 0x8a, 0x24, 0x70, 0x59, - 0x8b, 0x20, 0x58, 0x71, 0x8a, 0x44, 0x69, 0x38, 0x8b, 0x39, 0x40, 0x68, 0x8a, 0x64, 0x48, 0x31, - 0x8b, 0x30, 0x49, 0x60, 0x88, 0xf1, 0xac, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0x8c, 0xa8, 0x04, 0x28, - 0x50, 0x78, 0xf1, 0x88, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xac, 0x8c, 0x02, 0x26, 0x46, 0x66, 0xf0, - 0x89, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xa9, - 0x88, 0x09, 0x20, 0x59, 0x70, 0xab, 0x11, 0x38, 0x40, 0x69, 0xa8, 0x19, 0x31, 0x48, 0x60, 0x8c, - 0xa8, 0x3c, 0x41, 0x5c, 0x20, 0x7c, 0x00, 0xf1, 0x87, 0x98, 0x19, 0x86, 0xa8, 0x6e, 0x76, 0x7e, - 0xa9, 0x99, 0x88, 0x2d, 0x55, 0x7d, 0xd8, 0xb1, 0xb5, 0xb9, 0xa3, 0xdf, 0xdf, 0xdf, 0xae, 0xd0, - 0xdf, 0xaa, 0xd0, 0xde, 0xf2, 0xab, 0xf8, 0xf9, 0xd9, 0xb0, 0x87, 0xc4, 0xaa, 0xf1, 0xdf, 0xdf, - 0xbb, 0xaf, 0xdf, 0xdf, 0xb9, 0xd8, 0xb1, 0xf1, 0xa3, 0x97, 0x8e, 0x60, 0xdf, 0xb0, 0x84, 0xf2, - 0xc8, 0xf8, 0xf9, 0xd9, 0xde, 0xd8, 0x93, 0x85, 0xf1, 0x4a, 0xb1, 0x83, 0xa3, 0x08, 0xb5, 0x83, - /* bank # 10 */ - 0x9a, 0x08, 0x10, 0xb7, 0x9f, 0x10, 0xd8, 0xf1, 0xb0, 0xba, 0xae, 0xb0, 0x8a, 0xc2, 0xb2, 0xb6, - 0x8e, 0x9e, 0xf1, 0xfb, 0xd9, 0xf4, 0x1d, 0xd8, 0xf9, 0xd9, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad, - 0x61, 0xd9, 0xae, 0xfb, 0xd8, 0xf4, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad, 0x19, 0xd9, 0xae, 0xfb, - 0xdf, 0xd8, 0xf4, 0x16, 0xf1, 0xd8, 0xf8, 0xad, 0x8d, 0x61, 0xd9, 0xf4, 0xf4, 0xac, 0xf5, 0x9c, - 0x9c, 0x8d, 0xdf, 0x2b, 0xba, 0xb6, 0xae, 0xfa, 0xf8, 0xf4, 0x0b, 0xd8, 0xf1, 0xae, 0xd0, 0xf8, - 0xad, 0x51, 0xda, 0xae, 0xfa, 0xf8, 0xf1, 0xd8, 0xb9, 0xb1, 0xb6, 0xa3, 0x83, 0x9c, 0x08, 0xb9, - 0xb1, 0x83, 0x9a, 0xb5, 0xaa, 0xc0, 0xfd, 0x30, 0x83, 0xb7, 0x9f, 0x10, 0xb5, 0x8b, 0x93, 0xf2, - 0x02, 0x02, 0xd1, 0xab, 0xda, 0xde, 0xd8, 0xf1, 0xb0, 0x80, 0xba, 0xab, 0xc0, 0xc3, 0xb2, 0x84, - 0xc1, 0xc3, 0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9, 0xab, 0xde, 0xb0, - 0x87, 0x9c, 0xb9, 0xa3, 0xdd, 0xf1, 0xb3, 0x8b, 0x8b, 0x8b, 0x8b, 0x8b, 0xb0, 0x87, 0xa3, 0xa3, - 0xa3, 0xa3, 0xb2, 0x8b, 0xb6, 0x9b, 0xf2, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, - 0xa3, 0xf1, 0xb0, 0x87, 0xb5, 0x9a, 0xa3, 0xf3, 0x9b, 0xa3, 0xa3, 0xdc, 0xba, 0xac, 0xdf, 0xb9, - 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, - 0xd8, 0xd8, 0xd8, 0xbb, 0xb3, 0xb7, 0xf1, 0xaa, 0xf9, 0xda, 0xff, 0xd9, 0x80, 0x9a, 0xaa, 0x28, - 0xb4, 0x80, 0x98, 0xa7, 0x20, 0xb7, 0x97, 0x87, 0xa8, 0x66, 0x88, 0xf0, 0x79, 0x51, 0xf1, 0x90, - 0x2c, 0x87, 0x0c, 0xa7, 0x81, 0x97, 0x62, 0x93, 0xf0, 0x71, 0x71, 0x60, 0x85, 0x94, 0x01, 0x29, - /* bank # 11 */ - 0x51, 0x79, 0x90, 0xa5, 0xf1, 0x28, 0x4c, 0x6c, 0x87, 0x0c, 0x95, 0x18, 0x85, 0x78, 0xa3, 0x83, - 0x90, 0x28, 0x4c, 0x6c, 0x88, 0x6c, 0xd8, 0xf3, 0xa2, 0x82, 0x00, 0xf2, 0x10, 0xa8, 0x92, 0x19, - 0x80, 0xa2, 0xf2, 0xd9, 0x26, 0xd8, 0xf1, 0x88, 0xa8, 0x4d, 0xd9, 0x48, 0xd8, 0x96, 0xa8, 0x39, - 0x80, 0xd9, 0x3c, 0xd8, 0x95, 0x80, 0xa8, 0x39, 0xa6, 0x86, 0x98, 0xd9, 0x2c, 0xda, 0x87, 0xa7, - 0x2c, 0xd8, 0xa8, 0x89, 0x95, 0x19, 0xa9, 0x80, 0xd9, 0x38, 0xd8, 0xa8, 0x89, 0x39, 0xa9, 0x80, - 0xda, 0x3c, 0xd8, 0xa8, 0x2e, 0xa8, 0x39, 0x90, 0xd9, 0x0c, 0xd8, 0xa8, 0x95, 0x31, 0x98, 0xd9, - 0x0c, 0xd8, 0xa8, 0x09, 0xd9, 0xff, 0xd8, 0x01, 0xda, 0xff, 0xd8, 0x95, 0x39, 0xa9, 0xda, 0x26, - 0xff, 0xd8, 0x90, 0xa8, 0x0d, 0x89, 0x99, 0xa8, 0x10, 0x80, 0x98, 0x21, 0xda, 0x2e, 0xd8, 0x89, - 0x99, 0xa8, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x86, 0x96, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, - 0x87, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x82, 0x92, 0xf3, 0x41, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, - 0xa8, 0x82, 0xf3, 0x19, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, 0x82, 0xac, 0xf3, 0xc0, 0xa2, 0x80, 0x22, - 0xf1, 0xa6, 0x2e, 0xa7, 0x2e, 0xa9, 0x22, 0x98, 0xa8, 0x29, 0xda, 0xac, 0xde, 0xff, 0xd8, 0xa2, - 0xf2, 0x2a, 0xf1, 0xa9, 0x2e, 0x82, 0x92, 0xa8, 0xf2, 0x31, 0x80, 0xa6, 0x96, 0xf1, 0xd9, 0x00, - 0xac, 0x8c, 0x9c, 0x0c, 0x30, 0xac, 0xde, 0xd0, 0xde, 0xff, 0xd8, 0x8c, 0x9c, 0xac, 0xd0, 0x10, - 0xac, 0xde, 0x80, 0x92, 0xa2, 0xf2, 0x4c, 0x82, 0xa8, 0xf1, 0xca, 0xf2, 0x35, 0xf1, 0x96, 0x88, - 0xa6, 0xd9, 0x00, 0xd8, 0xf1, 0xff -}; - -static const unsigned short sStartAddress = 0x0400; - -/* END OF SECTION COPIED FROM dmpDefaultMPU6050.c */ - -#define INT_SRC_TAP (0x01) -#define INT_SRC_ANDROID_ORIENT (0x08) - -#define DMP_FEATURE_SEND_ANY_GYRO (DMP_FEATURE_SEND_RAW_GYRO | \ - DMP_FEATURE_SEND_CAL_GYRO) - -#define MAX_PACKET_LENGTH (32) - -#define DMP_SAMPLE_RATE (200) -#define GYRO_SF (46850825LL * 200 / DMP_SAMPLE_RATE) - -#define FIFO_CORRUPTION_CHECK -#ifdef FIFO_CORRUPTION_CHECK -#define QUAT_ERROR_THRESH (1L<<24) -#define QUAT_MAG_SQ_NORMALIZED (1L<<28) -#define QUAT_MAG_SQ_MIN (QUAT_MAG_SQ_NORMALIZED - QUAT_ERROR_THRESH) -#define QUAT_MAG_SQ_MAX (QUAT_MAG_SQ_NORMALIZED + QUAT_ERROR_THRESH) -#endif - -struct dmp_s { - void (*tap_cb)(unsigned char count, unsigned char direction); - void (*android_orient_cb)(unsigned char orientation); - unsigned short orient; - unsigned short feature_mask; - unsigned short fifo_rate; - unsigned char packet_length; -}; - -static struct dmp_s dmp = { - .tap_cb = NULL, - .android_orient_cb = NULL, - .orient = 0, - .feature_mask = 0, - .fifo_rate = 0, - .packet_length = 0 -}; - -/** - * @brief Load the DMP with this image. - * @return 0 if successful. - */ -int dmp_load_motion_driver_firmware(void) -{ - return mpu_load_firmware(DMP_CODE_SIZE, dmp_memory, sStartAddress, - DMP_SAMPLE_RATE); -} - -/** - * @brief Push gyro and accel orientation to the DMP. - * The orientation is represented here as the output of - * @e inv_orientation_matrix_to_scalar. - * @param[in] orient Gyro and accel orientation in body frame. - * @return 0 if successful. - */ -int dmp_set_orientation(unsigned short orient) -{ - unsigned char gyro_regs[3], accel_regs[3]; - const unsigned char gyro_axes[3] = {DINA4C, DINACD, DINA6C}; - const unsigned char accel_axes[3] = {DINA0C, DINAC9, DINA2C}; - const unsigned char gyro_sign[3] = {DINA36, DINA56, DINA76}; - const unsigned char accel_sign[3] = {DINA26, DINA46, DINA66}; - - gyro_regs[0] = gyro_axes[orient & 3]; - gyro_regs[1] = gyro_axes[(orient >> 3) & 3]; - gyro_regs[2] = gyro_axes[(orient >> 6) & 3]; - accel_regs[0] = accel_axes[orient & 3]; - accel_regs[1] = accel_axes[(orient >> 3) & 3]; - accel_regs[2] = accel_axes[(orient >> 6) & 3]; - - /* Chip-to-body, axes only. */ - if (mpu_write_mem(FCFG_1, 3, gyro_regs)) - return -1; - if (mpu_write_mem(FCFG_2, 3, accel_regs)) - return -1; - - memcpy(gyro_regs, gyro_sign, 3); - memcpy(accel_regs, accel_sign, 3); - if (orient & 4) { - gyro_regs[0] |= 1; - accel_regs[0] |= 1; - } - if (orient & 0x20) { - gyro_regs[1] |= 1; - accel_regs[1] |= 1; - } - if (orient & 0x100) { - gyro_regs[2] |= 1; - accel_regs[2] |= 1; - } - - /* Chip-to-body, sign only. */ - if (mpu_write_mem(FCFG_3, 3, gyro_regs)) - return -1; - if (mpu_write_mem(FCFG_7, 3, accel_regs)) - return -1; - dmp.orient = orient; - return 0; -} - -/** - * @brief Push gyro biases to the DMP. - * Because the gyro integration is handled in the DMP, any gyro biases - * calculated by the MPL should be pushed down to DMP memory to remove - * 3-axis quaternion drift. - * \n NOTE: If the DMP-based gyro calibration is enabled, the DMP will - * overwrite the biases written to this location once a new one is computed. - * @param[in] bias Gyro biases in q16. - * @return 0 if successful. - */ -int dmp_set_gyro_bias(long *bias) -{ - long gyro_bias_body[3]; - unsigned char regs[4]; - - gyro_bias_body[0] = bias[dmp.orient & 3]; - if (dmp.orient & 4) - gyro_bias_body[0] *= -1; - gyro_bias_body[1] = bias[(dmp.orient >> 3) & 3]; - if (dmp.orient & 0x20) - gyro_bias_body[1] *= -1; - gyro_bias_body[2] = bias[(dmp.orient >> 6) & 3]; - if (dmp.orient & 0x100) - gyro_bias_body[2] *= -1; - -#ifdef EMPL_NO_64BIT - gyro_bias_body[0] = (long)(((float)gyro_bias_body[0] * GYRO_SF) / 1073741824.f); - gyro_bias_body[1] = (long)(((float)gyro_bias_body[1] * GYRO_SF) / 1073741824.f); - gyro_bias_body[2] = (long)(((float)gyro_bias_body[2] * GYRO_SF) / 1073741824.f); -#else - gyro_bias_body[0] = (long)(((long long)gyro_bias_body[0] * GYRO_SF) >> 30); - gyro_bias_body[1] = (long)(((long long)gyro_bias_body[1] * GYRO_SF) >> 30); - gyro_bias_body[2] = (long)(((long long)gyro_bias_body[2] * GYRO_SF) >> 30); -#endif - - regs[0] = (unsigned char)((gyro_bias_body[0] >> 24) & 0xFF); - regs[1] = (unsigned char)((gyro_bias_body[0] >> 16) & 0xFF); - regs[2] = (unsigned char)((gyro_bias_body[0] >> 8) & 0xFF); - regs[3] = (unsigned char)(gyro_bias_body[0] & 0xFF); - if (mpu_write_mem(D_EXT_GYRO_BIAS_X, 4, regs)) - return -1; - - regs[0] = (unsigned char)((gyro_bias_body[1] >> 24) & 0xFF); - regs[1] = (unsigned char)((gyro_bias_body[1] >> 16) & 0xFF); - regs[2] = (unsigned char)((gyro_bias_body[1] >> 8) & 0xFF); - regs[3] = (unsigned char)(gyro_bias_body[1] & 0xFF); - if (mpu_write_mem(D_EXT_GYRO_BIAS_Y, 4, regs)) - return -1; - - regs[0] = (unsigned char)((gyro_bias_body[2] >> 24) & 0xFF); - regs[1] = (unsigned char)((gyro_bias_body[2] >> 16) & 0xFF); - regs[2] = (unsigned char)((gyro_bias_body[2] >> 8) & 0xFF); - regs[3] = (unsigned char)(gyro_bias_body[2] & 0xFF); - return mpu_write_mem(D_EXT_GYRO_BIAS_Z, 4, regs); -} - -/** - * @brief Push accel biases to the DMP. - * These biases will be removed from the DMP 6-axis quaternion. - * @param[in] bias Accel biases in q16. - * @return 0 if successful. - */ -int dmp_set_accel_bias(long *bias) -{ - long accel_bias_body[3]; - unsigned char regs[12]; - long long accel_sf; - unsigned short accel_sens; - - mpu_get_accel_sens(&accel_sens); - accel_sf = (long long)accel_sens << 15; - __no_operation(); - - accel_bias_body[0] = bias[dmp.orient & 3]; - if (dmp.orient & 4) - accel_bias_body[0] *= -1; - accel_bias_body[1] = bias[(dmp.orient >> 3) & 3]; - if (dmp.orient & 0x20) - accel_bias_body[1] *= -1; - accel_bias_body[2] = bias[(dmp.orient >> 6) & 3]; - if (dmp.orient & 0x100) - accel_bias_body[2] *= -1; - -#ifdef EMPL_NO_64BIT - accel_bias_body[0] = (long)(((float)accel_bias_body[0] * accel_sf) / 1073741824.f); - accel_bias_body[1] = (long)(((float)accel_bias_body[1] * accel_sf) / 1073741824.f); - accel_bias_body[2] = (long)(((float)accel_bias_body[2] * accel_sf) / 1073741824.f); -#else - accel_bias_body[0] = (long)(((long long)accel_bias_body[0] * accel_sf) >> 30); - accel_bias_body[1] = (long)(((long long)accel_bias_body[1] * accel_sf) >> 30); - accel_bias_body[2] = (long)(((long long)accel_bias_body[2] * accel_sf) >> 30); -#endif - - regs[0] = (unsigned char)((accel_bias_body[0] >> 24) & 0xFF); - regs[1] = (unsigned char)((accel_bias_body[0] >> 16) & 0xFF); - regs[2] = (unsigned char)((accel_bias_body[0] >> 8) & 0xFF); - regs[3] = (unsigned char)(accel_bias_body[0] & 0xFF); - regs[4] = (unsigned char)((accel_bias_body[1] >> 24) & 0xFF); - regs[5] = (unsigned char)((accel_bias_body[1] >> 16) & 0xFF); - regs[6] = (unsigned char)((accel_bias_body[1] >> 8) & 0xFF); - regs[7] = (unsigned char)(accel_bias_body[1] & 0xFF); - regs[8] = (unsigned char)((accel_bias_body[2] >> 24) & 0xFF); - regs[9] = (unsigned char)((accel_bias_body[2] >> 16) & 0xFF); - regs[10] = (unsigned char)((accel_bias_body[2] >> 8) & 0xFF); - regs[11] = (unsigned char)(accel_bias_body[2] & 0xFF); - return mpu_write_mem(D_ACCEL_BIAS, 12, regs); -} - -/** - * @brief Set DMP output rate. - * Only used when DMP is on. - * @param[in] rate Desired fifo rate (Hz). - * @return 0 if successful. - */ -int dmp_set_fifo_rate(unsigned short rate) -{ - const unsigned char regs_end[12] = {DINAFE, DINAF2, DINAAB, - 0xc4, DINAAA, DINAF1, DINADF, DINADF, 0xBB, 0xAF, DINADF, DINADF}; - unsigned short div; - unsigned char tmp[8]; - - if (rate > DMP_SAMPLE_RATE) - return -1; - div = DMP_SAMPLE_RATE / rate - 1; - tmp[0] = (unsigned char)((div >> 8) & 0xFF); - tmp[1] = (unsigned char)(div & 0xFF); - if (mpu_write_mem(D_0_22, 2, tmp)) - return -1; - if (mpu_write_mem(CFG_6, 12, (unsigned char*)regs_end)) - return -1; - - dmp.fifo_rate = rate; - return 0; -} - -/** - * @brief Get DMP output rate. - * @param[out] rate Current fifo rate (Hz). - * @return 0 if successful. - */ -int dmp_get_fifo_rate(unsigned short *rate) -{ - rate[0] = dmp.fifo_rate; - return 0; -} - -/** - * @brief Set tap threshold for a specific axis. - * @param[in] axis 1, 2, and 4 for XYZ accel, respectively. - * @param[in] thresh Tap threshold, in mg/ms. - * @return 0 if successful. - */ -int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh) -{ - unsigned char tmp[4], accel_fsr; - float scaled_thresh; - unsigned short dmp_thresh, dmp_thresh_2; - if (!(axis & TAP_XYZ) || thresh > 1600) - return -1; - - scaled_thresh = (float)thresh / DMP_SAMPLE_RATE; - - mpu_get_accel_fsr(&accel_fsr); - switch (accel_fsr) { - case 2: - dmp_thresh = (unsigned short)(scaled_thresh * 16384); - /* dmp_thresh * 0.75 */ - dmp_thresh_2 = (unsigned short)(scaled_thresh * 12288); - break; - case 4: - dmp_thresh = (unsigned short)(scaled_thresh * 8192); - /* dmp_thresh * 0.75 */ - dmp_thresh_2 = (unsigned short)(scaled_thresh * 6144); - break; - case 8: - dmp_thresh = (unsigned short)(scaled_thresh * 4096); - /* dmp_thresh * 0.75 */ - dmp_thresh_2 = (unsigned short)(scaled_thresh * 3072); - break; - case 16: - dmp_thresh = (unsigned short)(scaled_thresh * 2048); - /* dmp_thresh * 0.75 */ - dmp_thresh_2 = (unsigned short)(scaled_thresh * 1536); - break; - default: - return -1; - } - tmp[0] = (unsigned char)(dmp_thresh >> 8); - tmp[1] = (unsigned char)(dmp_thresh & 0xFF); - tmp[2] = (unsigned char)(dmp_thresh_2 >> 8); - tmp[3] = (unsigned char)(dmp_thresh_2 & 0xFF); - - if (axis & TAP_X) { - if (mpu_write_mem(DMP_TAP_THX, 2, tmp)) - return -1; - if (mpu_write_mem(D_1_36, 2, tmp+2)) - return -1; - } - if (axis & TAP_Y) { - if (mpu_write_mem(DMP_TAP_THY, 2, tmp)) - return -1; - if (mpu_write_mem(D_1_40, 2, tmp+2)) - return -1; - } - if (axis & TAP_Z) { - if (mpu_write_mem(DMP_TAP_THZ, 2, tmp)) - return -1; - if (mpu_write_mem(D_1_44, 2, tmp+2)) - return -1; - } - return 0; -} - -/** - * @brief Set which axes will register a tap. - * @param[in] axis 1, 2, and 4 for XYZ, respectively. - * @return 0 if successful. - */ -int dmp_set_tap_axes(unsigned char axis) -{ - unsigned char tmp = 0; - - if (axis & TAP_X) - tmp |= 0x30; - if (axis & TAP_Y) - tmp |= 0x0C; - if (axis & TAP_Z) - tmp |= 0x03; - return mpu_write_mem(D_1_72, 1, &tmp); -} - -/** - * @brief Set minimum number of taps needed for an interrupt. - * @param[in] min_taps Minimum consecutive taps (1-4). - * @return 0 if successful. - */ -int dmp_set_tap_count(unsigned char min_taps) -{ - unsigned char tmp; - - if (min_taps < 1) - min_taps = 1; - else if (min_taps > 4) - min_taps = 4; - - tmp = min_taps - 1; - return mpu_write_mem(D_1_79, 1, &tmp); -} - -/** - * @brief Set length between valid taps. - * @param[in] time Milliseconds between taps. - * @return 0 if successful. - */ -int dmp_set_tap_time(unsigned short time) -{ - unsigned short dmp_time; - unsigned char tmp[2]; - - dmp_time = time / (1000 / DMP_SAMPLE_RATE); - tmp[0] = (unsigned char)(dmp_time >> 8); - tmp[1] = (unsigned char)(dmp_time & 0xFF); - return mpu_write_mem(DMP_TAPW_MIN, 2, tmp); -} - -/** - * @brief Set max time between taps to register as a multi-tap. - * @param[in] time Max milliseconds between taps. - * @return 0 if successful. - */ -int dmp_set_tap_time_multi(unsigned short time) -{ - unsigned short dmp_time; - unsigned char tmp[2]; - - dmp_time = time / (1000 / DMP_SAMPLE_RATE); - tmp[0] = (unsigned char)(dmp_time >> 8); - tmp[1] = (unsigned char)(dmp_time & 0xFF); - return mpu_write_mem(D_1_218, 2, tmp); -} - -/** - * @brief Set shake rejection threshold. - * If the DMP detects a gyro sample larger than @e thresh, taps are rejected. - * @param[in] sf Gyro scale factor. - * @param[in] thresh Gyro threshold in dps. - * @return 0 if successful. - */ -int dmp_set_shake_reject_thresh(long sf, unsigned short thresh) -{ - unsigned char tmp[4]; - long thresh_scaled = sf / 1000 * thresh; - tmp[0] = (unsigned char)(((long)thresh_scaled >> 24) & 0xFF); - tmp[1] = (unsigned char)(((long)thresh_scaled >> 16) & 0xFF); - tmp[2] = (unsigned char)(((long)thresh_scaled >> 8) & 0xFF); - tmp[3] = (unsigned char)((long)thresh_scaled & 0xFF); - return mpu_write_mem(D_1_92, 4, tmp); -} - -/** - * @brief Set shake rejection time. - * Sets the length of time that the gyro must be outside of the threshold set - * by @e gyro_set_shake_reject_thresh before taps are rejected. A mandatory - * 60 ms is added to this parameter. - * @param[in] time Time in milliseconds. - * @return 0 if successful. - */ -int dmp_set_shake_reject_time(unsigned short time) -{ - unsigned char tmp[2]; - - time /= (1000 / DMP_SAMPLE_RATE); - tmp[0] = time >> 8; - tmp[1] = time & 0xFF; - return mpu_write_mem(D_1_90,2,tmp); -} - -/** - * @brief Set shake rejection timeout. - * Sets the length of time after a shake rejection that the gyro must stay - * inside of the threshold before taps can be detected again. A mandatory - * 60 ms is added to this parameter. - * @param[in] time Time in milliseconds. - * @return 0 if successful. - */ -int dmp_set_shake_reject_timeout(unsigned short time) -{ - unsigned char tmp[2]; - - time /= (1000 / DMP_SAMPLE_RATE); - tmp[0] = time >> 8; - tmp[1] = time & 0xFF; - return mpu_write_mem(D_1_88,2,tmp); -} - -/** - * @brief Get current step count. - * @param[out] count Number of steps detected. - * @return 0 if successful. - */ -int dmp_get_pedometer_step_count(unsigned long *count) -{ - unsigned char tmp[4]; - if (!count) - return -1; - - if (mpu_read_mem(D_PEDSTD_STEPCTR, 4, tmp)) - return -1; - - count[0] = ((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) | - ((unsigned long)tmp[2] << 8) | tmp[3]; - return 0; -} - -/** - * @brief Overwrite current step count. - * WARNING: This function writes to DMP memory and could potentially encounter - * a race condition if called while the pedometer is enabled. - * @param[in] count New step count. - * @return 0 if successful. - */ -int dmp_set_pedometer_step_count(unsigned long count) -{ - unsigned char tmp[4]; - - tmp[0] = (unsigned char)((count >> 24) & 0xFF); - tmp[1] = (unsigned char)((count >> 16) & 0xFF); - tmp[2] = (unsigned char)((count >> 8) & 0xFF); - tmp[3] = (unsigned char)(count & 0xFF); - return mpu_write_mem(D_PEDSTD_STEPCTR, 4, tmp); -} - -/** - * @brief Get duration of walking time. - * @param[in] time Walk time in milliseconds. - * @return 0 if successful. - */ -int dmp_get_pedometer_walk_time(unsigned long *time) -{ - unsigned char tmp[4]; - if (!time) - return -1; - - if (mpu_read_mem(D_PEDSTD_TIMECTR, 4, tmp)) - return -1; - - time[0] = (((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) | - ((unsigned long)tmp[2] << 8) | tmp[3]) * 20; - return 0; -} - -/** - * @brief Overwrite current walk time. - * WARNING: This function writes to DMP memory and could potentially encounter - * a race condition if called while the pedometer is enabled. - * @param[in] time New walk time in milliseconds. - */ -int dmp_set_pedometer_walk_time(unsigned long time) -{ - unsigned char tmp[4]; - - time /= 20; - - tmp[0] = (unsigned char)((time >> 24) & 0xFF); - tmp[1] = (unsigned char)((time >> 16) & 0xFF); - tmp[2] = (unsigned char)((time >> 8) & 0xFF); - tmp[3] = (unsigned char)(time & 0xFF); - return mpu_write_mem(D_PEDSTD_TIMECTR, 4, tmp); -} - -/** - * @brief Enable DMP features. - * The following \#define's are used in the input mask: - * \n DMP_FEATURE_TAP - * \n DMP_FEATURE_ANDROID_ORIENT - * \n DMP_FEATURE_LP_QUAT - * \n DMP_FEATURE_6X_LP_QUAT - * \n DMP_FEATURE_GYRO_CAL - * \n DMP_FEATURE_SEND_RAW_ACCEL - * \n DMP_FEATURE_SEND_RAW_GYRO - * \n NOTE: DMP_FEATURE_LP_QUAT and DMP_FEATURE_6X_LP_QUAT are mutually - * exclusive. - * \n NOTE: DMP_FEATURE_SEND_RAW_GYRO and DMP_FEATURE_SEND_CAL_GYRO are also - * mutually exclusive. - * @param[in] mask Mask of features to enable. - * @return 0 if successful. - */ -int dmp_enable_feature(unsigned short mask) -{ - unsigned char tmp[10]; - - /* TODO: All of these settings can probably be integrated into the default - * DMP image. - */ - /* Set integration scale factor. */ - tmp[0] = (unsigned char)((GYRO_SF >> 24) & 0xFF); - tmp[1] = (unsigned char)((GYRO_SF >> 16) & 0xFF); - tmp[2] = (unsigned char)((GYRO_SF >> 8) & 0xFF); - tmp[3] = (unsigned char)(GYRO_SF & 0xFF); - mpu_write_mem(D_0_104, 4, tmp); - - /* Send sensor data to the FIFO. */ - tmp[0] = 0xA3; - if (mask & DMP_FEATURE_SEND_RAW_ACCEL) { - tmp[1] = 0xC0; - tmp[2] = 0xC8; - tmp[3] = 0xC2; - } else { - tmp[1] = 0xA3; - tmp[2] = 0xA3; - tmp[3] = 0xA3; - } - if (mask & DMP_FEATURE_SEND_ANY_GYRO) { - tmp[4] = 0xC4; - tmp[5] = 0xCC; - tmp[6] = 0xC6; - } else { - tmp[4] = 0xA3; - tmp[5] = 0xA3; - tmp[6] = 0xA3; - } - tmp[7] = 0xA3; - tmp[8] = 0xA3; - tmp[9] = 0xA3; - mpu_write_mem(CFG_15,10,tmp); - - /* Send gesture data to the FIFO. */ - if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT)) - tmp[0] = DINA20; - else - tmp[0] = 0xD8; - mpu_write_mem(CFG_27,1,tmp); - - if (mask & DMP_FEATURE_GYRO_CAL) - dmp_enable_gyro_cal(1); - else - dmp_enable_gyro_cal(0); - - if (mask & DMP_FEATURE_SEND_ANY_GYRO) { - if (mask & DMP_FEATURE_SEND_CAL_GYRO) { - tmp[0] = 0xB2; - tmp[1] = 0x8B; - tmp[2] = 0xB6; - tmp[3] = 0x9B; - } else { - tmp[0] = DINAC0; - tmp[1] = DINA80; - tmp[2] = DINAC2; - tmp[3] = DINA90; - } - mpu_write_mem(CFG_GYRO_RAW_DATA, 4, tmp); - } - - if (mask & DMP_FEATURE_TAP) { - /* Enable tap. */ - tmp[0] = 0xF8; - mpu_write_mem(CFG_20, 1, tmp); - dmp_set_tap_thresh(TAP_XYZ, 250); - dmp_set_tap_axes(TAP_XYZ); - dmp_set_tap_count(1); - dmp_set_tap_time(100); - dmp_set_tap_time_multi(500); - - dmp_set_shake_reject_thresh(GYRO_SF, 200); - dmp_set_shake_reject_time(40); - dmp_set_shake_reject_timeout(10); - } else { - tmp[0] = 0xD8; - mpu_write_mem(CFG_20, 1, tmp); - } - - if (mask & DMP_FEATURE_ANDROID_ORIENT) { - tmp[0] = 0xD9; - } else - tmp[0] = 0xD8; - mpu_write_mem(CFG_ANDROID_ORIENT_INT, 1, tmp); - - if (mask & DMP_FEATURE_LP_QUAT) - dmp_enable_lp_quat(1); - else - dmp_enable_lp_quat(0); - - if (mask & DMP_FEATURE_6X_LP_QUAT) - dmp_enable_6x_lp_quat(1); - else - dmp_enable_6x_lp_quat(0); - - /* Pedometer is always enabled. */ - dmp.feature_mask = mask | DMP_FEATURE_PEDOMETER; - mpu_reset_fifo(); - - dmp.packet_length = 0; - if (mask & DMP_FEATURE_SEND_RAW_ACCEL) - dmp.packet_length += 6; - if (mask & DMP_FEATURE_SEND_ANY_GYRO) - dmp.packet_length += 6; - if (mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT)) - dmp.packet_length += 16; - if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT)) - dmp.packet_length += 4; - - return 0; -} - -/** - * @brief Get list of currently enabled DMP features. - * @param[out] Mask of enabled features. - * @return 0 if successful. - */ -int dmp_get_enabled_features(unsigned short *mask) -{ - mask[0] = dmp.feature_mask; - return 0; -} - -/** - * @brief Calibrate the gyro data in the DMP. - * After eight seconds of no motion, the DMP will compute gyro biases and - * subtract them from the quaternion output. If @e dmp_enable_feature is - * called with @e DMP_FEATURE_SEND_CAL_GYRO, the biases will also be - * subtracted from the gyro output. - * @param[in] enable 1 to enable gyro calibration. - * @return 0 if successful. - */ -int dmp_enable_gyro_cal(unsigned char enable) -{ - if (enable) { - unsigned char regs[9] = {0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35, 0x5d}; - return mpu_write_mem(CFG_MOTION_BIAS, 9, regs); - } else { - unsigned char regs[9] = {0xb8, 0xaa, 0xaa, 0xaa, 0xb0, 0x88, 0xc3, 0xc5, 0xc7}; - return mpu_write_mem(CFG_MOTION_BIAS, 9, regs); - } -} - -/** - * @brief Generate 3-axis quaternions from the DMP. - * In this driver, the 3-axis and 6-axis DMP quaternion features are mutually - * exclusive. - * @param[in] enable 1 to enable 3-axis quaternion. - * @return 0 if successful. - */ -int dmp_enable_lp_quat(unsigned char enable) -{ - unsigned char regs[4]; - if (enable) { - regs[0] = DINBC0; - regs[1] = DINBC2; - regs[2] = DINBC4; - regs[3] = DINBC6; - } - else - memset(regs, 0x8B, 4); - - mpu_write_mem(CFG_LP_QUAT, 4, regs); - - return mpu_reset_fifo(); -} - -/** - * @brief Generate 6-axis quaternions from the DMP. - * In this driver, the 3-axis and 6-axis DMP quaternion features are mutually - * exclusive. - * @param[in] enable 1 to enable 6-axis quaternion. - * @return 0 if successful. - */ -int dmp_enable_6x_lp_quat(unsigned char enable) -{ - unsigned char regs[4]; - if (enable) { - regs[0] = DINA20; - regs[1] = DINA28; - regs[2] = DINA30; - regs[3] = DINA38; - } else - memset(regs, 0xA3, 4); - - mpu_write_mem(CFG_8, 4, regs); - - return mpu_reset_fifo(); -} - -/** - * @brief Decode the four-byte gesture data and execute any callbacks. - * @param[in] gesture Gesture data from DMP packet. - * @return 0 if successful. - */ -static int decode_gesture(unsigned char *gesture) -{ - unsigned char tap, android_orient; - - android_orient = gesture[3] & 0xC0; - tap = 0x3F & gesture[3]; - - if (gesture[1] & INT_SRC_TAP) { - unsigned char direction, count; - direction = tap >> 3; - count = (tap % 8) + 1; - if (dmp.tap_cb) - dmp.tap_cb(direction, count); - } - - if (gesture[1] & INT_SRC_ANDROID_ORIENT) { - if (dmp.android_orient_cb) - dmp.android_orient_cb(android_orient >> 6); - } - - return 0; -} - -/** - * @brief Specify when a DMP interrupt should occur. - * A DMP interrupt can be configured to trigger on either of the two - * conditions below: - * \n a. One FIFO period has elapsed (set by @e mpu_set_sample_rate). - * \n b. A tap event has been detected. - * @param[in] mode DMP_INT_GESTURE or DMP_INT_CONTINUOUS. - * @return 0 if successful. - */ -int dmp_set_interrupt_mode(unsigned char mode) -{ - const unsigned char regs_continuous[11] = - {0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9}; - const unsigned char regs_gesture[11] = - {0xda, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0xda, 0xb4, 0xda}; - - switch (mode) { - case DMP_INT_CONTINUOUS: - return mpu_write_mem(CFG_FIFO_ON_EVENT, 11, - (unsigned char*)regs_continuous); - case DMP_INT_GESTURE: - return mpu_write_mem(CFG_FIFO_ON_EVENT, 11, - (unsigned char*)regs_gesture); - default: - return -1; - } -} - -/** - * @brief Get one packet from the FIFO. - * If @e sensors does not contain a particular sensor, disregard the data - * returned to that pointer. - * \n @e sensors can contain a combination of the following flags: - * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO - * \n INV_XYZ_GYRO - * \n INV_XYZ_ACCEL - * \n INV_WXYZ_QUAT - * \n If the FIFO has no new data, @e sensors will be zero. - * \n If the FIFO is disabled, @e sensors will be zero and this function will - * return a non-zero error code. - * @param[out] gyro Gyro data in hardware units. - * @param[out] accel Accel data in hardware units. - * @param[out] quat 3-axis quaternion data in hardware units. - * @param[out] timestamp Timestamp in milliseconds. - * @param[out] sensors Mask of sensors read from FIFO. - * @param[out] more Number of remaining packets. - * @return 0 if successful. - */ -int dmp_read_fifo(short *gyro, short *accel, long *quat, - unsigned long *timestamp, short *sensors, unsigned char *more) -{ - unsigned char fifo_data[MAX_PACKET_LENGTH]; - unsigned char ii = 0; - - /* TODO: sensors[0] only changes when dmp_enable_feature is called. We can - * cache this value and save some cycles. - */ - sensors[0] = 0; - - /* Get a packet. */ - if (mpu_read_fifo_stream(dmp.packet_length, fifo_data, more)) - return -1; - - /* Parse DMP packet. */ - if (dmp.feature_mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT)) { -#ifdef FIFO_CORRUPTION_CHECK - long quat_q14[4], quat_mag_sq; -#endif - quat[0] = ((long)fifo_data[0] << 24) | ((long)fifo_data[1] << 16) | - ((long)fifo_data[2] << 8) | fifo_data[3]; - quat[1] = ((long)fifo_data[4] << 24) | ((long)fifo_data[5] << 16) | - ((long)fifo_data[6] << 8) | fifo_data[7]; - quat[2] = ((long)fifo_data[8] << 24) | ((long)fifo_data[9] << 16) | - ((long)fifo_data[10] << 8) | fifo_data[11]; - quat[3] = ((long)fifo_data[12] << 24) | ((long)fifo_data[13] << 16) | - ((long)fifo_data[14] << 8) | fifo_data[15]; - ii += 16; -#ifdef FIFO_CORRUPTION_CHECK - /* We can detect a corrupted FIFO by monitoring the quaternion data and - * ensuring that the magnitude is always normalized to one. This - * shouldn't happen in normal operation, but if an I2C error occurs, - * the FIFO reads might become misaligned. - * - * Let's start by scaling down the quaternion data to avoid long long - * math. - */ - quat_q14[0] = quat[0] >> 16; - quat_q14[1] = quat[1] >> 16; - quat_q14[2] = quat[2] >> 16; - quat_q14[3] = quat[3] >> 16; - quat_mag_sq = quat_q14[0] * quat_q14[0] + quat_q14[1] * quat_q14[1] + - quat_q14[2] * quat_q14[2] + quat_q14[3] * quat_q14[3]; - if ((quat_mag_sq < QUAT_MAG_SQ_MIN) || - (quat_mag_sq > QUAT_MAG_SQ_MAX)) { - /* Quaternion is outside of the acceptable threshold. */ - mpu_reset_fifo(); - sensors[0] = 0; - return -1; - } - sensors[0] |= INV_WXYZ_QUAT; -#endif - } - - if (dmp.feature_mask & DMP_FEATURE_SEND_RAW_ACCEL) { - accel[0] = ((short)fifo_data[ii+0] << 8) | fifo_data[ii+1]; - accel[1] = ((short)fifo_data[ii+2] << 8) | fifo_data[ii+3]; - accel[2] = ((short)fifo_data[ii+4] << 8) | fifo_data[ii+5]; - ii += 6; - sensors[0] |= INV_XYZ_ACCEL; - } - - if (dmp.feature_mask & DMP_FEATURE_SEND_ANY_GYRO) { - gyro[0] = ((short)fifo_data[ii+0] << 8) | fifo_data[ii+1]; - gyro[1] = ((short)fifo_data[ii+2] << 8) | fifo_data[ii+3]; - gyro[2] = ((short)fifo_data[ii+4] << 8) | fifo_data[ii+5]; - ii += 6; - sensors[0] |= INV_XYZ_GYRO; - } - - /* Gesture data is at the end of the DMP packet. Parse it and call - * the gesture callbacks (if registered). - */ - if (dmp.feature_mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT)) - decode_gesture(fifo_data + ii); - - get_ms(timestamp); - return 0; -} - -/** - * @brief Register a function to be executed on a tap event. - * The tap direction is represented by one of the following: - * \n TAP_X_UP - * \n TAP_X_DOWN - * \n TAP_Y_UP - * \n TAP_Y_DOWN - * \n TAP_Z_UP - * \n TAP_Z_DOWN - * @param[in] func Callback function. - * @return 0 if successful. - */ -int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char)) -{ - dmp.tap_cb = func; - return 0; -} - -/** - * @brief Register a function to be executed on a android orientation event. - * @param[in] func Callback function. - * @return 0 if successful. - */ -int dmp_register_android_orient_cb(void (*func)(unsigned char)) -{ - dmp.android_orient_cb = func; - return 0; -} - -/** - * @} - */ - diff --git a/interface/external/MotionDriver/src/inv_tty.c b/interface/external/MotionDriver/src/inv_tty.c deleted file mode 100644 index 30a3fceb55..0000000000 --- a/interface/external/MotionDriver/src/inv_tty.c +++ /dev/null @@ -1,113 +0,0 @@ -// -// inv_tty.c -// interface -// -// Created by Andrzej Kapolka on 7/9/13. -// Copyright (c) 2013 High Fidelity, Inc. All rights reserved. - -#include -#include -#include - -#include "inv_tty.h" - -// the file descriptor of the tty -static int ttyFileDescriptor; - -void tty_set_file_descriptor(int file_descriptor) { - ttyFileDescriptor = file_descriptor; -} - -static char to_hex_digit(unsigned char value) { - return (value < 10) ? '0' + value : 'A' + (value - 10); -} - -static unsigned char from_hex_digit(char digit) { - return (digit < 'A') ? digit - '0' : (digit - 'A') + 10; -} - -static int write_byte(unsigned char value) { - char chars[] = { to_hex_digit(value / 16), to_hex_digit(value % 16) }; - return write(ttyFileDescriptor, chars, 2) != 2; -} - -static int read_byte(unsigned char* value) { - char chars[2]; - if (read(ttyFileDescriptor, chars, 2) != 2) { - return 1; - } - *value = from_hex_digit(chars[0]) * 16 + from_hex_digit(chars[1]); - return 0; -} - -int tty_i2c_write(unsigned char slave_addr, unsigned char reg_addr, unsigned char length, unsigned char const *data) { - if (write(ttyFileDescriptor, "WR", 2) != 2) { - return 1; - } - if (write_byte(slave_addr)) { - return 1; - } - if (write_byte(reg_addr)) { - return 1; - } - int i; - for (i = 0; i < length; i++) { - if (write_byte(data[i])) { - return 1; - } - } - if (write(ttyFileDescriptor, "\n", 1) != 1) { - return 1; - } - - char response[8]; - return read(ttyFileDescriptor, response, 8) != 8; -} - -int tty_i2c_read(unsigned char slave_addr, unsigned char reg_addr, unsigned char length, unsigned char *data) { - if (write(ttyFileDescriptor, "RD", 2) != 2) { - return 1; - } - if (write_byte(slave_addr)) { - return 1; - } - if (write_byte(reg_addr)) { - return 1; - } - if (write_byte(length)) { - return 1; - } - if (write(ttyFileDescriptor, "\n", 1) != 1) { - return 1; - } - - char prefix[6]; - if (read(ttyFileDescriptor, prefix, 6) != 6) { - return 1; - } - int i; - for (i = 0; i < length; i++) { - if (read_byte(data + i)) { - return 1; - } - } - - char suffix[2]; - return read(ttyFileDescriptor, suffix, 2) != 2; -} - -void tty_delay_ms(unsigned long num_ms) { - struct timespec required, remaining; - required.tv_sec = 0; - const long NANOSECONDS_PER_MILLISECOND = 1000000; - required.tv_nsec = num_ms * NANOSECONDS_PER_MILLISECOND; - nanosleep(&required, &remaining); -} - -void tty_get_ms(unsigned long *count) { - struct timeval time; - gettimeofday(&time, 0); - const long MILLISECONDS_PER_SECOND = 1000; - const long MICROSECONDS_PER_MILLISECOND = 1000; - *count = time.tv_sec * MILLISECONDS_PER_SECOND + time.tv_usec / MICROSECONDS_PER_MILLISECOND; -} diff --git a/interface/external/freeglut/Readme.txt b/interface/external/freeglut/Readme.txt deleted file mode 100644 index f45416915c..0000000000 --- a/interface/external/freeglut/Readme.txt +++ /dev/null @@ -1,101 +0,0 @@ -freeglut 2.8.1-1.mp for MSVC - -This package contains freeglut import libraries, headers, and Windows DLLs. -These allow 32 and 64 bit GLUT applications to be compiled on Windows using -Microsoft Visual C++. - -For more information on freeglut, visit http://freeglut.sourceforge.net/. - - -Installation - -Create a folder on your PC which is readable by all users, for example -“C:\Program Files\Common Files\MSVC\freeglut\” on a typical Windows system. Copy -the “lib\” and “include\” folders from this zip archive to that location. - -The appropriate freeglut DLL can either be placed in the same folder as your -application, or can be installed in a system-wide folder which appears in your -%PATH% environment variable. Be careful not to mix the 32 bit DLL up with the 64 -bit DLL, as they are not interchangeable. - - -Compiling 32 bit Applications - -To create a 32 bit freeglut application, create a new Win32 C++ project in MSVC. -From the “Win32 Application Wizard”, choose a “Windows application”, check the -“Empty project” box, and submit. - -You’ll now need to configure the compiler and linker settings. Open up the -project properties, and select “All Configurations” (this is necessary to ensure -our changes are applied for both debug and release builds). Open up the -“general” section under “C/C++”, and configure the “include\” folder you created -above as an “Additional Include Directory”. If you have more than one GLUT -package which contains a “glut.h” file, it’s important to ensure that the -freeglut include folder appears above all other GLUT include folders. - -Now open up the “general” section under “Linker”, and configure the “lib\” -folder you created above as an “Additional Library Directory”. A freeglut -application depends on the import libraries “freeglut.lib” and “opengl32.lib”, -which can be configured under the “Input” section. However, it shouldn’t be -necessary to explicitly state these dependencies, since the freeglut headers -handle this for you. Now open the “Advanced” section, and enter “mainCRTStartup” -as the “Entry Point” for your application. This is necessary because GLUT -applications use “main” as the application entry point, not “WinMain”—without it -you’ll get an undefined reference when you try to link your application. - -That’s all of your project properties configured, so you can now add source -files to your project and build the application. If you want your application to -be compatible with GLUT, you should “#include ”. If you want to use -freeglut specific extensions, you should “#include ” instead. - -Don’t forget to either include the freeglut DLL when distributing applications, -or provide your users with some method of obtaining it if they don’t already -have it! - - -Compiling 64 bit Applications - -Building 64 bit applications is almost identical to building 32 bit applications. -When you use the configuration manager to add the x64 platform, it’s easiest to -copy the settings from the Win32 platform. If you do so, it’s then only necessary -to change the “Additional Library Directories” configuration so that it -references the directory containing the 64 bit import library rather -than the 32 bit one. - - -Problems? - -If you have problems using this package (compiler / linker errors etc.), please -check that you have followed all of the steps in this readme file correctly. -Almost all of the problems which are reported with these packages are due to -missing a step or not doing it correctly, for example trying to build a 32 bit -app against the 64 bit import library. If you have followed all of the steps -correctly but your application still fails to build, try building a very simple -but functional program (the example at -http://www.transmissionzero.co.uk/computing/using-glut-with-mingw/ works fine -with MSVC). A lot of people try to build very complex applications after -installing these packages, and often the error is with the application code or -other library dependencies rather than freeglut. - -If you still can’t get it working after trying to compile a simple application, -then please get in touch via http://www.transmissionzero.co.uk/contact/, -providing as much detail as you can. Please don’t complain to the freeglut guys -unless you’re sure it’s a freeglut bug, and have reproduced the issue after -compiling freeglut from the latest SVN version—if that’s still the case, I’m sure -they would appreciate a bug report or a patch. - - -Changelog - -2013–05–11: Release 2.8.1-1.mp - - • First 2.8.1 MSVC release. I’ve built the package using Visual Studio 2012, - and the only change I’ve made is to the DLL version resource—I’ve changed - the description so that my MinGW and MSVC builds are distinguishable from - each other (and other builds) using Windows Explorer. - - -Martin Payne -2013–05–11 - -http://www.transmissionzero.co.uk/ diff --git a/interface/external/glew/README.txt b/interface/external/glew/README.txt deleted file mode 100644 index 1b19c53523..0000000000 --- a/interface/external/glew/README.txt +++ /dev/null @@ -1,18 +0,0 @@ -See doc/index.html for more information. - -If you downloaded the tarball from the GLEW website, you just need to: - - Unix: - - make - - Windows: - - use the project file in build/vc6/ - -If you wish to build GLEW from scratch (update the extension data from -the net or add your own extension information), you need a Unix -environment (including wget, perl, and GNU make). The extension data -is regenerated from the top level source directory with: - - make extensions diff --git a/interface/external/glew/TODO.txt b/interface/external/glew/TODO.txt deleted file mode 100644 index d2701b652e..0000000000 --- a/interface/external/glew/TODO.txt +++ /dev/null @@ -1,12 +0,0 @@ -Major: - - add support for windows mini-client drivers - - add windows installer (msi) - - separate build of static and shared object files (for mingw and - cygwin) - - start designing GLEW 2.0 - -Minor: - - make auto scripts work with text mode cygwin mounts - - add support for all SUN, MTX, and OML extensions - - make auto/Makefile more robust against auto/core/*~ mistakes - - web poll on separating glew, glxew and wglew diff --git a/interface/external/glew/doc/advanced.html b/interface/external/glew/doc/advanced.html deleted file mode 100644 index a3cb7db90a..0000000000 --- a/interface/external/glew/doc/advanced.html +++ /dev/null @@ -1,272 +0,0 @@ - - - - - - -GLEW: The OpenGL Extension Wrangler Library - - - - - - - - -
- - - - - - - - -
- - - - - - - -
Latest Release: 1.10.0

GLEW Logo

- - - - - - - - - - - -
Download
Usage
Building
Installation
Source Generation
Credits & Copyright
Change Log
Project Page
Mailing Lists
Bug Tracker
-

-
- - - - - -
Last Update: 07-22-13
- OpenGL Logo - SourceForge Logo -
-
-		 - -

The OpenGL Extension Wrangler Library

- - - - -

Automatic Code Generation

- -

-Starting from release 1.1.0, the source code and parts of the -documentation are automatically generated from the extension -specifications in a two-step process. In the first step, -specification files from the OpenGL registry are downloaded and -parsed. Skeleton descriptors are created for each extension. These -descriptors contain all necessary information for creating the source -code and documentation in a simple and compact format, including the -name of the extension, url link to the specification, tokens, function -declarations, typedefs and struct definitions. In the second step, -the header files as well as the library and glewinfo source are -generated from the descriptor files. The code generation scripts are -located in the auto subdirectory. -

- -

-The code generation scripts require GNU make, wget, and perl. On -Windows, the simplest way to get access to these tools is to install -Cygwin, but make sure that the -root directory is mounted in binary mode. The makefile in the -auto directory provides the following build targets: -

- - - - - - - - - - - - -
makeCreate the source files from the descriptors.
If the -descriptors do not exist, create them from the spec files.
If the spec -files do not exist, download them from the OpenGL repository.
make cleanDelete the source files.
make clobberDelete the source files and the descriptors.
make destroyDelete the source files, the descriptors, and the spec files.
make customCreate the source files for the extensions -listed in auto/custom.txt.
See "Custom Code -Generation" below for more details.
- -

Adding a New Extension

- -

-To add a new extension, create a descriptor file for the extension in -auto/core and rerun the code generation scripts by typing -make clean; make in the auto directory. -

- -

-The format of the descriptor file is given below. Items in -brackets are optional. -

- -

-<Extension Name>
-[<URL of Specification File>]
-    [<Token Name> <Token Value>]
-    [<Token Name> <Token Value>]
-    ...
-    [<Typedef>]
-    [<Typedef>]
-    ...
-    [<Function Signature>]
-    [<Function Signature>]
-    ...
- -

- - - -

-Take a look at one of the files in auto/core for an -example. Note that typedefs and function signatures should not be -terminated with a semicolon. -

- -

Custom Code Generation

-

-Starting from GLEW 1.3.0, it is possible to control which extensions -to include in the libarary by specifying a list in -auto/custom.txt. This is useful when you do not need all the -extensions and would like to reduce the size of the source files. -Type make clean; make custom in the auto directory -to rerun the scripts with the custom list of extensions. -

- -

-For example, the following is the list of extensions needed to get GLEW and the -utilities to compile. -

- -

-WGL_ARB_extensions_string
-WGL_ARB_multisample
-WGL_ARB_pixel_format
-WGL_ARB_pbuffer
-WGL_EXT_extensions_string
-WGL_ATI_pixel_format_float
-WGL_NV_float_buffer
-

- -

Multiple Rendering Contexts (GLEW MX)

- -

Starting with release 1.2.0, thread-safe support for multiple -rendering contexts, possibly with different capabilities, is -available. Since this is not required by most users, it is not added -to the binary releases to maintain compatibility between different -versions. To include multi-context support, you have to do the -following:

-
    -
  1. Compile and use GLEW with the GLEW_MX preprocessor token -defined.
    2. -
  2. For each rendering context, create a GLEWContext object -that will be available as long as the rendering context exists.
    3. -
  3. Define a macro or function called glewGetContext() that -returns a pointer to the GLEWContext object associated with -the rendering context from which OpenGL/WGL/GLX calls are issued. This -dispatch mechanism is primitive, but generic. -
  4. Make sure that you call glewInit() after creating the -GLEWContext object in each rendering context. Note, that the -GLEWContext pointer returned by glewGetContext() has -to reside in global or thread-local memory. -
- -

Note that according to the MSDN -WGL documentation, you have to initialize the entry points for -every rendering context that use pixel formats with different -capabilities For example, the pixel formats provided by the generic -software OpenGL implementation by Microsoft vs. the hardware -accelerated pixel formats have different capabilities. GLEW by -default ignores this requirement, and does not define per-context -entry points (you can however do this using the steps described -above). Assuming a global namespace for the entry points works in -most situations, because typically all hardware accelerated pixel -formats provide the same entry points and capabilities. This means -that unless you use the multi-context version of GLEW, you need to -call glewInit() only once in your program, or more precisely, -once per process.

- -

Separate Namespace

- -

-To avoid name clashes when linking with libraries that include the -same symbols, extension entry points are declared in a separate -namespace (release 1.1.0 and up). This is achieved by aliasing OpenGL -function names to their GLEW equivalents. For instance, -glFancyFunction is simply an alias to -glewFancyFunction. The separate namespace does not effect -token and function pointer definitions. -

- -

Known Issues

- -

-GLEW requires GLX 1.2 for compatibility with GLUT. -

- - -
- - diff --git a/interface/external/glew/doc/basic.html b/interface/external/glew/doc/basic.html deleted file mode 100644 index 4419b33b06..0000000000 --- a/interface/external/glew/doc/basic.html +++ /dev/null @@ -1,283 +0,0 @@ - - - - - - -GLEW: The OpenGL Extension Wrangler Library - - - - - - - - -
- - - - - - - - -
- - - - - - - -
Latest Release: 1.10.0

GLEW Logo

- - - - - - - - - - - -
Download
Usage
Building
Installation
Source Generation
Credits & Copyright
Change Log
Project Page
Mailing Lists
Bug Tracker
-

-
- - - - - -
Last Update: 07-22-13
- OpenGL Logo - SourceForge Logo -
-
-		 - -

The OpenGL Extension Wrangler Library

- - - - -

Initializing GLEW

-

-First you need to create a valid OpenGL rendering context and call -glewInit() to initialize the extension entry points. If -glewInit() returns GLEW_OK, the initialization -succeeded and you can use the available extensions as well as core -OpenGL functionality. For example: -

- -

-#include <GL/glew.h>
-#include <GL/glut.h>
-...
-glutInit(&argc, argv);
-glutCreateWindow("GLEW Test");
-GLenum err = glewInit();
-if (GLEW_OK != err)
-{
-  /* Problem: glewInit failed, something is seriously wrong. */
-  fprintf(stderr, "Error: %s\n", glewGetErrorString(err));
-  ...
-}
-fprintf(stdout, "Status: Using GLEW %s\n", glewGetString(GLEW_VERSION));
-

- -

Checking for Extensions

- -

-Starting from GLEW 1.1.0, you can find out if a particular extension -is available on your platform by querying globally defined variables -of the form GLEW_{extension_name}: -

- -

-if (GLEW_ARB_vertex_program)
-{
-  /* It is safe to use the ARB_vertex_program extension here. */
-  glGenProgramsARB(...);
-}
-

- -

-In GLEW 1.0.x, a global structure was used for this task. To ensure -binary compatibility between releases, the struct was replaced with a -set of variables. -

- -

-You can also check for core OpenGL functionality. For example, to -see if OpenGL 1.3 is supported, do the following: -

- -

-if (GLEW_VERSION_1_3)
-{
-  /* Yay! OpenGL 1.3 is supported! */
-}
-

- -

-In general, you can check if GLEW_{extension_name} or -GLEW_VERSION_{version} is true or false. -

- -

-It is also possible to perform extension checks from string -input. Starting from the 1.3.0 release, use glewIsSupported -to check if the required core or extension functionality is -available: -

- -

-if (glewIsSupported("GL_VERSION_1_4  GL_ARB_point_sprite"))
-{
-  /* Great, we have OpenGL 1.4 + point sprites. */
-}
-

- -

-For extensions only, glewGetExtension provides a slower alternative -(GLEW 1.0.x-1.2.x). Note that in the 1.3.0 release -glewGetExtension was replaced with -glewIsSupported. -

- -

-if (glewGetExtension("GL_ARB_fragment_program"))
-{
-  /* Looks like ARB_fragment_program is supported. */
-}
-

- -

Experimental Drivers

- -

-GLEW obtains information on the supported extensions from the graphics -driver. Experimental or pre-release drivers, however, might not -report every available extension through the standard mechanism, in -which case GLEW will report it unsupported. To circumvent this -situation, the glewExperimental global switch can be turned -on by setting it to GL_TRUE before calling -glewInit(), which ensures that all extensions with valid -entry points will be exposed. -

- -

Platform Specific Extensions

- -

-Platform specific extensions are separated into two header files: -wglew.h and glxew.h, which define the available -WGL and GLX extensions. To determine if a certain -extension is supported, query WGLEW_{extension name} or -GLXEW_{extension_name}. For example: -

- -

-#include <GL/wglew.h>
-
-if (WGLEW_ARB_pbuffer)
-{
-  /* OK, we can use pbuffers. */
-}
-else
-{
-  /* Sorry, pbuffers will not work on this platform. */
-}
-

- -

-Alternatively, use wglewIsSupported or -glxewIsSupported to check for extensions from a string: -

- -

-if (wglewIsSupported("WGL_ARB_pbuffer"))
-{
-  /* OK, we can use pbuffers. */
-}
-

- -

Utilities

- -

-GLEW provides two command-line utilities: one for creating a list of -available extensions and visuals; and another for verifying extension -entry points. -

- -

visualinfo: extensions and visuals

- -

-visualinfo is an extended version of glxinfo. The -Windows version creates a file called visualinfo.txt, which -contains a list of available OpenGL, WGL, and GLU extensions as well -as a table of visuals aka. pixel formats. Pbuffer and MRT capable -visuals are also included. For additional usage information, type -visualinfo -h. -

- -

glewinfo: extension verification utility

- -

-glewinfo allows you to verify the entry points for the -extensions supported on your platform. The Windows version -reports the results to a text file called glewinfo.txt. The -Unix version prints the results to stdout. -

- -

Windows usage:

- 
glewinfo [-pf <id>]
- -

where <id> is the pixel format id for which the -capabilities are displayed.

- -

Unix usage:

-
glewinfo [-display <dpy>] [-visual <id>]
- -

where <dpy> is the X11 display and <id> is -the visual id for which the capabilities are displayed.

- - -
- - diff --git a/interface/external/glew/doc/build.html b/interface/external/glew/doc/build.html deleted file mode 100644 index 7e31e944ad..0000000000 --- a/interface/external/glew/doc/build.html +++ /dev/null @@ -1,150 +0,0 @@ - - - - - - -GLEW: The OpenGL Extension Wrangler Library - - - - - - - - -
- - - - - - - - -
- - - - - - - -
Latest Release: 1.10.0

GLEW Logo

- - - - - - - - - - - -
Download
Usage
Building
Installation
Source Generation
Credits & Copyright
Change Log
Project Page
Mailing Lists
Bug Tracker
-

-
- - - - - -
Last Update: 07-22-13
- OpenGL Logo - SourceForge Logo -
-
-		 - -

The OpenGL Extension Wrangler Library

- - - - -

Building GLEW

- -

Windows

- -

A MS Visual Studio project is provided in the build/vc6 directory.

-

Pre-built shared and static libraries are also available for download.

- -

Makefile

- -

For platforms other than MS Windows, the provided Makefile is used.

- -

Command-line variables

- - - - - - -
SYSTEMautoTarget system to build: darwin, linux, solaris, etc.
For a full list of supported targets: ls config/Makefile.*
-config.guess is used to auto detect, as necessary.
GLEW_DEST/usrBase directory for installation.
- -

Make targets

- - - - - - - - - - - - -
allBuild everything.
glew.libBuild static and dynamic GLEW libraries.
glew.lib.mxBuild static and dynamic GLEWmx libraries.
glew.binBuild glewinfo and visualinfo utilities.
cleanDelete temporary and built files.
install.allInstall everything.
installInstall GLEW libraries.
install.mxInstall GLEWmx libraries.
install.binInstall glewinfo and visualinfo utilities.
uninstallDelete installed files.
- -

Requirements

- -
    -
  • GNU make
    • -
  • perl
    • -
  • wget
    • -
  • GNU sed
    • -
  • gcc compiler
    • -
- -Ubuntu: 
sudo apt-get install Xmu-dev Xi-Dev
- -
- - diff --git a/interface/external/glew/doc/credits.html b/interface/external/glew/doc/credits.html deleted file mode 100644 index 983fc7bfca..0000000000 --- a/interface/external/glew/doc/credits.html +++ /dev/null @@ -1,128 +0,0 @@ - - - - - - -GLEW: The OpenGL Extension Wrangler Library - - - - - - - - -
- - - - - - - - -
- - - - - - - -
Latest Release: 1.10.0

GLEW Logo

- - - - - - - - - - - -
Download
Usage
Building
Installation
Source Generation
Credits & Copyright
Change Log
Project Page
Mailing Lists
Bug Tracker
-

-
- - - - - -
Last Update: 07-22-13
- OpenGL Logo - SourceForge Logo -
-
-		 - -

The OpenGL Extension Wrangler Library

- - - - -

Credits

- -

-GLEW was developed by Milan -Ikits and Marcelo -Magallon. They also perform occasional maintainance to make sure -that GLEW stays in mint condition. Aaron Lefohn, Joe Kniss, and Chris -Wyman were the first users and also assisted with the design and -debugging process. The acronym GLEW originates from Aaron Lefohn. -Pasi Kärkkäinen identified and fixed several problems with -GLX and SDL. Nate Robins created the wglinfo utility, to -which modifications were made by Michael Wimmer. -

- -

Copyright

- -

-GLEW is originally derived from the EXTGL project by Lev Povalahev. -The source code is licensed under the Modified BSD -License, the Mesa 3-D License (MIT -License), and the Khronos License (MIT -License). The automatic code generation scripts are released under -the GNU GPL. -

- -
- - diff --git a/interface/external/glew/doc/glew.css b/interface/external/glew/doc/glew.css deleted file mode 100644 index 1bb7dd178a..0000000000 --- a/interface/external/glew/doc/glew.css +++ /dev/null @@ -1,187 +0,0 @@ -h1 -{ - color: black; - font: 23px "Verdana", "Arial", "Helvetica", sans-serif; - font-weight: bold; - text-align: center; - margin-top: 12px; - margin-bottom: 18px; -} - -h2 -{ - color: black; - font: 18px "Verdana", "Arial", "Helvetica", sans-serif; - font-weight: bold; - text-align: left; - padding-top: 0px; - padding-bottom: 0px; - margin-top: 18px; - margin-bottom: 12px; -} - -h3 -{ - color: black; - font: 17px "Verdana", "Arial", "Helvetica", sans-serif; - text-align: left; - padding-top: 0px; - padding-bottom: 0px; - margin-top: 12px; - margin-bottom: 12px; -} - -small -{ - font: 8pt "Verdana", "Arial", "Helvetica", sans-serif; -} - -body -{ - color: black; - font: 10pt "Verdana", "Arial", "Helvetica", sans-serif; - text-align: left; -} - -td -{ - color: black; - font: 10pt "Verdana", "Arial", "Helvetica", sans-serif; -} - -tt -{ - color: rgb(0,120,0); -} -/* color: maroon; */ - -td.num -{ - color: lightgrey; - font: 10pt "Verdana", "Arial", "Helvetica", sans-serif; - text-align: right; -} - -blockquote -{ - color: rgb(0,120,0); - background: #f0f0f0; - text-align: left; - margin-left: 40px; - margin-right: 40px; - margin-bottom: 6px; - padding-bottom: 0px; - margin-top: 0px; - padding-top: 0px; - border-top: 0px; - border-width: 0px; -} - -pre -{ - color: rgb(0,120,0); - background: #f0f0f0; - text-align: left; - margin-left: 40px; - margin-right: 40px; - margin-bottom: 6px; - padding-bottom: 0px; - margin-top: 0px; - padding-top: 0px; - border-top: 0px; - border-width: 0px; -} - -p -{ - color: black; - font: 10pt "Verdana", "Arial", "Helvetica", sans-serif; - text-align: left; - margin-bottom: 0px; - padding-bottom: 6px; - margin-top: 0px; - padding-top: 0px; -} - -p.right -{ - color: black; - font: 10pt "Verdana", "Arial", "Helvetica", sans-serif; - text-align: right; - margin-bottom: 0px; - padding-bottom: 6px; - margin-top: 0px; - padding-top: 0px; -} - -p.pre -{ - color: rgb(0,120,0); - font: 10pt "Courier New", "Courier", monospace; - background: #f0f0f0; - text-align: left; - margin-top: 0px; - margin-bottom: 6px; - margin-left: 40px; - margin-right: 40px; - padding-top: 0px; - padding-bottom: 6px; - padding-left: 6px; - padding-right: 6px; - border-top: 0px; - border-width: 0px; -} - -a:link -{ - color: rgb(0,0,139); - text-decoration: none; -} - -a:visited -{ - color: rgb(220,20,60); - text-decoration: none; -} - -a:hover -{ - color: rgb(220,20,60); - text-decoration: underline; - background: "#e8e8e8"; -} - -ul -{ - list-style-type: disc; - text-align: left; - margin-left: 40px; - margin-top: 0px; - padding-top: 0px; - margin-bottom: 0px; - padding-bottom: 3px; -} - -ul.none -{ - list-style-type: none; -} - -ol -{ - text-align: left; - margin-left: 40px; - margin-top: 0px; - padding-top: 0px; - margin-bottom: 0px; - padding-bottom: 12px; -} - -hr -{ - color: maroon; - background-color: maroon; - height: 1px; - border: 0px; - width: 80%; -} diff --git a/interface/external/glew/doc/glew.html b/interface/external/glew/doc/glew.html deleted file mode 100644 index 4800bbfa0b..0000000000 --- a/interface/external/glew/doc/glew.html +++ /dev/null @@ -1,635 +0,0 @@ - - - - - - -GLEW: The OpenGL Extension Wrangler Library - - - - - - - - -
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Latest Release: 1.10.0

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Last Update: 07-22-13
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The OpenGL Extension Wrangler Library

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Supported OpenGL Extensions

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
1 3DFX_multisample
2 3DFX_tbuffer
3 3DFX_texture_compression_FXT1

4 AMD_blend_minmax_factor
5 AMD_conservative_depth
6 AMD_debug_output
7 AMD_depth_clamp_separate
8 AMD_draw_buffers_blend
9 AMD_interleaved_elements
10 AMD_multi_draw_indirect
11 AMD_name_gen_delete
12 AMD_performance_monitor
13 AMD_pinned_memory
14 AMD_query_buffer_object
15 AMD_sample_positions
16 AMD_seamless_cubemap_per_texture
17 AMD_shader_stencil_export
18 AMD_shader_trinary_minmax
19 AMD_sparse_texture
20 AMD_stencil_operation_extended
21 AMD_texture_texture4
22 AMD_transform_feedback3_lines_triangles
23 AMD_vertex_shader_layer
24 AMD_vertex_shader_tessellator
25 AMD_vertex_shader_viewport_index

26 ANGLE_depth_texture
27 ANGLE_framebuffer_blit
28 ANGLE_framebuffer_multisample
29 ANGLE_instanced_arrays
30 ANGLE_pack_reverse_row_order
31 ANGLE_program_binary
32 ANGLE_texture_compression_dxt1
33 ANGLE_texture_compression_dxt3
34 ANGLE_texture_compression_dxt5
35 ANGLE_texture_usage
36 ANGLE_timer_query
37 ANGLE_translated_shader_source

38 APPLE_aux_depth_stencil
39 APPLE_client_storage
40 APPLE_element_array
41 APPLE_fence
42 APPLE_float_pixels
43 APPLE_flush_buffer_range
44 APPLE_object_purgeable
45 APPLE_pixel_buffer
46 APPLE_rgb_422
47 APPLE_row_bytes
48 APPLE_specular_vector
49 APPLE_texture_range
50 APPLE_transform_hint
51 APPLE_vertex_array_object
52 APPLE_vertex_array_range
53 APPLE_vertex_program_evaluators
54 APPLE_ycbcr_422

55 ARB_ES2_compatibility
56 ARB_ES3_compatibility
57 ARB_arrays_of_arrays
58 ARB_base_instance
59 ARB_bindless_texture
60 ARB_blend_func_extended
61 ARB_buffer_storage
62 ARB_cl_event
63 ARB_clear_buffer_object
64 ARB_clear_texture
65 ARB_color_buffer_float
66 ARB_compatibility
67 ARB_compressed_texture_pixel_storage
68 ARB_compute_shader
69 ARB_compute_variable_group_size
70 ARB_conservative_depth
71 ARB_copy_buffer
72 ARB_copy_image
73 ARB_debug_output
74 ARB_depth_buffer_float
75 ARB_depth_clamp
76 ARB_depth_texture
77 ARB_draw_buffers
78 ARB_draw_buffers_blend
79 ARB_draw_elements_base_vertex
80 ARB_draw_indirect
81 ARB_draw_instanced
82 ARB_enhanced_layouts
83 ARB_explicit_attrib_location
84 ARB_explicit_uniform_location
85 ARB_fragment_coord_conventions
86 ARB_fragment_layer_viewport
87 ARB_fragment_program
88 ARB_fragment_program_shadow
89 ARB_fragment_shader
90 ARB_framebuffer_no_attachments
91 ARB_framebuffer_object
92 ARB_framebuffer_sRGB
93 ARB_geometry_shader4
94 ARB_get_program_binary
95 ARB_gpu_shader5
96 ARB_gpu_shader_fp64
97 ARB_half_float_pixel
98 ARB_half_float_vertex
99 ARB_imaging
100 ARB_indirect_parameters
101 ARB_instanced_arrays
102 ARB_internalformat_query
103 ARB_internalformat_query2
104 ARB_invalidate_subdata
105 ARB_map_buffer_alignment
106 ARB_map_buffer_range
107 ARB_matrix_palette
108 ARB_multi_bind
109 ARB_multi_draw_indirect
110 ARB_multisample
111 ARB_multitexture
112 ARB_occlusion_query
113 ARB_occlusion_query2
114 ARB_pixel_buffer_object
115 ARB_point_parameters
116 ARB_point_sprite
117 ARB_program_interface_query
118 ARB_provoking_vertex
119 ARB_query_buffer_object
120 ARB_robust_buffer_access_behavior
121 ARB_robustness
122 ARB_robustness_application_isolation
123 ARB_robustness_share_group_isolation
124 ARB_sample_shading
125 ARB_sampler_objects
126 ARB_seamless_cube_map
127 ARB_seamless_cubemap_per_texture
128 ARB_separate_shader_objects
129 ARB_shader_atomic_counters
130 ARB_shader_bit_encoding
131 ARB_shader_draw_parameters
132 ARB_shader_group_vote
133 ARB_shader_image_load_store
134 ARB_shader_image_size
135 ARB_shader_objects
136 ARB_shader_precision
137 ARB_shader_stencil_export
138 ARB_shader_storage_buffer_object
139 ARB_shader_subroutine
140 ARB_shader_texture_lod
141 ARB_shading_language_100
142 ARB_shading_language_420pack
143 ARB_shading_language_include
144 ARB_shading_language_packing
145 ARB_shadow
146 ARB_shadow_ambient
147 ARB_sparse_texture
148 ARB_stencil_texturing
149 ARB_sync
150 ARB_tessellation_shader
151 ARB_texture_border_clamp
152 ARB_texture_buffer_object
153 ARB_texture_buffer_object_rgb32
154 ARB_texture_buffer_range
155 ARB_texture_compression
156 ARB_texture_compression_bptc
157 ARB_texture_compression_rgtc
158 ARB_texture_cube_map
159 ARB_texture_cube_map_array
160 ARB_texture_env_add
161 ARB_texture_env_combine
162 ARB_texture_env_crossbar
163 ARB_texture_env_dot3
164 ARB_texture_float
165 ARB_texture_gather
166 ARB_texture_mirror_clamp_to_edge
167 ARB_texture_mirrored_repeat
168 ARB_texture_multisample
169 ARB_texture_non_power_of_two
170 ARB_texture_query_levels
171 ARB_texture_query_lod
172 ARB_texture_rectangle
173 ARB_texture_rg
174 ARB_texture_rgb10_a2ui
175 ARB_texture_stencil8
176 ARB_texture_storage
177 ARB_texture_storage_multisample
178 ARB_texture_swizzle
179 ARB_texture_view
180 ARB_timer_query
181 ARB_transform_feedback2
182 ARB_transform_feedback3
183 ARB_transform_feedback_instanced
184 ARB_transpose_matrix
185 ARB_uniform_buffer_object
186 ARB_vertex_array_bgra
187 ARB_vertex_array_object
188 ARB_vertex_attrib_64bit
189 ARB_vertex_attrib_binding
190 ARB_vertex_blend
191 ARB_vertex_buffer_object
192 ARB_vertex_program
193 ARB_vertex_shader
194 ARB_vertex_type_10f_11f_11f_rev
195 ARB_vertex_type_2_10_10_10_rev
196 ARB_viewport_array
197 ARB_window_pos

198 ATIX_point_sprites
199 ATIX_texture_env_combine3
200 ATIX_texture_env_route
201 ATIX_vertex_shader_output_point_size

202 ATI_draw_buffers
203 ATI_element_array
204 ATI_envmap_bumpmap
205 ATI_fragment_shader
206 ATI_map_object_buffer
207 ATI_meminfo
208 ATI_pn_triangles
209 ATI_separate_stencil
210 ATI_shader_texture_lod
211 ATI_text_fragment_shader
212 ATI_texture_compression_3dc
213 ATI_texture_env_combine3
214 ATI_texture_float
215 ATI_texture_mirror_once
216 ATI_vertex_array_object
217 ATI_vertex_attrib_array_object
218 ATI_vertex_streams

219 EXT_422_pixels
220 EXT_Cg_shader
221 EXT_abgr
222 EXT_bgra
223 EXT_bindable_uniform
224 EXT_blend_color
225 EXT_blend_equation_separate
226 EXT_blend_func_separate
227 EXT_blend_logic_op
228 EXT_blend_minmax
229 EXT_blend_subtract
230 EXT_clip_volume_hint
231 EXT_cmyka
232 EXT_color_subtable
233 EXT_compiled_vertex_array
234 EXT_convolution
235 EXT_coordinate_frame
236 EXT_copy_texture
237 EXT_cull_vertex
238 EXT_debug_marker
239 EXT_depth_bounds_test
240 EXT_direct_state_access
241 EXT_draw_buffers2
242 EXT_draw_instanced
243 EXT_draw_range_elements
244 EXT_fog_coord
245 EXT_fragment_lighting
246 EXT_framebuffer_blit
247 EXT_framebuffer_multisample
248 EXT_framebuffer_multisample_blit_scaled
249 EXT_framebuffer_object
250 EXT_framebuffer_sRGB
251 EXT_geometry_shader4
252 EXT_gpu_program_parameters
253 EXT_gpu_shader4
254 EXT_histogram
255 EXT_index_array_formats
256 EXT_index_func
257 EXT_index_material
258 EXT_index_texture
259 EXT_light_texture
260 EXT_misc_attribute
261 EXT_multi_draw_arrays
262 EXT_multisample
263 EXT_packed_depth_stencil
264 EXT_packed_float
265 EXT_packed_pixels
266 EXT_paletted_texture
267 EXT_pixel_buffer_object
268 EXT_pixel_transform
269 EXT_pixel_transform_color_table
270 EXT_point_parameters
271 EXT_polygon_offset
272 EXT_provoking_vertex
273 EXT_rescale_normal
274 EXT_scene_marker
275 EXT_secondary_color
276 EXT_separate_shader_objects
277 EXT_separate_specular_color
278 EXT_shader_image_load_store
279 EXT_shadow_funcs
280 EXT_shared_texture_palette
281 EXT_stencil_clear_tag
282 EXT_stencil_two_side
283 EXT_stencil_wrap
284 EXT_subtexture
285 EXT_texture
286 EXT_texture3D
287 EXT_texture_array
288 EXT_texture_buffer_object
289 EXT_texture_compression_dxt1
290 EXT_texture_compression_latc
291 EXT_texture_compression_rgtc
292 EXT_texture_compression_s3tc
293 EXT_texture_cube_map
294 EXT_texture_edge_clamp
295 EXT_texture_env
296 EXT_texture_env_add
297 EXT_texture_env_combine
298 EXT_texture_env_dot3
299 EXT_texture_filter_anisotropic
300 EXT_texture_integer
301 EXT_texture_lod_bias
302 EXT_texture_mirror_clamp
303 EXT_texture_object
304 EXT_texture_perturb_normal
305 EXT_texture_rectangle
306 EXT_texture_sRGB
307 EXT_texture_sRGB_decode
308 EXT_texture_shared_exponent
309 EXT_texture_snorm
310 EXT_texture_swizzle
311 EXT_timer_query
312 EXT_transform_feedback
313 EXT_vertex_array
314 EXT_vertex_array_bgra
315 EXT_vertex_attrib_64bit
316 EXT_vertex_shader
317 EXT_vertex_weighting
318 EXT_x11_sync_object

319 GREMEDY_frame_terminator
320 GREMEDY_string_marker

321 HP_convolution_border_modes
322 HP_image_transform
323 HP_occlusion_test
324 HP_texture_lighting

325 IBM_cull_vertex
326 IBM_multimode_draw_arrays
327 IBM_rasterpos_clip
328 IBM_static_data
329 IBM_texture_mirrored_repeat
330 IBM_vertex_array_lists

331 INGR_color_clamp
332 INGR_interlace_read

333 INTEL_map_texture
334 INTEL_parallel_arrays
335 INTEL_texture_scissor

336 KHR_debug
337 KHR_texture_compression_astc_ldr

338 KTX_buffer_region

339 MESAX_texture_stack

340 MESA_pack_invert
341 MESA_resize_buffers
342 MESA_window_pos
343 MESA_ycbcr_texture

344 NVX_conditional_render
345 NVX_gpu_memory_info

346 NV_bindless_multi_draw_indirect
347 NV_bindless_texture
348 NV_blend_equation_advanced
349 NV_blend_equation_advanced_coherent
350 NV_blend_square
351 NV_compute_program5
352 NV_conditional_render
353 NV_copy_depth_to_color
354 NV_copy_image
355 NV_deep_texture3D
356 NV_depth_buffer_float
357 NV_depth_clamp
358 NV_depth_range_unclamped
359 NV_draw_texture
360 NV_evaluators
361 NV_explicit_multisample
362 NV_fence
363 NV_float_buffer
364 NV_fog_distance
365 NV_fragment_program
366 NV_fragment_program2
367 NV_fragment_program4
368 NV_fragment_program_option
369 NV_framebuffer_multisample_coverage
370 NV_geometry_program4
371 NV_geometry_shader4
372 NV_gpu_program4
373 NV_gpu_program5
374 NV_gpu_program5_mem_extended
375 NV_gpu_program_fp64
376 NV_gpu_shader5
377 NV_half_float
378 NV_light_max_exponent
379 NV_multisample_coverage
380 NV_multisample_filter_hint
381 NV_occlusion_query
382 NV_packed_depth_stencil
383 NV_parameter_buffer_object
384 NV_parameter_buffer_object2
385 NV_path_rendering
386 NV_pixel_data_range
387 NV_point_sprite
388 NV_present_video
389 NV_primitive_restart
390 NV_register_combiners
391 NV_register_combiners2
392 NV_shader_atomic_counters
393 NV_shader_atomic_float
394 NV_shader_buffer_load
395 NV_shader_storage_buffer_object
396 NV_tessellation_program5
397 NV_texgen_emboss
398 NV_texgen_reflection
399 NV_texture_barrier
400 NV_texture_compression_vtc
401 NV_texture_env_combine4
402 NV_texture_expand_normal
403 NV_texture_multisample
404 NV_texture_rectangle
405 NV_texture_shader
406 NV_texture_shader2
407 NV_texture_shader3
408 NV_transform_feedback
409 NV_transform_feedback2
410 NV_vdpau_interop
411 NV_vertex_array_range
412 NV_vertex_array_range2
413 NV_vertex_attrib_integer_64bit
414 NV_vertex_buffer_unified_memory
415 NV_vertex_program
416 NV_vertex_program1_1
417 NV_vertex_program2
418 NV_vertex_program2_option
419 NV_vertex_program3
420 NV_vertex_program4
421 NV_video_capture

422 OES_byte_coordinates
423 OES_compressed_paletted_texture
424 OES_read_format
425 OES_single_precision

426 OML_interlace
427 OML_resample
428 OML_subsample

429 PGI_misc_hints
430 PGI_vertex_hints

431 REGAL_ES1_0_compatibility
432 REGAL_ES1_1_compatibility
433 REGAL_enable
434 REGAL_error_string
435 REGAL_extension_query
436 REGAL_log

437 REND_screen_coordinates

438 S3_s3tc

439 SGIS_color_range
440 SGIS_detail_texture
441 SGIS_fog_function
442 SGIS_generate_mipmap
443 SGIS_multisample
444 SGIS_pixel_texture
445 SGIS_point_line_texgen
446 SGIS_sharpen_texture
447 SGIS_texture4D
448 SGIS_texture_border_clamp
449 SGIS_texture_edge_clamp
450 SGIS_texture_filter4
451 SGIS_texture_lod
452 SGIS_texture_select

453 SGIX_async
454 SGIX_async_histogram
455 SGIX_async_pixel
456 SGIX_blend_alpha_minmax
457 SGIX_clipmap
458 SGIX_convolution_accuracy
459 SGIX_depth_texture
460 SGIX_flush_raster
461 SGIX_fog_offset
462 SGIX_fog_texture
463 SGIX_fragment_specular_lighting
464 SGIX_framezoom
465 SGIX_interlace
466 SGIX_ir_instrument1
467 SGIX_list_priority
468 SGIX_pixel_texture
469 SGIX_pixel_texture_bits
470 SGIX_reference_plane
471 SGIX_resample
472 SGIX_shadow
473 SGIX_shadow_ambient
474 SGIX_sprite
475 SGIX_tag_sample_buffer
476 SGIX_texture_add_env
477 SGIX_texture_coordinate_clamp
478 SGIX_texture_lod_bias
479 SGIX_texture_multi_buffer
480 SGIX_texture_range
481 SGIX_texture_scale_bias
482 SGIX_vertex_preclip
483 SGIX_vertex_preclip_hint
484 SGIX_ycrcb

485 SGI_color_matrix
486 SGI_color_table
487 SGI_texture_color_table

488 SUNX_constant_data

489 SUN_convolution_border_modes
490 SUN_global_alpha
491 SUN_mesh_array
492 SUN_read_video_pixels
493 SUN_slice_accum
494 SUN_triangle_list
495 SUN_vertex

496 WIN_phong_shading
497 WIN_specular_fog
498 WIN_swap_hint
- -
- - diff --git a/interface/external/glew/doc/glew.png b/interface/external/glew/doc/glew.png deleted file mode 100644 index d46550f194..0000000000 Binary files a/interface/external/glew/doc/glew.png and /dev/null differ diff --git a/interface/external/glew/doc/glew.txt b/interface/external/glew/doc/glew.txt deleted file mode 100644 index 31a31d3dbe..0000000000 --- a/interface/external/glew/doc/glew.txt +++ /dev/null @@ -1,28 +0,0 @@ -The OpenGL Extension Wrangler Library -Copyright (C) 2002-2008, Milan Ikits -Copyright (C) 2002-2008, Marcelo E. Magallon -Copyright (C) 2002, Lev Povalahev -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -* Redistributions of source code must retain the above copyright notice, - this list of conditions and the following disclaimer. -* Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. -* The name of the author may be used to endorse or promote products - derived from this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF -THE POSSIBILITY OF SUCH DAMAGE. diff --git a/interface/external/glew/doc/glxew.html b/interface/external/glew/doc/glxew.html deleted file mode 100644 index 08f01079f7..0000000000 --- a/interface/external/glew/doc/glxew.html +++ /dev/null @@ -1,179 +0,0 @@ - - - - - - -GLEW: The OpenGL Extension Wrangler Library - - - - - - - - -
- - - - - - - - -
- - - - - - - -
Latest Release: 1.10.0

GLEW Logo

- - - - - - - - - - - -
Download
Usage
Building
Installation
Source Generation
Credits & Copyright
Change Log
Project Page
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Bug Tracker
-

-
- - - - - -
Last Update: 07-22-13
- OpenGL Logo - SourceForge Logo -
-
-		 - -

The OpenGL Extension Wrangler Library

- - - - -

Supported GLX Extensions

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
1 3DFX_multisample

2 AMD_gpu_association

3 ARB_create_context
4 ARB_create_context_profile
5 ARB_create_context_robustness
6 ARB_fbconfig_float
7 ARB_framebuffer_sRGB
8 ARB_get_proc_address
9 ARB_multisample
10 ARB_robustness_application_isolation
11 ARB_robustness_share_group_isolation
12 ARB_vertex_buffer_object

13 ATI_pixel_format_float
14 ATI_render_texture

15 EXT_buffer_age
16 EXT_create_context_es2_profile
17 EXT_create_context_es_profile
18 EXT_fbconfig_packed_float
19 EXT_framebuffer_sRGB
20 EXT_import_context
21 EXT_scene_marker
22 EXT_swap_control
23 EXT_swap_control_tear
24 EXT_texture_from_pixmap
25 EXT_visual_info
26 EXT_visual_rating

27 INTEL_swap_event

28 MESA_agp_offset
29 MESA_copy_sub_buffer
30 MESA_pixmap_colormap
31 MESA_release_buffers
32 MESA_set_3dfx_mode
33 MESA_swap_control

34 NV_copy_image
35 NV_float_buffer
36 NV_multisample_coverage
37 NV_present_video
38 NV_swap_group
39 NV_vertex_array_range
40 NV_video_capture
41 NV_video_output

42 OML_swap_method
43 OML_sync_control

44 SGIS_blended_overlay
45 SGIS_color_range
46 SGIS_multisample
47 SGIS_shared_multisample

48 SGIX_fbconfig
49 SGIX_hyperpipe
50 SGIX_pbuffer
51 SGIX_swap_barrier
52 SGIX_swap_group
53 SGIX_video_resize
54 SGIX_visual_select_group

55 SGI_cushion
56 SGI_make_current_read
57 SGI_swap_control
58 SGI_video_sync

59 SUN_get_transparent_index
60 SUN_video_resize
- -
- - diff --git a/interface/external/glew/doc/gpl.txt b/interface/external/glew/doc/gpl.txt deleted file mode 100644 index b7b5f53df1..0000000000 --- a/interface/external/glew/doc/gpl.txt +++ /dev/null @@ -1,340 +0,0 @@ - GNU GENERAL PUBLIC LICENSE - Version 2, June 1991 - - Copyright (C) 1989, 1991 Free Software Foundation, Inc. - 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - - Preamble - - The licenses for most software are designed to take away your -freedom to share and change it. By contrast, the GNU General Public -License is intended to guarantee your freedom to share and change free -software--to make sure the software is free for all its users. This -General Public License applies to most of the Free Software -Foundation's software and to any other program whose authors commit to -using it. 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If this is what you want to do, use the GNU Library General -Public License instead of this License. diff --git a/interface/external/glew/doc/index.html b/interface/external/glew/doc/index.html deleted file mode 100644 index 2969b947f1..0000000000 --- a/interface/external/glew/doc/index.html +++ /dev/null @@ -1,221 +0,0 @@ - - - - - - -GLEW: The OpenGL Extension Wrangler Library - - - - - - - - -
- - - - - - - - -
- - - - - - - -
Latest Release: 1.10.0

GLEW Logo

- - - - - - - - - - - -
Download
Usage
Building
Installation
Source Generation
Credits & Copyright
Change Log
Project Page
Mailing Lists
Bug Tracker
-

-
- - - - - -
Last Update: 07-22-13
- OpenGL Logo - SourceForge Logo -
-
-		 - -

The OpenGL Extension Wrangler Library

- - - - -

-The OpenGL Extension Wrangler Library (GLEW) is a cross-platform -open-source C/C++ extension loading library. GLEW provides efficient -run-time mechanisms for determining which OpenGL extensions are -supported on the target platform. OpenGL core and extension -functionality is exposed in a single header file. GLEW has been -tested on a variety of operating systems, including Windows, Linux, -Mac OS X, FreeBSD, Irix, and Solaris. -

- -

Downloads

-

-GLEW is distributed -as source and precompiled binaries.
-The latest release is -1.10.0[07-22-13]: -

-

-

-

- - - -
- - - - - - - - - - - - - - - -
Source -ZIP |  -TGZ
Binaries -Windows 32-bit and 64-bit |  -
-
- -

-

-An up-to-date copy is also available using git: -

-
    -
  • github
    -git clone https://github.com/nigels-com/glew.git glew
     
    • -
  • Sourceforge
    -git clone git://git.code.sf.net/p/glew/code glew
     
    • -
- -

-

-Unsupported snapshots are also available: -

- - -

Supported Extensions

-

-The latest release contains support for OpenGL 4.4 and the following extensions: -

- - -

News

-
    -
  • [07-22-13] GLEW 1.10.0 adds support for OpenGL 4.4, new extensions
    • -
  • [08-06-12] GLEW 1.9.0 adds support for OpenGL 4.3, new extensions
    • -
  • [07-17-12] GLEW 1.8.0 fixes minor bugs and adds new extensions
    • -
  • [08-26-11] GLEW 1.7.0 adds support for OpenGL 4.2, new extensions, fixes bugs
    • -
  • [04-27-11] GLEW 1.6.0 fixes minor bugs and adds eight new extensions
    • -
  • [01-31-11] GLEW 1.5.8 fixes minor bugs and adds two new extensions
    • -
  • [11-03-10] GLEW 1.5.7 fixes minor bugs and adds one new extension
    • -
  • [09-07-10] GLEW 1.5.6 adds support for OpenGL 4.1, fixes bugs
    • -
  • [07-13-10] GLEW 1.5.5 fixes minor bugs and adds new extensions
    • -
  • [04-21-10] GLEW 1.5.4 adds support for OpenGL 3.3, OpenGL 4.0 and new extensions, fixes bugs
    • -
  • [02-28-10] GLEW 1.5.3 fixes minor bugs and adds three new extensions
    • -
  • [12-31-09] GLEW 1.5.2 adds support for OpenGL 3.1, OpenGL 3.2 and new extensions
    • -
  • [11-03-08] GLEW 1.5.1 adds support for OpenGL 3.0 and 31 new extensions
    • -
  • [12-27-07] GLEW 1.5.0 is released under less restrictive licenses
    • -
  • [04-27-07] GLEW 1.4.0 is released
    • -
  • [03-08-07] GLEW is included in the NVIDIA OpenGL SDK
    • -
  • [03-04-07] GLEW 1.3.6 is released
    • -
  • [02-28-07] Repository is migrated to SVN
    • -
  • [02-25-07] GLEW is included in the OpenGL SDK
    • -
  • [11-21-06] GLEW 1.3.5 adds OpenGL 2.1 and NVIDIA G80 extensions
    • -
  • [03-04-06] GLEW 1.3.4 adds support for five new extensions
    • -
  • [05-16-05] GLEW 1.3.3 is released
    • -
  • [03-16-05] GLEW 1.3.2 adds support for GL_APPLE_pixel_buffer
    • -
  • [02-11-05] gljava and sdljava provide a Java binding to OpenGL via GLEW
    • -
  • [02-02-05] GLEW 1.3.1 adds support for GL_EXT_framebuffer_object
    • -
  • [01-04-05] GLEW 1.3.0 adds core OpenGL 2.0 support plus many enhancements
    • -
  • [12-22-04] GLEWpy Python wrapper announced
    • -
  • [12-12-04] Mailing lists created on sourceforge
    • -
  • [12-06-04] GLEW 1.2.5 adds new extensions and support for FreeBSD
    • -
- -

Links

- - - -
- - diff --git a/interface/external/glew/doc/install.html b/interface/external/glew/doc/install.html deleted file mode 100644 index b47d40fbba..0000000000 --- a/interface/external/glew/doc/install.html +++ /dev/null @@ -1,229 +0,0 @@ - - - - - - -GLEW: The OpenGL Extension Wrangler Library - - - - - - - - -
- - - - - - - - -
- - - - - - - -
Latest Release: 1.10.0

GLEW Logo

- - - - - - - - - - - -
Download
Usage
Building
Installation
Source Generation
Credits & Copyright
Change Log
Project Page
Mailing Lists
Bug Tracker
-

-
- - - - - -
Last Update: 07-22-13
- OpenGL Logo - SourceForge Logo -
-
-		 - -

The OpenGL Extension Wrangler Library

- - - - -

Installation

- -

-To use the shared library version of GLEW, you need to copy the -headers and libraries into their destination directories. On Windows -this typically boils down to copying: -

- - - - - - - - - - -
bin/glew32.dll    to    %SystemRoot%/system32
lib/glew32.lib    to    {VC Root}/Lib
include/GL/glew.h    to    {VC Root}/Include/GL
include/GL/wglew.h    to    {VC Root}/Include/GL
-

-

- -

-where {VC Root} is the Visual C++ root directory, typically -C:/Program Files/Microsoft Visual Studio/VC98 for Visual -Studio 6.0 or C:/Program Files/Microsoft Visual -Studio .NET 2003/Vc7/PlatformSDK for Visual Studio .NET. -

- -

-On Unix, typing make install will attempt to install GLEW -into /usr/include/GL and /usr/lib. You can -customize the installation target via the GLEW_DEST -environment variable if you do not have write access to these -directories. -

- -

Building Your Project with GLEW

-

-There are two ways to build your project with GLEW. -

-

Including the source files / project file

-

-The simpler but less flexible way is to include glew.h and -glew.c into your project. On Windows, you also need to -define the GLEW_STATIC preprocessor token when building a -static library or executable, and the GLEW_BUILD preprocessor -token when building a dll. You also need to replace -<GL/gl.h> and <GL/glu.h> with -<glew.h> in your code and set the appropriate include -flag (-I) to tell the compiler where to look for it. For -example: -

-

-#include <glew.h>
-#include <GL/glut.h>
-<gl, glu, and glut functionality is available here>
-

-

-Depending on where you put glew.h you may also need to change -the include directives in glew.c. Note that if you are using -GLEW together with GLUT, you have to include glew.h first. -In addition, glew.h includes glu.h, so you do not -need to include it separately. -

-

-On Windows, you also have the option of adding the supplied project -file glew_static.dsp to your workspace (solution) and compile -it together with your other projects. In this case you also need to -change the GLEW_BUILD preprocessor constant to -GLEW_STATIC when building a static library or executable, -otherwise you get build errors. -

-

-Note that GLEW does not use the C -runtime library, so it does not matter which version (single-threaded, -multi-threaded or multi-threaded DLL) it is linked with (without -debugging information). It is, however, always a good idea to compile all -your projects including GLEW with the same C runtime settings. -

- -

Using GLEW as a shared library

- -

-Alternatively, you can use the provided project files / makefile to -build a separate shared library you can link your projects with later. -In this case the best practice is to install glew.h, -glew32.lib, and glew32.dll / libGLEW.so to -where the OpenGL equivalents gl.h, opengl32.lib, and -opengl32.dll / libGL.so are located. Note that you -need administrative privileges to do this. If you do not have -administrator access and your system administrator will not do it for -you, you can install GLEW into your own lib and include subdirectories -and tell the compiler where to find it. Then you can just replace -<GL/gl.h> with <GL/glew.h> in your -program: -

- -

-#include <GL/glew.h>
-#include <GL/glut.h>
-<gl, glu, and glut functionality is available here>
-

- -

-or: -

- -

-#include <GL/glew.h>
-<gl and glu functionality is available here>
-

- -

-Remember to link your project with glew32.lib, -glu32.lib, and opengl32.lib on Windows and -libGLEW.so, libGLU.so, and libGL.so on -Unix (-lGLEW -lGLU -lGL). -

- -

-It is important to keep in mind that glew.h includes neither -windows.h nor gl.h. Also, GLEW will warn you by -issuing a preprocessor error in case you have included gl.h, -glext.h, or glATI.h before glew.h. -

- - -
- - diff --git a/interface/external/glew/doc/khronos.txt b/interface/external/glew/doc/khronos.txt deleted file mode 100644 index ffc271c915..0000000000 --- a/interface/external/glew/doc/khronos.txt +++ /dev/null @@ -1,20 +0,0 @@ -Copyright (c) 2007 The Khronos Group Inc. - -Permission is hereby granted, free of charge, to any person obtaining a -copy of this software and/or associated documentation files (the -"Materials"), to deal in the Materials without restriction, including -without limitation the rights to use, copy, modify, merge, publish, -distribute, sublicense, and/or sell copies of the Materials, and to -permit persons to whom the Materials are furnished to do so, subject to -the following conditions: - -The above copyright notice and this permission notice shall be included -in all copies or substantial portions of the Materials. - -THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, -EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF -MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. -IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY -CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, -TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE -MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. diff --git a/interface/external/glew/doc/log.html b/interface/external/glew/doc/log.html deleted file mode 100644 index b2998b9634..0000000000 --- a/interface/external/glew/doc/log.html +++ /dev/null @@ -1,1015 +0,0 @@ - - - - - - -GLEW: The OpenGL Extension Wrangler Library - - - - - - - - -
- - - - - - - - -
- - - - - - - -
Latest Release: 1.10.0

GLEW Logo

- - - - - - - - - - - -
Download
Usage
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Installation
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-

-
- - - - - -
Last Update: 07-22-13
- OpenGL Logo - SourceForge Logo -
-
-		 - -

The OpenGL Extension Wrangler Library

- - - - -

Change Log

- -
-
    -
  • 1.10.0 [07-22-13] -
      -
    • New features: -
        -
      • Support for OpenGL 4.4 -
      -
    • New extensions: -
        -
      • GL_AMD_interleaved_elements -
      • GL_AMD_shader_trinary_minmax -
      • GL_AMD_sparse_texture -
      • GL_ANGLE_depth_texture -
      • GL_ANGLE_framebuffer_blit -
      • GL_ANGLE_framebuffer_multisample -
      • GL_ANGLE_instanced_arrays -
      • GL_ANGLE_pack_reverse_row_order -
      • GL_ANGLE_program_binary -
      • GL_ANGLE_texture_compression_dxt1 -
      • GL_ANGLE_texture_compression_dxt3 -
      • GL_ANGLE_texture_compression_dxt5 -
      • GL_ANGLE_texture_usage -
      • GL_ANGLE_timer_query -
      • GL_ANGLE_translated_shader_source -
      • GL_ARB_bindless_texture -
      • GL_ARB_buffer_storage -
      • GL_ARB_clear_texture -
      • GL_ARB_compute_variable_group_size -
      • GL_ARB_enhanced_layouts -
      • GL_ARB_indirect_parameters -
      • GL_ARB_multi_bind -
      • GL_ARB_query_buffer_object -
      • GL_ARB_seamless_cubemap_per_texture -
      • GL_ARB_shader_draw_parameters -
      • GL_ARB_shader_group_vote -
      • GL_ARB_sparse_texture -
      • GL_ARB_texture_mirror_clamp_to_edge -
      • GL_ARB_texture_stencil8 -
      • GL_ARB_vertex_type_10f_11f_11f_rev -
      • GL_INTEL_map_texture -
      • GL_NVX_conditional_render -
      • GL_NV_bindless_multi_draw_indirect -
      • GL_NV_blend_equation_advanced -
      • GL_NV_compute_program5 -
      • GL_NV_deep_texture3D -
      • GL_NV_draw_texture -
      • GL_NV_shader_atomic_counters -
      • GL_NV_shader_storage_buffer_object -
      • GL_REGAL_ES1_0_compatibility -
      • GL_REGAL_ES1_1_compatibility -
      • GL_REGAL_enable -
      • GLX_EXT_buffer_age -
      • WGL_ARB_robustness_application_isolation -
      • WGL_ARB_robustness_share_group_isolation -
      -
    • Bug fixes -
    -
- -
-
    -
  • 1.9.0 [08-06-12] -
      -
    • New features: - -
    • New extensions: -
        -
      • GL_ARB_ES3_compatibility -
      • GL_ARB_clear_buffer_object -
      • GL_ARB_compute_shader -
      • GL_ARB_copy_image -
      • GL_ARB_explicit_uniform_location -
      • GL_ARB_fragment_layer_viewport -
      • GL_ARB_framebuffer_no_attachments -
      • GL_ARB_internalformat_query2 -
      • GL_ARB_multi_draw_indirect -
      • GL_ARB_program_interface_query -
      • GL_ARB_robust_buffer_access_behavior -
      • GL_ARB_robustness_application_isolation -
      • GL_ARB_robustness_share_group_isolation -
      • GL_ARB_shader_image_size -
      • GL_ARB_shader_storage_buffer_object -
      • GL_ARB_stencil_texturing -
      • GL_ARB_texture_buffer_range -
      • GL_ARB_texture_query_levels -
      • GL_ARB_texture_storage_multisample -
      • GL_ARB_texture_view -
      • GL_ARB_vertex_attrib_binding -
      • GL_EXT_debug_marker -
      • GL_KHR_debug -
      • GL_REGAL_error_string -
      • GL_REGAL_extension_query -
      • GL_REGAL_log -
      • GLX_ARB_robustness_application_isolation -
      • GLX_ARB_robustness_share_group_isolation -
      • GLX_EXT_create_context_es_profile -
      • WGL_EXT_create_context_es_profile -
      -
    • Bug fixes: -
        -
      • Not using GLU library for Makefile builds. -
      -
    -
- -
-
    -
  • 1.8.0 [07-17-12] -
      -
    • New extensions: -
        -
      • GL_AMD_pinned_memory -
      • GL_AMD_query_buffer_object -
      • GL_AMD_stencil_operation_extended -
      • GL_AMD_vertex_shader_layer -
      • GL_AMD_vertex_shader_viewport_index -
      • GL_NV_bindless_texture -
      • GL_NV_shader_atomic_float -
      • GLX_EXT_swap_control_tear -
      • WGL_EXT_swap_control_tear -
      • WGL_NV_DX_interop2 -
      -
    • Bug fixes: -
        -
      • MS Visual Studio 2010 projects added -
      • GLX_NV_video_out replaces GLX_NV_video_output -
      • ANSI C prototype for glewInit -
      • Improved CentOS build support -
      • Improved GL_ARB_gpu_shader_fp64 support -
      • ARB_texture_compression_bptc and ARB_copy_buffer constants -
      • Linux needs to define GLEW_STATIC for static library builds -
      • Custom code generation problem resolved -
      • GLEWAPIENTRY added to glew.h for calling convention customization -
      • Correction for glPathStencilDepthOffsetNV -
      • Resolve OSX gcc warnings -
      • Added build support for NetBSD -
      -
    -
- -
-
    -
  • 1.7.0 [08-26-11] -
      -
    • New features: -
        -
      • Support for OpenGL 4.2 -
      -
    • New extensions: -
        -
      • GL_AMD_multi_draw_indirect -
      • GL_ARB_base_instance -
      • GL_ARB_compressed_texture_pixel_storage -
      • GL_ARB_conservative_depth -
      • GL_ARB_internalformat_query -
      • GL_ARB_map_buffer_alignment -
      • GL_ARB_shader_atomic_counters -
      • GL_ARB_shader_image_load_store -
      • GL_ARB_shading_language_420pack -
      • GL_ARB_shading_language_packing -
      • GL_ARB_texture_storage -
      • GL_ARB_transform_feedback_instanced -
      • GL_EXT_framebuffer_multisample_blit_scaled -
      • GL_NV_path_rendering -
      • GL_NV_path_rendering -
      • GLX_MESA_swap_control -
      -
    • Bug fixes: -
        -
      • const qualifiers for GL 1.4 MultiDrawArrays, MultiDrawElements -
      • Add glGetGraphicsResetStatusARB to GL_ARB_robustness -
      • Remove EXT suffix from GL_KTX_buffer_region entry points -
      • Solaris needs inttypes.h -
      • Add ERROR_INVALID_VERSION_ARB and ERROR_INVALID_PROFILE_ARB to WGL_ARB_create_context -
      • Add GLX_MESA_swap_control -
      • Set -install_name for OSX -
      • Add 64-bit darwin build option (SYSTEM=darwin_x86-64) -
      • Add GL_NV_path_rendering -
      -
    -
- -
-
    -
  • 1.6.0 [04-27-11] -
      -
    • New extensions: -
        -
      • GL_AMD_blend_minmax_factor -
      • GL_AMD_sample_positions -
      • GL_EXT_x11_sync_object -
      • GL_NV_texture_multisample -
      • GL_NV_video_capture -
      • GLX_NV_video_capture -
      • WGL_NV_DX_interop -
      • WGL_NV_video_capture -
      -
    • Bug fixes: -
        -
      • Define GLEW_NO_GLU for no glu dependency. -
      • mx suffix for GLEW MX libraries, build both libraries by default. -
      • Cygwin build improvements -
      • Soname of GLEWmx shared libraries -
      • Query GL extension string only once -
      • GLX_OML_sync_control no longer requires C99 -
      • glDraw*InstancedARB moved from GL_ARB_draw_instanced to GL_ARB_instanced_arrays -
      • glFramebufferTextureLayerEXT moved from GL_EXT_geometry_shader4 to GL_EXT_texture_array -
      • Fixes for BSD build -
      -
    -
- -
-
    -
  • 1.5.8 [01-31-11] -
      -
    • New extensions: -
        -
      • GL_AMD_depth_clamp_separate -
      • GL_EXT_texture_sRGB_decode -
      -
    • Bug fixes: -
        -
      • Borland C++ fix for __int64 -
      • GL_DOUBLE_MATNxM enumerants for OpenGL 4.0 -
      • Correction to glGetTransformFeedbackVarying -
      • Correction to glSecondaryColorPointer -
      • Corrections to glGetVertexAttribPointerv and glGetShaderSource -
      • Switched code repository from svn to git -
      -
    -
- -
-
    -
  • 1.5.7 [11-03-10] -
      -
    • New extension: -
        -
      • GL_NVX_gpu_memory_info -
      -
    • Bug fixes: -
        -
      • Improved mingw32 build support -
      • Improved cygwin build support -
      • glGetPointervEXT fix -
      • Add GLEW_VERSION_1_2_1 -
      -
    -
- -
-
    -
  • 1.5.6 [09-07-10] -
      -
    • New features: -
        -
      • Support for OpenGL 4.1 -
      -
    • New extensions: -
        -
      • GL_ARB_ES2_compatibility -
      • GL_ARB_cl_event -
      • GL_ARB_debug_output -
      • GL_ARB_get_program_binary -
      • GL_ARB_robustness -
      • GL_ARB_separate_shader_objects -
      • GL_ARB_shader_precision -
      • GL_ARB_shader_stencil_export -
      • GL_ARB_vertex_attrib_64bit -
      • GL_ARB_viewport_array -
      • GLX_ARB_create_context_robustness -
      • GLX_EXT_create_context_es2_profile -
      • WGL_ARB_create_context_robustness -
      • WGL_EXT_create_context_es2_profile -
      -
    -
- -
-
    -
  • 1.5.5 [07-13-10] -
      -
    • New extensions: -
        -
      • GL_AMD_debug_output -
      • GL_AMD_name_gen_delete -
      • GL_AMD_transform_feedback3_lines_triangles -
      • GL_NV_multisample_coverage -
      • GL_NV_vdpau_interop -
      • GLX_AMD_gpu_association -
      • GLX_NV_multisample_coverage -
      • WGL_NV_multisample_coverage -
      -
    • Bug fixes: -
        -
      • Compilation issue with GLX_SGI_video_sync -
      • OpenGL 4.0 double-precision uniform functions added -
      • Constness of glPointParameterfvARB and glPointParameterfvEXT -
      • Added glVertexAttribDivisor -
      • Compilation issue with Nvidia GLX headers -
      -
    -
- -
-
    -
  • 1.5.4 [04-21-10] -
      -
    • New features: -
        -
      • Support for OpenGL 3.3 -
      • Support for OpenGL 4.0 -
      -
    • New extensions: -
        -
      • GL_AMD_conservative_depth -
      • GL_ARB_blend_func_extended -
      • GL_ARB_draw_indirect -
      • GL_ARB_explicit_attrib_location -
      • GL_ARB_gpu_shader5 -
      • GL_ARB_gpu_shader_fp64 -
      • GL_ARB_occlusion_query2 -
      • GL_ARB_sampler_objects -
      • GL_ARB_shader_bit_encoding -
      • GL_ARB_shader_subroutine -
      • GL_ARB_shading_language_include -
      • GL_ARB_tessellation_shader -
      • GL_ARB_texture_buffer_object_rgb32 -
      • GL_ARB_texture_compression_bptc -
      • GL_ARB_texture_rgb10_a2ui -
      • GL_ARB_texture_swizzle -
      • GL_ARB_timer_query -
      • GL_ARB_transform_feedback2 -
      • GL_ARB_transform_feedback3 -
      • GL_ARB_vertex_type_2_10_10_10_rev -
      • GL_EXT_shader_image_load_store -
      • GL_EXT_vertex_attrib_64bit -
      • GL_NV_gpu_program5 -
      • GL_NV_gpu_program_fp64 -
      • GL_NV_gpu_shader5 -
      • GL_NV_tessellation_program5 -
      • GL_NV_vertex_attrib_integer_64bit -
      • GLX_ARB_vertex_buffer_object -
      -
    • Bug fixes: -
        -
      • Parameter constness fix for glPointParameteriv and glPointParameterfv -
      -
    -
- -
-
    -
  • 1.5.3 [02-28-10] -
      -
    • New extensions: -
        -
      • GLX_INTEL_swap_event -
      • GL_AMD_seamless_cubemap_per_texture -
      • GL_AMD_shader_stencil_export -
      -
    • Bug fixes: -
        -
      • Correct version detection for GL 3.1 and 3.2 -
      • Missing 3.1 enumerants -
      • Add glew.pc -
      -
    -
- -
-
    -
  • 1.5.2 [12-31-09] -
      -
    • New features: -
        -
      • Support for OpenGL 3.1 -
      • Support for OpenGL 3.2 -
      -
    • New extensions: -
        -
      • GL_AMD_draw_buffers_blend -
      • GL_AMD_performance_monitor -
      • GL_AMD_texture_texture4 -
      • GL_AMD_vertex_shader_tessellator -
      • GL_APPLE_aux_depth_stencil -
      • GL_APPLE_object_purgeable -
      • GL_APPLE_rgb_422 -
      • GL_APPLE_row_bytes -
      • GL_APPLE_vertex_program_evaluators -
      • GL_ARB_compatibility -
      • GL_ARB_copy_buffer -
      • GL_ARB_depth_clamp -
      • GL_ARB_draw_buffers_blend -
      • GL_ARB_draw_elements_base_vertex -
      • GL_ARB_fragment_coord_conventions -
      • GL_ARB_provoking_vertex -
      • GL_ARB_sample_shading -
      • GL_ARB_seamless_cube_map -
      • GL_ARB_shader_texture_lod -
      • GL_ARB_sync -
      • GL_ARB_texture_cube_map_array -
      • GL_ARB_texture_gather -
      • GL_ARB_texture_multisample -
      • GL_ARB_texture_query_lod -
      • GL_ARB_uniform_buffer_object -
      • GL_ARB_vertex_array_bgra -
      • GL_ATI_meminfo -
      • GL_EXT_provoking_vertex -
      • GL_EXT_separate_shader_objects -
      • GL_EXT_texture_snorm -
      • GL_NV_copy_image -
      • GL_NV_parameter_buffer_object2 -
      • GL_NV_shader_buffer_load -
      • GL_NV_texture_barrier -
      • GL_NV_transform_feedback2 -
      • GL_NV_vertex_buffer_unified_memory -
      • WGL_AMD_gpu_association -
      • WGL_ARB_create_context_profile -
      • WGL_NV_copy_image -
      • GLX_ARB_create_context_profile -
      • GLX_EXT_swap_control -
      • GLX_NV_copy_image -
      -
    • Bug fixes: -
        -
      • DOS line endings for windows .zip archives only. -
      • glTransformFeedbackVaryings arguments. -
      • Resource leak in glewinfo and visualinfo tools. -
      • WIN32_LEAN_AND_MEAN preprocessor pollution. -
      • Fixed version detection for GLEW_VERSION_2_1 and GLEW_VERSION_3_0. -
      • MesaGLUT glut.h GLAPIENTRY dependency. -
      • glFramebufferTextureLayer correction. -
      • OSX compiler warnings resolved. -
      • Cygwin linking to opengl32 by default, rather than X11 OpenGL. -
      • SnowLeopard (OSX 10.6) gl.h detection. -
      • Use $(STRIP) consistently. -
      -
    -
- -
-
    -
  • 1.5.1 [11-03-08] -
      -
    • New features: -
        -
      • Support for OpenGL 3.0 -
      -
    • New extensions: -
        -
      • GL_ARB_depth_buffer_float -
      • GL_ARB_draw_instance, -
      • GL_ARB_framebuffer_object -
      • GL_ARB_framebuffer_sRGB -
      • GL_ARB_geometry_shader4 -
      • GL_ARB_half_float_pixel -
      • GL_ARB_half_float_vertex -
      • GL_ARB_instanced_arrays -
      • GL_ARB_map_buffer_range -
      • GL_ARB_texture_buffer_object -
      • GL_ARB_texture_compression_rgtc -
      • GL_ARB_vertex_array_object -
      • GL_EXT_direct_state_access -
      • GL_EXT_texture_swizzle -
      • GL_EXT_transform_feedback -
      • GL_EXT_vertex_array_bgra -
      • GL_NV_conditional_render -
      • GL_NV_explicit_multisample -
      • GL_NV_present_video -
      • GL_SGIS_point_line_texgen -
      • GL_SGIX_convolution_accuracy -
      • WGL_ARB_create_context -
      • WGL_ARB_framebuffer_sRGB -
      • WGL_NV_present_video -
      • WGL_NV_swap_group -
      • WGL_NV_video_output -
      • GLX_ARB_create_context -
      • GLX_ARB_framebuffer_sRGB -
      • GLX_NV_present_video -
      • GLX_NV_swap_group -
      • GLX_NV_video_output -
      -
    • Bug fixes: -
        -
      • Licensing issues with documentation -
      • Problems with long long and _MSC_VER on MINGW -
      • Incorrect parameter for glGetUniformLocation -
      • glewGetExtension fails on last entry -
      • Incomplete GL_NV_texture_shader tokens -
      • Scripting problems on Cygwin -
      • Incorrect definition for GLint on OS X -
      -
    -
- -
-
    -
  • 1.5.0 [12-27-07] -
      -
    • New features: -
        -
      • Licensing change (BSD, Mesa 3-D, Khronos) -
      • Switch to using registry on www.opengl.org -
      • Support for major and minor version strings -
      -
    • New extensions: -
        -
      • GL_APPLE_flush_buffer_range -
      • GL_GREMEDY_frame_terminator -
      • GLX_EXT_texture_from_pixmap -
      -
    • Bug fixes: -
        -
      • Incorrent 64-bit type definitions -
      • Do not strip static library on install -
      • Missing tokens in GL_ATI_fragment_shader and WGL_{ARB,EXT}_make_current_read -
      • Missing tokens in GL_VERSION_2_1 -
      • Missing functions in GL_VERSION_1_4 -
      • Incorrect parameter type for glXCopyContext -
      -
    -
-
-
    -
  • 1.4.0 [04-27-07] -
      -
    • New features: -
        -
      • Extension variables are declared const to avoid possible -corruption of their values -
      -
    • New extensions: -
        -
      • GL_NV_depth_range_unclamped -
      -
    • Bug fixes: -
        -
      • Incorrect tokens in GL_NV_transform_feedback and GL_NV_framebuffer_multisample_coverage -
      • Incorrect function names in GL_EXT_gpu_program_parameters -
      • Missing tokens in GL_EXT_framebuffer_multisample -
      • GLEW_MX initialization problem for WGL_{ARB,EXT}_extensions_string -
      -
    -
-
-
    -
  • 1.3.6 [03-04-07] -
      -
    • New extensions: -
        -
      • GL_ATI_shader_texture_lod -
      • GL_EXT_gpu_program_parameters -
      • GL_NV_geometry_shader4 -
      • WGL_NV_gpu_affinity -
      • GLX_SGIX_hyperpipe -
      -
    • Bug fixes: -
        -
      • Missing include guards in glxew.h -
      • Makefile and install problems for Cygwin builds -
      • Install problem for Linux AMD64 builds -
      • Incorrent token in GL_ATI_texture_compression_3dc -
      • Missing tokens from GL_ATIX_point_sprites -
      -
    -
-
-
    -
  • 1.3.5 [11-21-06] -
      -
    • New features: -
        -
      • Support for core OpenGL 2.1 -
      • Debug support for glewIsSupported -
      -
    • New extensions: -
        -
      • GL_EXT_bindable_uniform -
      • GL_EXT_draw_buffers2 -
      • GL_EXT_draw_instanced -
      • GL_EXT_framebuffer_sRGB -
      • GL_EXT_geometry_shader4 -
      • GL_EXT_gpu_shader4 -
      • GL_EXT_packed_float -
      • GL_EXT_texture_array -
      • GL_EXT_texture_buffer_object -
      • GL_EXT_texture_compression_latc -
      • GL_EXT_texture_compression_rgtc -
      • GL_EXT_texture_integer -
      • GL_EXT_texture_shared_exponent -
      • GL_EXT_timer_query -
      • GL_NV_depth_buffer_float -
      • GL_NV_fragment_program4 -
      • GL_NV_framebuffer_multisample_coverage -
      • GL_NV_geometry_program4 -
      • GL_NV_gpu_program4 -
      • GL_NV_parameter_buffer_object -
      • GL_NV_transform_feedback -
      • GL_NV_vertex_program4 -
      • GL_OES_byte_coordinates -
      • GL_OES_compressed_paletted_texture -
      • GL_OES_read_format -
      • GL_OES_single_precision -
      • WGL_EXT_pixel_format_packed_float -
      • WGL_EXT_framebuffer_sRGB -
      • GLX_EXT_fbconfig_packed_float -
      • GLX_EXT_framebuffer_sRGB -
      -
    • Bug fixes: -
        -
      • Wrong GLXContext definition on Solaris -
      • Makefile problem for parallel builds -
      -
    -
-
-
    -
  • 1.3.4 [03-04-06] -
      -
    • New extensions: -
        -
      • GL_EXT_framebuffer_blit -
      • GL_EXT_framebuffer_multisample -
      • GL_EXT_packed_depth_stencil -
      • GL_MESAX_texture_stack -
      • WGL_3DL_stereo_control -
      -
    -
      -
    • Bug fixes: -
        -
      • glBlendEquation missing from GL_ARB_imaging -
      • Wrong APIENTRY definition for Cygwin -
      • Incorrect OS X OpenGL types -
      • Unix 64-bit installation patch -
      -
    -
-
-
    -
  • 1.3.3 [05-16-05] -
      -
    • New feature: -
        -
      • Code generation option to split source into multiple files -
      -
    -
      -
    • Bug fixes: -
        -
      • OpenGL 2.0 core initialization problems -
      • Wrong value for token GL_SHADER_TYPE -
      • Missing tokens in GL_ATI_fragment_shader -
      • Missing entry points in GL_ARB_transpose_matrix -
      -
    -
-
-
    -
  • 1.3.2 [03-16-05] -
      -
    • New extension: -
        -
      • GL_APPLE_pixel_buffer -
      -
    • Bug fixes: -
        -
      • Missing OpenGL 2.0 entry points -
      • Missing tokens in GL_SGIX_shadow -
      • MinGW makefile problem -
      • Check for incorrect OpenGL version string on SiS hardware -
      • Documentation update to meet the HTML 4.01 Transitional specification -
      -
    -
-
-
    -
  • 1.3.1 [02-02-05] -
      -
    • New features: -
        -
      • Consistent Unix and Windows versioning -
      -
    • New extensions: -
        -
      • GL_EXT_framebuffer_object -
      • GL_ARB_pixel_buffer_object -
      -
    • Bug fixes: -
        -
      • Missing OpenGL 2.0 tokens -
      • Incorrect typedefs (GLhandleARB and GLhalf) -
      • Borland compiler problems -
      -
    -
-
-
    -
  • 1.3.0 [01-04-05] -
      -
    • New features: -
        -
      • Support for core OpenGL 2.0 -
      • glewIsSupported provides efficient string-based extension checks -
      • Custom code generation from a list of extensions -
      • Makefile changes -
      -
    • New extensions: -
        -
      • WGL_ATI_render_texture_rectangle -
      -
    • Bug fixes: -
        -
      • Incorrect function signature in OpenGL 1.5 core -
      -
    -
-
-
    -
  • 1.2.5 [12-06-04] -
      -
    • New extensions: -
        -
      • GL_ATI_texture_compression_3dc -
      • GL_EXT_Cg_shader -
      • GL_EXT_draw_range_elements -
      • GL_KTX_buffer_region -
      -
    • Bug fixes: -
        -
      • OpenGL version detection bug -
      • Problems with wxWindows and MinGW compilation -
      • visualinfo compilation problem with GLEW_MX specified -
      • Wrong token name in OpenGL 1.5 core -
      -
    • Support for FreeBSD -
    -
-
-
    -
  • 1.2.4 [09-06-04] -
      -
    • Added ARB_draw_buffers and ARB_texture_rectangle -
    • Fixed bug in ARB_shader_objects -
    • Replaced wglinfo with visualinfo -
    -
-
-
    -
  • 1.2.3 [06-10-04] -
      -
    • Added GL_NV_fragment_program2, GL_NV_fragment_program_option, GL_NV_vertex_program2_option, GL_NV_vertex_program3 -
    • Bug fix in GL_ARB_vertex_blend -
    -
-
-
    -
  • 1.2.2 [05-08-04] -
      -
    • Added GL_EXT_pixel_buffer_object, removed GL_NV_element_array -
    • Fixed GLEW_MX problems -
    • Bug fix in GL_EXT_texture_rectangle and wglinfo -
    -
-
-
    -
  • 1.2.1 [03-18-04] -
      -
    • Bug fix in OpenGL version query (early release of 1.2.0 contained this bug) -
    • Bug fix in GL_ARB_shader_objects and temporary bug fix in GL_ARB_vertex_shader -
    • Added flags on GDI support and multisampling to wglinfo -
    -
-
-
    -
  • 1.2.0 [02-19-04] -
      -
    • Added full OpenGL 1.5 support -
    • Added support for multiple rendering contexts with different capabilities -
    • Added command line flags to glewinfo for selecting displays and visuals -
    • Added GLX_SGIS_multisample, GLX_SUN_video_resize, and GL_SUN_read_video_pixels -
    • Added MinGW/MSYS support -
    • Bug fixes in GL_ARB_shader_objects and the OS X build -
    -
-
-
    -
  • 1.1.4 [12-15-03] -
      -
    • Added GL_APPLE_float_pixels, GL_APPLE_texture_range, -GL_EXT_texture_cube_map, GL_EXT_texture_edge_clamp, -GLX_ATI_pixel_format_float, and GLX_ATI_render_texture -
    • Bug fixes in GL_ATI_map_object_buffer and GL_ATI_fragment_shader -
    -
-
-
    -
  • 1.1.3 [10-28-03] -
      -
    • Added Solaris and Darwin support -
    • Added GL_ARB_fragment_shader, GL_ARB_shader_objects, and GL_ARB_vertex_shader -
    • Fixed bug in GL_WIN_swap_hint -
    • Removed glewinfo's dependency on GLUT -
    -
-
-
    -
  • 1.1.2 [09-15-03] -
      -
    • Removed dependency on WGL_{ARB,EXT}_extensions_string to make GLEW run on Matrox cards -
    • Added glewGetString for querying the GLEW version string -
    -
-
-
    -
  • 1.1.1 [08-11-03] -
      -
    • Added GLX_NV_float_buffer, GL_ARB_shading_language_100, and GL_ARB_texture_non_power_of_two -
    • Fixed bug in GL_ARB_vertex_buffer_object -
    • Minor updates in documentation -
    -
-
-
    -
  • 1.1.0 [07-08-03] -
      -
    • Added automatic code generation -
    • Added almost every extension in the registry -
    • Added separate namespace -
    • Added Irix support -
    • Updated documentation -
    -
-
-
    -
  • 1.0.7 [06-29-03] -
      -
    • Added GL_EXT_depth_bounds_test -
    • Fixed typos -
    -
-
-
    -
  • 1.0.6 [05-05-03] -
      -
    • Added ARB_vertex_buffer_object and NV_half_float -
    • Updated wglinfo -
    • Temporary Linux bug fixes (problems with SDL and MESA) -
    -
-
-
    -
  • 1.0.5 [02-17-03] -
      -
    • Bug fixes -
    • Added wglinfo -
    • Updated documentation -
    -
-
-
    -
  • 1.0.4 [02-02-03] -
      -
    • Added NV_texture_expand_normal -
    • Added mingw support -
    • Updated documentation -
    -
-
-
    -
  • 1.0.3 [01-09-03] -
      -
    • Cleaned up ATI extensions -
    • Changed function prototypes to match glext.h -
    • Added EXT_texture3D -
    • Fixed typos in ATI_vertex_attrib_array_object and ATI_draw_buffers -
    -
-
-
    -
  • 1.0.2 [12-21-02] -
      -
    • Added list of supported extensions to documentation -
    • Added NV_half_float and NV_texgen_emboss -
    -
-
-
    -
  • 1.0.1 [12-17-02] -
      -
    • Bug fixes -
    • Added glewGetExtension -
    -
-
-
    -
  • 1.0.0 [12-12-02] -
      -
    • Initial release -
    -
-
- - -
- - diff --git a/interface/external/glew/doc/mesa.txt b/interface/external/glew/doc/mesa.txt deleted file mode 100644 index a82dd4bd44..0000000000 --- a/interface/external/glew/doc/mesa.txt +++ /dev/null @@ -1,21 +0,0 @@ -Mesa 3-D graphics library -Version: 7.0 - -Copyright (C) 1999-2007 Brian Paul All Rights Reserved. - -Permission is hereby granted, free of charge, to any person obtaining a -copy of this software and associated documentation files (the "Software"), -to deal in the Software without restriction, including without limitation -the rights to use, copy, modify, merge, publish, distribute, sublicense, -and/or sell copies of the Software, and to permit persons to whom the -Software is furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included -in all copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS -OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL -BRIAN PAUL BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN -AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN -CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. diff --git a/interface/external/glew/doc/new.png b/interface/external/glew/doc/new.png deleted file mode 100644 index 7ce2b47960..0000000000 Binary files a/interface/external/glew/doc/new.png and /dev/null differ diff --git a/interface/external/glew/doc/ogl_sm.jpg b/interface/external/glew/doc/ogl_sm.jpg deleted file mode 100644 index f318d7655b..0000000000 Binary files a/interface/external/glew/doc/ogl_sm.jpg and /dev/null differ diff --git a/interface/external/glew/doc/wglew.html b/interface/external/glew/doc/wglew.html deleted file mode 100644 index 3f9cee4c68..0000000000 --- a/interface/external/glew/doc/wglew.html +++ /dev/null @@ -1,167 +0,0 @@ - - - - - - -GLEW: The OpenGL Extension Wrangler Library - - - - - - - - -
- - - - - - - - -
- - - - - - - -
Latest Release: 1.10.0

GLEW Logo

- - - - - - - - - - - -
Download
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Last Update: 07-22-13
- OpenGL Logo - SourceForge Logo -
-
-		 - -

The OpenGL Extension Wrangler Library

- - - - -

Supported WGL Extensions

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
1 3DFX_multisample

2 3DL_stereo_control

3 AMD_gpu_association

4 ARB_buffer_region
5 ARB_create_context
6 ARB_create_context_profile
7 ARB_create_context_robustness
8 ARB_extensions_string
9 ARB_framebuffer_sRGB
10 ARB_make_current_read
11 ARB_multisample
12 ARB_pbuffer
13 ARB_pixel_format
14 ARB_pixel_format_float
15 ARB_render_texture
16 ARB_robustness_application_isolation
17 ARB_robustness_share_group_isolation

18 ATI_pixel_format_float
19 ATI_render_texture_rectangle

20 EXT_create_context_es2_profile
21 EXT_create_context_es_profile
22 EXT_depth_float
23 EXT_display_color_table
24 EXT_extensions_string
25 EXT_framebuffer_sRGB
26 EXT_make_current_read
27 EXT_multisample
28 EXT_pbuffer
29 EXT_pixel_format
30 EXT_pixel_format_packed_float
31 EXT_swap_control
32 EXT_swap_control_tear

33 I3D_digital_video_control
34 I3D_gamma
35 I3D_genlock
36 I3D_image_buffer
37 I3D_swap_frame_lock
38 I3D_swap_frame_usage

39 NV_DX_interop
40 NV_DX_interop2
41 NV_copy_image
42 NV_float_buffer
43 NV_gpu_affinity
44 NV_multisample_coverage
45 NV_present_video
46 NV_render_depth_texture
47 NV_render_texture_rectangle
48 NV_swap_group
49 NV_vertex_array_range
50 NV_video_capture
51 NV_video_output

52 OML_sync_control
- -
- - diff --git a/interface/external/pthreads/WIN32/pthread_lib.lib b/interface/external/pthreads/WIN32/pthread_lib.lib deleted file mode 100644 index 9fa00e29d6..0000000000 Binary files a/interface/external/pthreads/WIN32/pthread_lib.lib and /dev/null differ diff --git a/interface/external/pthreads/include/pthread.h b/interface/external/pthreads/include/pthread.h deleted file mode 100644 index f910eb4b0e..0000000000 --- a/interface/external/pthreads/include/pthread.h +++ /dev/null @@ -1,1403 +0,0 @@ -/* This is an implementation of the threads API of POSIX 1003.1-2001. - * - * -------------------------------------------------------------------------- - * - * Pthreads-win32 - POSIX Threads Library for Win32 - * Copyright(C) 1998 John E. Bossom - * Copyright(C) 1999,2005 Pthreads-win32 contributors - * - * Contact Email: rpj@callisto.canberra.edu.au - * - * The current list of contributors is contained - * in the file CONTRIBUTORS included with the source - * code distribution. The list can also be seen at the - * following World Wide Web location: - * http://sources.redhat.com/pthreads-win32/contributors.html - * - * This library is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation; either - * version 2 of the License, or (at your option) any later version. - * - * This library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General Public - * License along with this library in the file COPYING.LIB; - * if not, write to the Free Software Foundation, Inc., - * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA - */ - -#if !defined( PTHREAD_H ) -#define PTHREAD_H - -#define PTW32_STATIC_LIB - -/* - * See the README file for an explanation of the pthreads-win32 version - * numbering scheme and how the DLL is named etc. - */ -#define PTW32_VERSION 2,10,0,0 -#define PTW32_VERSION_STRING "2, 10, 0, 0\0" - -/* There are three implementations of cancel cleanup. - * Note that pthread.h is included in both application - * compilation units and also internally for the library. - * The code here and within the library aims to work - * for all reasonable combinations of environments. - * - * The three implementations are: - * - * WIN32 SEH - * C - * C++ - * - * Please note that exiting a push/pop block via - * "return", "exit", "break", or "continue" will - * lead to different behaviour amongst applications - * depending upon whether the library was built - * using SEH, C++, or C. For example, a library built - * with SEH will call the cleanup routine, while both - * C++ and C built versions will not. - */ - -/* - * Define defaults for cleanup code. - * Note: Unless the build explicitly defines one of the following, then - * we default to standard C style cleanup. This style uses setjmp/longjmp - * in the cancellation and thread exit implementations and therefore won't - * do stack unwinding if linked to applications that have it (e.g. - * C++ apps). This is currently consistent with most/all commercial Unix - * POSIX threads implementations. - */ -#if !defined( __CLEANUP_SEH ) && !defined( __CLEANUP_CXX ) && !defined( __CLEANUP_C ) -/* - [i_a] fix for apps using pthreads-Win32: when they do not define __CLEANUP_SEH themselves, - they're screwed as they'll receive the '__CLEANUP_C' macros which do NOT work when - the pthreads library code itself has actually been build with __CLEANUP_SEH, - which is the case when building this stuff in MSVC. - - Hence this section is made to 'sensibly autodetect' the cleanup mode, when it hasn't - been hardwired in the makefiles / project files. - - After all, who expects he MUST define one of these __CLEANUP_XXX defines in his own - code when using pthreads-Win32, for whatever reason. - */ -#if (defined(_MSC_VER) || defined(PTW32_RC_MSC)) -#define __CLEANUP_SEH -#elif defined(__cplusplus) -#define __CLEANUP_CXX -#else -#define __CLEANUP_C -#endif -#endif - -#if defined( __CLEANUP_SEH ) && ( !defined( _MSC_VER ) && !defined(PTW32_RC_MSC)) -#error ERROR [__FILE__, line __LINE__]: SEH is not supported for this compiler. -#endif - -/* - * Stop here if we are being included by the resource compiler. - */ -#if !defined(RC_INVOKED) - -#undef PTW32_LEVEL - -#if defined(_POSIX_SOURCE) -#define PTW32_LEVEL 0 -/* Early POSIX */ -#endif - -#if defined(_POSIX_C_SOURCE) && _POSIX_C_SOURCE >= 199309 -#undef PTW32_LEVEL -#define PTW32_LEVEL 1 -/* Include 1b, 1c and 1d */ -#endif - -#if defined(INCLUDE_NP) -#undef PTW32_LEVEL -#define PTW32_LEVEL 2 -/* Include Non-Portable extensions */ -#endif - -#define PTW32_LEVEL_MAX 3 - -#if ( defined(_POSIX_C_SOURCE) && _POSIX_C_SOURCE >= 200112 ) || !defined(PTW32_LEVEL) -#define PTW32_LEVEL PTW32_LEVEL_MAX -/* Include everything */ -#endif - -#if defined(_UWIN) -# define HAVE_STRUCT_TIMESPEC 1 -# define HAVE_SIGNAL_H 1 -# undef HAVE_PTW32_CONFIG_H -# pragma comment(lib, "pthread") -#endif - -#if defined(__MINGW32__) || defined(__MINGW64__) -# define PTW32_CONFIG_MINGW -#endif -#if defined(_MSC_VER) -# if _MSC_VER < 1300 -# define PTW32_CONFIG_MSVC6 -# endif -# if _MSC_VER < 1400 -# define PTW32_CONFIG_MSVC7 -# endif -#endif - -/* - * ------------------------------------------------------------- - * - * - * Module: pthread.h - * - * Purpose: - * Provides an implementation of PThreads based upon the - * standard: - * - * POSIX 1003.1-2001 - * and - * The Single Unix Specification version 3 - * - * (these two are equivalent) - * - * in order to enhance code portability between Windows, - * various commercial Unix implementations, and Linux. - * - * See the ANNOUNCE file for a full list of conforming - * routines and defined constants, and a list of missing - * routines and constants not defined in this implementation. - * - * Authors: - * There have been many contributors to this library. - * The initial implementation was contributed by - * John Bossom, and several others have provided major - * sections or revisions of parts of the implementation. - * Often significant effort has been contributed to - * find and fix important bugs and other problems to - * improve the reliability of the library, which sometimes - * is not reflected in the amount of code which changed as - * result. - * As much as possible, the contributors are acknowledged - * in the ChangeLog file in the source code distribution - * where their changes are noted in detail. - * - * Contributors are listed in the CONTRIBUTORS file. - * - * As usual, all bouquets go to the contributors, and all - * brickbats go to the project maintainer. - * - * Maintainer: - * The code base for this project is coordinated and - * eventually pre-tested, packaged, and made available by - * - * Ross Johnson - * - * QA Testers: - * Ultimately, the library is tested in the real world by - * a host of competent and demanding scientists and - * engineers who report bugs and/or provide solutions - * which are then fixed or incorporated into subsequent - * versions of the library. Each time a bug is fixed, a - * test case is written to prove the fix and ensure - * that later changes to the code don't reintroduce the - * same error. The number of test cases is slowly growing - * and therefore so is the code reliability. - * - * Compliance: - * See the file ANNOUNCE for the list of implemented - * and not-implemented routines and defined options. - * Of course, these are all defined is this file as well. - * - * Web site: - * The source code and other information about this library - * are available from - * - * http://sources.redhat.com/pthreads-win32/ - * - * ------------------------------------------------------------- - */ - -/* Try to avoid including windows.h */ -#if defined(PTW32_CONFIG_MINGW) && defined(__cplusplus) -#define PTW32_INCLUDE_WINDOWS_H -#endif - -#if defined(PTW32_INCLUDE_WINDOWS_H) -#include -#endif - -#if defined(PTW32_CONFIG_MSVC6) || defined(__DMC__) -/* - * VC++6.0 or early compiler's header has no DWORD_PTR type. - */ -typedef unsigned long DWORD_PTR; -typedef unsigned long ULONG_PTR; -#endif -/* - * ----------------- - * autoconf switches - * ----------------- - */ - -#if defined(HAVE_PTW32_CONFIG_H) -#include "config.h" -#endif /* HAVE_PTW32_CONFIG_H */ - -#if !defined(NEED_FTIME) -#include -#else /* NEED_FTIME */ -/* use native WIN32 time API */ -#endif /* NEED_FTIME */ - -#if defined(HAVE_SIGNAL_H) -#include -#endif /* HAVE_SIGNAL_H */ - -#include - -/* - * Boolean values to make us independent of system includes. - */ -enum { - PTW32_FALSE = 0, - PTW32_TRUE = (! PTW32_FALSE) -}; - -/* - * This is a duplicate of what is in the autoconf config.h, - * which is only used when building the pthread-win32 libraries. - */ - -#if !defined(PTW32_CONFIG_H) -# if defined(WINCE) -# define NEED_ERRNO -# define NEED_SEM -# endif -# if defined(__MINGW64__) -# define HAVE_STRUCT_TIMESPEC -# define HAVE_MODE_T -# elif defined(_UWIN) || defined(__MINGW32__) -# define HAVE_MODE_T -# endif -#endif - -/* - * - */ - -#if PTW32_LEVEL >= PTW32_LEVEL_MAX -#if defined(NEED_ERRNO) -#include "need_errno.h" -#else -#include -#endif -#endif /* PTW32_LEVEL >= PTW32_LEVEL_MAX */ - -/* - * Several systems don't define some error numbers. - */ -#if !defined(ENOTSUP) -# define ENOTSUP 48 /* This is the value in Solaris. */ -#endif - -#if !defined(ETIMEDOUT) -# define ETIMEDOUT 10060 /* Same as WSAETIMEDOUT */ -#endif - -#if !defined(ENOSYS) -# define ENOSYS 140 /* Semi-arbitrary value */ -#endif - -#if !defined(EDEADLK) -# if defined(EDEADLOCK) -# define EDEADLK EDEADLOCK -# else -# define EDEADLK 36 /* This is the value in MSVC. */ -# endif -#endif - -/* POSIX 2008 - related to robust mutexes */ -#if !defined(EOWNERDEAD) -# define EOWNERDEAD 43 -#endif -#if !defined(ENOTRECOVERABLE) -# define ENOTRECOVERABLE 44 -#endif - -#include - -/* - * To avoid including windows.h we define only those things that we - * actually need from it. - */ -#if !defined(PTW32_INCLUDE_WINDOWS_H) -#if !defined(HANDLE) -# define PTW32__HANDLE_DEF -# define HANDLE void * -#endif -#if !defined(DWORD) -# define PTW32__DWORD_DEF -# define DWORD unsigned long -#endif -#endif - -#if !defined(HAVE_STRUCT_TIMESPEC) -#define HAVE_STRUCT_TIMESPEC -#if !defined(_TIMESPEC_DEFINED) -#define _TIMESPEC_DEFINED -struct timespec { - time_t tv_sec; - long tv_nsec; -}; -#endif /* _TIMESPEC_DEFINED */ -#endif /* HAVE_STRUCT_TIMESPEC */ - -#if !defined(SIG_BLOCK) -#define SIG_BLOCK 0 -#endif /* SIG_BLOCK */ - -#if !defined(SIG_UNBLOCK) -#define SIG_UNBLOCK 1 -#endif /* SIG_UNBLOCK */ - -#if !defined(SIG_SETMASK) -#define SIG_SETMASK 2 -#endif /* SIG_SETMASK */ - -#if defined(__cplusplus) -extern "C" -{ -#endif /* __cplusplus */ - -/* - * ------------------------------------------------------------- - * - * POSIX 1003.1-2001 Options - * ========================= - * - * Options are normally set in , which is not provided - * with pthreads-win32. - * - * For conformance with the Single Unix Specification (version 3), all of the - * options below are defined, and have a value of either -1 (not supported) - * or 200112L (supported). - * - * These options can neither be left undefined nor have a value of 0, because - * either indicates that sysconf(), which is not implemented, may be used at - * runtime to check the status of the option. - * - * _POSIX_THREADS (== 200112L) - * If == 200112L, you can use threads - * - * _POSIX_THREAD_ATTR_STACKSIZE (== 200112L) - * If == 200112L, you can control the size of a thread's - * stack - * pthread_attr_getstacksize - * pthread_attr_setstacksize - * - * _POSIX_THREAD_ATTR_STACKADDR (== -1) - * If == 200112L, you can allocate and control a thread's - * stack. If not supported, the following functions - * will return ENOSYS, indicating they are not - * supported: - * pthread_attr_getstackaddr - * pthread_attr_setstackaddr - * - * _POSIX_THREAD_PRIORITY_SCHEDULING (== -1) - * If == 200112L, you can use realtime scheduling. - * This option indicates that the behaviour of some - * implemented functions conforms to the additional TPS - * requirements in the standard. E.g. rwlocks favour - * writers over readers when threads have equal priority. - * - * _POSIX_THREAD_PRIO_INHERIT (== -1) - * If == 200112L, you can create priority inheritance - * mutexes. - * pthread_mutexattr_getprotocol + - * pthread_mutexattr_setprotocol + - * - * _POSIX_THREAD_PRIO_PROTECT (== -1) - * If == 200112L, you can create priority ceiling mutexes - * Indicates the availability of: - * pthread_mutex_getprioceiling - * pthread_mutex_setprioceiling - * pthread_mutexattr_getprioceiling - * pthread_mutexattr_getprotocol + - * pthread_mutexattr_setprioceiling - * pthread_mutexattr_setprotocol + - * - * _POSIX_THREAD_PROCESS_SHARED (== -1) - * If set, you can create mutexes and condition - * variables that can be shared with another - * process.If set, indicates the availability - * of: - * pthread_mutexattr_getpshared - * pthread_mutexattr_setpshared - * pthread_condattr_getpshared - * pthread_condattr_setpshared - * - * _POSIX_THREAD_SAFE_FUNCTIONS (== 200112L) - * If == 200112L you can use the special *_r library - * functions that provide thread-safe behaviour - * - * _POSIX_READER_WRITER_LOCKS (== 200112L) - * If == 200112L, you can use read/write locks - * - * _POSIX_SPIN_LOCKS (== 200112L) - * If == 200112L, you can use spin locks - * - * _POSIX_BARRIERS (== 200112L) - * If == 200112L, you can use barriers - * - * + These functions provide both 'inherit' and/or - * 'protect' protocol, based upon these macro - * settings. - * - * ------------------------------------------------------------- - */ - -/* - * POSIX Options - */ -#undef _POSIX_THREADS -#define _POSIX_THREADS 200809L - -#undef _POSIX_READER_WRITER_LOCKS -#define _POSIX_READER_WRITER_LOCKS 200809L - -#undef _POSIX_SPIN_LOCKS -#define _POSIX_SPIN_LOCKS 200809L - -#undef _POSIX_BARRIERS -#define _POSIX_BARRIERS 200809L - -#undef _POSIX_THREAD_SAFE_FUNCTIONS -#define _POSIX_THREAD_SAFE_FUNCTIONS 200809L - -#undef _POSIX_THREAD_ATTR_STACKSIZE -#define _POSIX_THREAD_ATTR_STACKSIZE 200809L - -/* - * The following options are not supported - */ -#undef _POSIX_THREAD_ATTR_STACKADDR -#define _POSIX_THREAD_ATTR_STACKADDR -1 - -#undef _POSIX_THREAD_PRIO_INHERIT -#define _POSIX_THREAD_PRIO_INHERIT -1 - -#undef _POSIX_THREAD_PRIO_PROTECT -#define _POSIX_THREAD_PRIO_PROTECT -1 - -/* TPS is not fully supported. */ -#undef _POSIX_THREAD_PRIORITY_SCHEDULING -#define _POSIX_THREAD_PRIORITY_SCHEDULING -1 - -#undef _POSIX_THREAD_PROCESS_SHARED -#define _POSIX_THREAD_PROCESS_SHARED -1 - - -/* - * POSIX 1003.1-2001 Limits - * =========================== - * - * These limits are normally set in , which is not provided with - * pthreads-win32. - * - * PTHREAD_DESTRUCTOR_ITERATIONS - * Maximum number of attempts to destroy - * a thread's thread-specific data on - * termination (must be at least 4) - * - * PTHREAD_KEYS_MAX - * Maximum number of thread-specific data keys - * available per process (must be at least 128) - * - * PTHREAD_STACK_MIN - * Minimum supported stack size for a thread - * - * PTHREAD_THREADS_MAX - * Maximum number of threads supported per - * process (must be at least 64). - * - * SEM_NSEMS_MAX - * The maximum number of semaphores a process can have. - * (must be at least 256) - * - * SEM_VALUE_MAX - * The maximum value a semaphore can have. - * (must be at least 32767) - * - */ -#undef _POSIX_THREAD_DESTRUCTOR_ITERATIONS -#define _POSIX_THREAD_DESTRUCTOR_ITERATIONS 4 - -#undef PTHREAD_DESTRUCTOR_ITERATIONS -#define PTHREAD_DESTRUCTOR_ITERATIONS _POSIX_THREAD_DESTRUCTOR_ITERATIONS - -#undef _POSIX_THREAD_KEYS_MAX -#define _POSIX_THREAD_KEYS_MAX 128 - -#undef PTHREAD_KEYS_MAX -#define PTHREAD_KEYS_MAX _POSIX_THREAD_KEYS_MAX - -#undef PTHREAD_STACK_MIN -#define PTHREAD_STACK_MIN 0 - -#undef _POSIX_THREAD_THREADS_MAX -#define _POSIX_THREAD_THREADS_MAX 64 - - /* Arbitrary value */ -#undef PTHREAD_THREADS_MAX -#define PTHREAD_THREADS_MAX 2019 - -#undef _POSIX_SEM_NSEMS_MAX -#define _POSIX_SEM_NSEMS_MAX 256 - - /* Arbitrary value */ -#undef SEM_NSEMS_MAX -#define SEM_NSEMS_MAX 1024 - -#undef _POSIX_SEM_VALUE_MAX -#define _POSIX_SEM_VALUE_MAX 32767 - -#undef SEM_VALUE_MAX -#define SEM_VALUE_MAX INT_MAX - - -#if defined(__GNUC__) && !defined(__declspec) -# error Please upgrade your GNU compiler to one that supports __declspec. -#endif - -/* - * When building the library, you should define PTW32_BUILD so that - * the variables/functions are exported correctly. When using the library, - * do NOT define PTW32_BUILD, and then the variables/functions will - * be imported correctly. - */ -#if !defined(PTW32_STATIC_LIB) -# if defined(PTW32_BUILD) -# define PTW32_DLLPORT __declspec (dllexport) -# else -# define PTW32_DLLPORT __declspec (dllimport) -# endif -#else -# define PTW32_DLLPORT -#endif - -/* - * The Open Watcom C/C++ compiler uses a non-standard calling convention - * that passes function args in registers unless __cdecl is explicitly specified - * in exposed function prototypes. - * - * We force all calls to cdecl even though this could slow Watcom code down - * slightly. If you know that the Watcom compiler will be used to build both - * the DLL and application, then you can probably define this as a null string. - * Remember that pthread.h (this file) is used for both the DLL and application builds. - */ -#define PTW32_CDECL __cdecl - -#if defined(_UWIN) && PTW32_LEVEL >= PTW32_LEVEL_MAX -# include -#else -/* - * Generic handle type - intended to extend uniqueness beyond - * that available with a simple pointer. It should scale for either - * IA-32 or IA-64. - */ -typedef struct { - void * p; /* Pointer to actual object */ - unsigned int x; /* Extra information - reuse count etc */ -} ptw32_handle_t; - -typedef ptw32_handle_t pthread_t; -typedef struct pthread_attr_t_ * pthread_attr_t; -typedef struct pthread_once_t_ pthread_once_t; -typedef struct pthread_key_t_ * pthread_key_t; -typedef struct pthread_mutex_t_ * pthread_mutex_t; -typedef struct pthread_mutexattr_t_ * pthread_mutexattr_t; -typedef struct pthread_cond_t_ * pthread_cond_t; -typedef struct pthread_condattr_t_ * pthread_condattr_t; -#endif -typedef struct pthread_rwlock_t_ * pthread_rwlock_t; -typedef struct pthread_rwlockattr_t_ * pthread_rwlockattr_t; -typedef struct pthread_spinlock_t_ * pthread_spinlock_t; -typedef struct pthread_barrier_t_ * pthread_barrier_t; -typedef struct pthread_barrierattr_t_ * pthread_barrierattr_t; - -/* - * ==================== - * ==================== - * POSIX Threads - * ==================== - * ==================== - */ - -enum { -/* - * pthread_attr_{get,set}detachstate - */ - PTHREAD_CREATE_JOINABLE = 0, /* Default */ - PTHREAD_CREATE_DETACHED = 1, - -/* - * pthread_attr_{get,set}inheritsched - */ - PTHREAD_INHERIT_SCHED = 0, - PTHREAD_EXPLICIT_SCHED = 1, /* Default */ - -/* - * pthread_{get,set}scope - */ - PTHREAD_SCOPE_PROCESS = 0, - PTHREAD_SCOPE_SYSTEM = 1, /* Default */ - -/* - * pthread_setcancelstate paramters - */ - PTHREAD_CANCEL_ENABLE = 0, /* Default */ - PTHREAD_CANCEL_DISABLE = 1, - -/* - * pthread_setcanceltype parameters - */ - PTHREAD_CANCEL_ASYNCHRONOUS = 0, - PTHREAD_CANCEL_DEFERRED = 1, /* Default */ - -/* - * pthread_mutexattr_{get,set}pshared - * pthread_condattr_{get,set}pshared - */ - PTHREAD_PROCESS_PRIVATE = 0, - PTHREAD_PROCESS_SHARED = 1, - -/* - * pthread_mutexattr_{get,set}robust - */ - PTHREAD_MUTEX_STALLED = 0, /* Default */ - PTHREAD_MUTEX_ROBUST = 1, - -/* - * pthread_barrier_wait - */ - PTHREAD_BARRIER_SERIAL_THREAD = -1 -}; - -/* - * ==================== - * ==================== - * cancellation - * ==================== - * ==================== - */ -#define PTHREAD_CANCELED ((void *)(size_t) -1) - - -/* - * ==================== - * ==================== - * Once Key - * ==================== - * ==================== - */ -#define PTHREAD_ONCE_INIT { PTW32_FALSE, 0, 0, 0} - -struct pthread_once_t_ -{ - int done; /* indicates if user function has been executed */ - void * lock; - int reserved1; - int reserved2; -}; - - -/* - * ==================== - * ==================== - * Object initialisers - * ==================== - * ==================== - */ -#define PTHREAD_MUTEX_INITIALIZER ((pthread_mutex_t)(size_t) -1) -#define PTHREAD_RECURSIVE_MUTEX_INITIALIZER ((pthread_mutex_t)(size_t) -2) -#define PTHREAD_ERRORCHECK_MUTEX_INITIALIZER ((pthread_mutex_t)(size_t) -3) - -/* - * Compatibility with LinuxThreads - */ -#define PTHREAD_RECURSIVE_MUTEX_INITIALIZER_NP PTHREAD_RECURSIVE_MUTEX_INITIALIZER -#define PTHREAD_ERRORCHECK_MUTEX_INITIALIZER_NP PTHREAD_ERRORCHECK_MUTEX_INITIALIZER - -#define PTHREAD_COND_INITIALIZER ((pthread_cond_t)(size_t) -1) - -#define PTHREAD_RWLOCK_INITIALIZER ((pthread_rwlock_t)(size_t) -1) - -#define PTHREAD_SPINLOCK_INITIALIZER ((pthread_spinlock_t)(size_t) -1) - - -/* - * Mutex types. - */ -enum -{ - /* Compatibility with LinuxThreads */ - PTHREAD_MUTEX_FAST_NP, - PTHREAD_MUTEX_RECURSIVE_NP, - PTHREAD_MUTEX_ERRORCHECK_NP, - PTHREAD_MUTEX_TIMED_NP = PTHREAD_MUTEX_FAST_NP, - PTHREAD_MUTEX_ADAPTIVE_NP = PTHREAD_MUTEX_FAST_NP, - /* For compatibility with POSIX */ - PTHREAD_MUTEX_NORMAL = PTHREAD_MUTEX_FAST_NP, - PTHREAD_MUTEX_RECURSIVE = PTHREAD_MUTEX_RECURSIVE_NP, - PTHREAD_MUTEX_ERRORCHECK = PTHREAD_MUTEX_ERRORCHECK_NP, - PTHREAD_MUTEX_DEFAULT = PTHREAD_MUTEX_NORMAL -}; - - -typedef struct ptw32_cleanup_t ptw32_cleanup_t; - -#if defined(_MSC_VER) -/* Disable MSVC 'anachronism used' warning */ -#pragma warning( disable : 4229 ) -#endif - -typedef void (* PTW32_CDECL ptw32_cleanup_callback_t)(void *); - -#if defined(_MSC_VER) -#pragma warning( default : 4229 ) -#endif - -struct ptw32_cleanup_t -{ - ptw32_cleanup_callback_t routine; - void *arg; - struct ptw32_cleanup_t *prev; -}; - -#if defined(__CLEANUP_SEH) - /* - * WIN32 SEH version of cancel cleanup. - */ - -#define pthread_cleanup_push( _rout, _arg ) \ - { \ - ptw32_cleanup_t _cleanup; \ - \ - _cleanup.routine = (ptw32_cleanup_callback_t)(_rout); \ - _cleanup.arg = (_arg); \ - __try \ - { \ - -#define pthread_cleanup_pop( _execute ) \ - } \ - __finally \ - { \ - if( _execute || AbnormalTermination()) \ - { \ - (*(_cleanup.routine))( _cleanup.arg ); \ - } \ - } \ - } - -#else /* __CLEANUP_SEH */ - -#if defined(__CLEANUP_C) - - /* - * C implementation of PThreads cancel cleanup - */ - -#define pthread_cleanup_push( _rout, _arg ) \ - { \ - ptw32_cleanup_t _cleanup; \ - \ - ptw32_push_cleanup( &_cleanup, (ptw32_cleanup_callback_t) (_rout), (_arg) ); \ - -#define pthread_cleanup_pop( _execute ) \ - (void) ptw32_pop_cleanup( _execute ); \ - } - -#else /* __CLEANUP_C */ - -#if defined(__CLEANUP_CXX) - - /* - * C++ version of cancel cleanup. - * - John E. Bossom. - */ - - class PThreadCleanup { - /* - * PThreadCleanup - * - * Purpose - * This class is a C++ helper class that is - * used to implement pthread_cleanup_push/ - * pthread_cleanup_pop. - * The destructor of this class automatically - * pops the pushed cleanup routine regardless - * of how the code exits the scope - * (i.e. such as by an exception) - */ - ptw32_cleanup_callback_t cleanUpRout; - void * obj; - int executeIt; - - public: - PThreadCleanup() : - cleanUpRout( 0 ), - obj( 0 ), - executeIt( 0 ) - /* - * No cleanup performed - */ - { - } - - PThreadCleanup( - ptw32_cleanup_callback_t routine, - void * arg ) : - cleanUpRout( routine ), - obj( arg ), - executeIt( 1 ) - /* - * Registers a cleanup routine for 'arg' - */ - { - } - - ~PThreadCleanup() - { - if ( executeIt && ((void *) cleanUpRout != (void *) 0) ) - { - (void) (*cleanUpRout)( obj ); - } - } - - void execute( int exec ) - { - executeIt = exec; - } - }; - - /* - * C++ implementation of PThreads cancel cleanup; - * This implementation takes advantage of a helper - * class who's destructor automatically calls the - * cleanup routine if we exit our scope weirdly - */ -#define pthread_cleanup_push( _rout, _arg ) \ - { \ - PThreadCleanup cleanup((ptw32_cleanup_callback_t)(_rout), \ - (void *) (_arg) ); - -#define pthread_cleanup_pop( _execute ) \ - cleanup.execute( _execute ); \ - } - -#else - -#error ERROR [__FILE__, line __LINE__]: Cleanup type undefined. - -#endif /* __CLEANUP_CXX */ - -#endif /* __CLEANUP_C */ - -#endif /* __CLEANUP_SEH */ - -/* - * =============== - * =============== - * Methods - * =============== - * =============== - */ - -/* - * PThread Attribute Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_attr_init (pthread_attr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_destroy (pthread_attr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_getdetachstate (const pthread_attr_t * attr, - int *detachstate); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_getstackaddr (const pthread_attr_t * attr, - void **stackaddr); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_getstacksize (const pthread_attr_t * attr, - size_t * stacksize); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_setdetachstate (pthread_attr_t * attr, - int detachstate); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_setstackaddr (pthread_attr_t * attr, - void *stackaddr); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_setstacksize (pthread_attr_t * attr, - size_t stacksize); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_getschedparam (const pthread_attr_t *attr, - struct sched_param *param); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_setschedparam (pthread_attr_t *attr, - const struct sched_param *param); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_setschedpolicy (pthread_attr_t *, - int); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_getschedpolicy (const pthread_attr_t *, - int *); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_setinheritsched(pthread_attr_t * attr, - int inheritsched); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_getinheritsched(const pthread_attr_t * attr, - int * inheritsched); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_setscope (pthread_attr_t *, - int); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_getscope (const pthread_attr_t *, - int *); - -/* - * PThread Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_create (pthread_t * tid, - const pthread_attr_t * attr, - void *(PTW32_CDECL *start) (void *), - void *arg); - -PTW32_DLLPORT int PTW32_CDECL pthread_detach (pthread_t tid); - -PTW32_DLLPORT int PTW32_CDECL pthread_equal (pthread_t t1, - pthread_t t2); - -PTW32_DLLPORT void PTW32_CDECL pthread_exit (void *value_ptr); - -PTW32_DLLPORT int PTW32_CDECL pthread_join (pthread_t thread, - void **value_ptr); - -PTW32_DLLPORT pthread_t PTW32_CDECL pthread_self (void); - -PTW32_DLLPORT int PTW32_CDECL pthread_cancel (pthread_t thread); - -PTW32_DLLPORT int PTW32_CDECL pthread_setcancelstate (int state, - int *oldstate); - -PTW32_DLLPORT int PTW32_CDECL pthread_setcanceltype (int type, - int *oldtype); - -PTW32_DLLPORT void PTW32_CDECL pthread_testcancel (void); - -PTW32_DLLPORT int PTW32_CDECL pthread_once (pthread_once_t * once_control, - void (PTW32_CDECL *init_routine) (void)); - -#if PTW32_LEVEL >= PTW32_LEVEL_MAX -PTW32_DLLPORT ptw32_cleanup_t * PTW32_CDECL ptw32_pop_cleanup (int execute); - -PTW32_DLLPORT void PTW32_CDECL ptw32_push_cleanup (ptw32_cleanup_t * cleanup, - ptw32_cleanup_callback_t routine, - void *arg); -#endif /* PTW32_LEVEL >= PTW32_LEVEL_MAX */ - -/* - * Thread Specific Data Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_key_create (pthread_key_t * key, - void (PTW32_CDECL *destructor) (void *)); - -PTW32_DLLPORT int PTW32_CDECL pthread_key_delete (pthread_key_t key); - -PTW32_DLLPORT int PTW32_CDECL pthread_setspecific (pthread_key_t key, - const void *value); - -PTW32_DLLPORT void * PTW32_CDECL pthread_getspecific (pthread_key_t key); - - -/* - * Mutex Attribute Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_init (pthread_mutexattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_destroy (pthread_mutexattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_getpshared (const pthread_mutexattr_t - * attr, - int *pshared); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_setpshared (pthread_mutexattr_t * attr, - int pshared); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_settype (pthread_mutexattr_t * attr, int kind); -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_gettype (const pthread_mutexattr_t * attr, int *kind); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_setrobust( - pthread_mutexattr_t *attr, - int robust); -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_getrobust( - const pthread_mutexattr_t * attr, - int * robust); - -/* - * Barrier Attribute Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_barrierattr_init (pthread_barrierattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_barrierattr_destroy (pthread_barrierattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_barrierattr_getpshared (const pthread_barrierattr_t - * attr, - int *pshared); - -PTW32_DLLPORT int PTW32_CDECL pthread_barrierattr_setpshared (pthread_barrierattr_t * attr, - int pshared); - -/* - * Mutex Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_mutex_init (pthread_mutex_t * mutex, - const pthread_mutexattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutex_destroy (pthread_mutex_t * mutex); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutex_lock (pthread_mutex_t * mutex); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutex_timedlock(pthread_mutex_t * mutex, - const struct timespec *abstime); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutex_trylock (pthread_mutex_t * mutex); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutex_unlock (pthread_mutex_t * mutex); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutex_consistent (pthread_mutex_t * mutex); - -/* - * Spinlock Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_spin_init (pthread_spinlock_t * lock, int pshared); - -PTW32_DLLPORT int PTW32_CDECL pthread_spin_destroy (pthread_spinlock_t * lock); - -PTW32_DLLPORT int PTW32_CDECL pthread_spin_lock (pthread_spinlock_t * lock); - -PTW32_DLLPORT int PTW32_CDECL pthread_spin_trylock (pthread_spinlock_t * lock); - -PTW32_DLLPORT int PTW32_CDECL pthread_spin_unlock (pthread_spinlock_t * lock); - -/* - * Barrier Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_barrier_init (pthread_barrier_t * barrier, - const pthread_barrierattr_t * attr, - unsigned int count); - -PTW32_DLLPORT int PTW32_CDECL pthread_barrier_destroy (pthread_barrier_t * barrier); - -PTW32_DLLPORT int PTW32_CDECL pthread_barrier_wait (pthread_barrier_t * barrier); - -/* - * Condition Variable Attribute Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_condattr_init (pthread_condattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_condattr_destroy (pthread_condattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_condattr_getpshared (const pthread_condattr_t * attr, - int *pshared); - -PTW32_DLLPORT int PTW32_CDECL pthread_condattr_setpshared (pthread_condattr_t * attr, - int pshared); - -/* - * Condition Variable Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_cond_init (pthread_cond_t * cond, - const pthread_condattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_cond_destroy (pthread_cond_t * cond); - -PTW32_DLLPORT int PTW32_CDECL pthread_cond_wait (pthread_cond_t * cond, - pthread_mutex_t * mutex); - -PTW32_DLLPORT int PTW32_CDECL pthread_cond_timedwait (pthread_cond_t * cond, - pthread_mutex_t * mutex, - const struct timespec *abstime); - -PTW32_DLLPORT int PTW32_CDECL pthread_cond_signal (pthread_cond_t * cond); - -PTW32_DLLPORT int PTW32_CDECL pthread_cond_broadcast (pthread_cond_t * cond); - -/* - * Scheduling - */ -PTW32_DLLPORT int PTW32_CDECL pthread_setschedparam (pthread_t thread, - int policy, - const struct sched_param *param); - -PTW32_DLLPORT int PTW32_CDECL pthread_getschedparam (pthread_t thread, - int *policy, - struct sched_param *param); - -PTW32_DLLPORT int PTW32_CDECL pthread_setconcurrency (int); - -PTW32_DLLPORT int PTW32_CDECL pthread_getconcurrency (void); - -/* - * Read-Write Lock Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_init(pthread_rwlock_t *lock, - const pthread_rwlockattr_t *attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_destroy(pthread_rwlock_t *lock); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_tryrdlock(pthread_rwlock_t *); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_trywrlock(pthread_rwlock_t *); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_rdlock(pthread_rwlock_t *lock); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_timedrdlock(pthread_rwlock_t *lock, - const struct timespec *abstime); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_wrlock(pthread_rwlock_t *lock); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_timedwrlock(pthread_rwlock_t *lock, - const struct timespec *abstime); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_unlock(pthread_rwlock_t *lock); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlockattr_init (pthread_rwlockattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlockattr_destroy (pthread_rwlockattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlockattr_getpshared (const pthread_rwlockattr_t * attr, - int *pshared); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlockattr_setpshared (pthread_rwlockattr_t * attr, - int pshared); - -#if PTW32_LEVEL >= PTW32_LEVEL_MAX - 1 - -/* - * Signal Functions. Should be defined in but MSVC and MinGW32 - * already have signal.h that don't define these. - */ -PTW32_DLLPORT int PTW32_CDECL pthread_kill(pthread_t thread, int sig); - -/* - * Non-portable functions - */ - -/* - * Compatibility with Linux. - */ -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_setkind_np(pthread_mutexattr_t * attr, - int kind); -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_getkind_np(pthread_mutexattr_t * attr, - int *kind); -PTW32_DLLPORT int PTW32_CDECL pthread_timedjoin_np(pthread_t thread, - void **value_ptr, - const struct timespec *abstime); - -/* - * Possibly supported by other POSIX threads implementations - */ -PTW32_DLLPORT int PTW32_CDECL pthread_delay_np (struct timespec * interval); -PTW32_DLLPORT int PTW32_CDECL pthread_num_processors_np(void); -PTW32_DLLPORT unsigned __int64 PTW32_CDECL pthread_getunique_np(pthread_t thread); - -/* - * Useful if an application wants to statically link - * the lib rather than load the DLL at run-time. - */ -PTW32_DLLPORT int PTW32_CDECL pthread_win32_process_attach_np(void); -PTW32_DLLPORT int PTW32_CDECL pthread_win32_process_detach_np(void); -PTW32_DLLPORT int PTW32_CDECL pthread_win32_thread_attach_np(void); -PTW32_DLLPORT int PTW32_CDECL pthread_win32_thread_detach_np(void); - -/* - * Features that are auto-detected at load/run time. - */ -PTW32_DLLPORT int PTW32_CDECL pthread_win32_test_features_np(int); -enum ptw32_features { - PTW32_SYSTEM_INTERLOCKED_COMPARE_EXCHANGE = 0x0001, /* System provides it. */ - PTW32_ALERTABLE_ASYNC_CANCEL = 0x0002 /* Can cancel blocked threads. */ -}; - -/* - * Register a system time change with the library. - * Causes the library to perform various functions - * in response to the change. Should be called whenever - * the application's top level window receives a - * WM_TIMECHANGE message. It can be passed directly to - * pthread_create() as a new thread if desired. - */ -PTW32_DLLPORT void * PTW32_CDECL pthread_timechange_handler_np(void *); - -#endif /*PTW32_LEVEL >= PTW32_LEVEL_MAX - 1 */ - -#if PTW32_LEVEL >= PTW32_LEVEL_MAX - -/* - * Returns the Win32 HANDLE for the POSIX thread. - */ -PTW32_DLLPORT HANDLE PTW32_CDECL pthread_getw32threadhandle_np(pthread_t thread); -/* - * Returns the win32 thread ID for POSIX thread. - */ -PTW32_DLLPORT DWORD PTW32_CDECL pthread_getw32threadid_np (pthread_t thread); - - -/* - * Protected Methods - * - * This function blocks until the given WIN32 handle - * is signaled or pthread_cancel had been called. - * This function allows the caller to hook into the - * PThreads cancel mechanism. It is implemented using - * - * WaitForMultipleObjects - * - * on 'waitHandle' and a manually reset WIN32 Event - * used to implement pthread_cancel. The 'timeout' - * argument to TimedWait is simply passed to - * WaitForMultipleObjects. - */ -PTW32_DLLPORT int PTW32_CDECL pthreadCancelableWait (HANDLE waitHandle); -PTW32_DLLPORT int PTW32_CDECL pthreadCancelableTimedWait (HANDLE waitHandle, - DWORD timeout); - -#endif /* PTW32_LEVEL >= PTW32_LEVEL_MAX */ - -/* - * Thread-Safe C Runtime Library Mappings. - */ -#if !defined(_UWIN) -# if defined(NEED_ERRNO) - PTW32_DLLPORT int * PTW32_CDECL _errno( void ); -# else -# if !defined(errno) -# if (defined(_MT) || defined(_DLL)) - __declspec(dllimport) extern int * __cdecl _errno(void); -# define errno (*_errno()) -# endif -# endif -# endif -#endif - -/* - * Some compiler environments don't define some things. - */ -#if defined(__BORLANDC__) -# define _ftime ftime -# define _timeb timeb -#endif - -#if defined(__cplusplus) - -/* - * Internal exceptions - */ -class ptw32_exception {}; -class ptw32_exception_cancel : public ptw32_exception {}; -class ptw32_exception_exit : public ptw32_exception {}; - -#endif - -#if PTW32_LEVEL >= PTW32_LEVEL_MAX - -/* FIXME: This is only required if the library was built using SEH */ -/* - * Get internal SEH tag - */ -PTW32_DLLPORT DWORD PTW32_CDECL ptw32_get_exception_services_code(void); - -#endif /* PTW32_LEVEL >= PTW32_LEVEL_MAX */ - -#if !defined(PTW32_BUILD) - -#if defined(__CLEANUP_SEH) - -/* - * Redefine the SEH __except keyword to ensure that applications - * propagate our internal exceptions up to the library's internal handlers. - */ -#define __except( E ) \ - __except( ( GetExceptionCode() == ptw32_get_exception_services_code() ) \ - ? EXCEPTION_CONTINUE_SEARCH : ( E ) ) - -#endif /* __CLEANUP_SEH */ - -#if defined(__CLEANUP_CXX) - -/* - * Redefine the C++ catch keyword to ensure that applications - * propagate our internal exceptions up to the library's internal handlers. - */ -#if defined(_MSC_VER) - /* - * WARNING: Replace any 'catch( ... )' with 'PtW32CatchAll' - * if you want Pthread-Win32 cancellation and pthread_exit to work. - */ - -#if !defined(PtW32NoCatchWarn) - -#pragma message("Specify \"/DPtW32NoCatchWarn\" compiler flag to skip this message.") -#pragma message("------------------------------------------------------------------") -#pragma message("When compiling applications with MSVC++ and C++ exception handling:") -#pragma message(" Replace any 'catch( ... )' in routines called from POSIX threads") -#pragma message(" with 'PtW32CatchAll' or 'CATCHALL' if you want POSIX thread") -#pragma message(" cancellation and pthread_exit to work. For example:") -#pragma message("") -#pragma message(" #if defined(PtW32CatchAll)") -#pragma message(" PtW32CatchAll") -#pragma message(" #else") -#pragma message(" catch(...)") -#pragma message(" #endif") -#pragma message(" {") -#pragma message(" /* Catchall block processing */") -#pragma message(" }") -#pragma message("------------------------------------------------------------------") - -#endif - -#define PtW32CatchAll \ - catch( ptw32_exception & ) { throw; } \ - catch( ... ) - -#else /* _MSC_VER */ - -#define catch( E ) \ - catch( ptw32_exception & ) { throw; } \ - catch( E ) - -#endif /* _MSC_VER */ - -#endif /* __CLEANUP_CXX */ - -#endif /* ! PTW32_BUILD */ - -#if defined(__cplusplus) -} /* End of extern "C" */ -#endif /* __cplusplus */ - -#if defined(PTW32__HANDLE_DEF) -# undef HANDLE -#endif -#if defined(PTW32__DWORD_DEF) -# undef DWORD -#endif - -#undef PTW32_LEVEL -#undef PTW32_LEVEL_MAX - -#endif /* ! RC_INVOKED */ - -#endif /* PTHREAD_H */ diff --git a/interface/external/pthreads/include/sched.h b/interface/external/pthreads/include/sched.h deleted file mode 100644 index d43ff8dcb2..0000000000 --- a/interface/external/pthreads/include/sched.h +++ /dev/null @@ -1,189 +0,0 @@ -/* - * Module: sched.h - * - * Purpose: - * Provides an implementation of POSIX realtime extensions - * as defined in - * - * POSIX 1003.1b-1993 (POSIX.1b) - * - * -------------------------------------------------------------------------- - * - * Pthreads-win32 - POSIX Threads Library for Win32 - * Copyright(C) 1998 John E. Bossom - * Copyright(C) 1999,2005 Pthreads-win32 contributors - * - * Contact Email: rpj@callisto.canberra.edu.au - * - * The current list of contributors is contained - * in the file CONTRIBUTORS included with the source - * code distribution. The list can also be seen at the - * following World Wide Web location: - * http://sources.redhat.com/pthreads-win32/contributors.html - * - * This library is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation; either - * version 2 of the License, or (at your option) any later version. - * - * This library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General Public - * License along with this library in the file COPYING.LIB; - * if not, write to the Free Software Foundation, Inc., - * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA - */ -#if !defined(_SCHED_H) -#define _SCHED_H - -#undef PTW32_SCHED_LEVEL - -#if defined(_POSIX_SOURCE) -#define PTW32_SCHED_LEVEL 0 -/* Early POSIX */ -#endif - -#if defined(_POSIX_C_SOURCE) && _POSIX_C_SOURCE >= 199309 -#undef PTW32_SCHED_LEVEL -#define PTW32_SCHED_LEVEL 1 -/* Include 1b, 1c and 1d */ -#endif - -#if defined(INCLUDE_NP) -#undef PTW32_SCHED_LEVEL -#define PTW32_SCHED_LEVEL 2 -/* Include Non-Portable extensions */ -#endif - -#define PTW32_SCHED_LEVEL_MAX 3 - -#if ( defined(_POSIX_C_SOURCE) && _POSIX_C_SOURCE >= 200112 ) || !defined(PTW32_SCHED_LEVEL) -#define PTW32_SCHED_LEVEL PTW32_SCHED_LEVEL_MAX -/* Include everything */ -#endif - - -#if defined(__GNUC__) && !defined(__declspec) -# error Please upgrade your GNU compiler to one that supports __declspec. -#endif - -/* - * When building the library, you should define PTW32_BUILD so that - * the variables/functions are exported correctly. When using the library, - * do NOT define PTW32_BUILD, and then the variables/functions will - * be imported correctly. - */ -#if !defined(PTW32_STATIC_LIB) -# if defined(PTW32_BUILD) -# define PTW32_DLLPORT __declspec (dllexport) -# else -# define PTW32_DLLPORT __declspec (dllimport) -# endif -#else -# define PTW32_DLLPORT -#endif - -/* - * This is a duplicate of what is in the autoconf config.h, - * which is only used when building the pthread-win32 libraries. - */ - -#if !defined(PTW32_CONFIG_H) -# if defined(WINCE) -# define NEED_ERRNO -# define NEED_SEM -# endif -# if defined(__MINGW64__) -# define HAVE_STRUCT_TIMESPEC -# define HAVE_MODE_T -# elif defined(_UWIN) || defined(__MINGW32__) -# define HAVE_MODE_T -# endif -#endif - -/* - * - */ - -#if PTW32_SCHED_LEVEL >= PTW32_SCHED_LEVEL_MAX -#if defined(NEED_ERRNO) -#include "need_errno.h" -#else -#include -#endif -#endif /* PTW32_SCHED_LEVEL >= PTW32_SCHED_LEVEL_MAX */ - -#if (defined(__MINGW64__) || defined(__MINGW32__)) || defined(_UWIN) -# if PTW32_SCHED_LEVEL >= PTW32_SCHED_LEVEL_MAX -/* For pid_t */ -# include -/* Required by Unix 98 */ -# include -# else - typedef int pid_t; -# endif -#else - /* [i_a] fix for using pthread_win32 with mongoose code, which #define's its own pid_t akin to typedef HANDLE pid_t; */ - #undef pid_t -# if defined(_MSC_VER) - typedef void *pid_t; -# else - typedef int pid_t; -# endif -#endif - -/* Thread scheduling policies */ - -enum { - SCHED_OTHER = 0, - SCHED_FIFO, - SCHED_RR, - SCHED_MIN = SCHED_OTHER, - SCHED_MAX = SCHED_RR -}; - -struct sched_param { - int sched_priority; -}; - -#if defined(__cplusplus) -extern "C" -{ -#endif /* __cplusplus */ - -PTW32_DLLPORT int __cdecl sched_yield (void); - -PTW32_DLLPORT int __cdecl sched_get_priority_min (int policy); - -PTW32_DLLPORT int __cdecl sched_get_priority_max (int policy); - -PTW32_DLLPORT int __cdecl sched_setscheduler (pid_t pid, int policy); - -PTW32_DLLPORT int __cdecl sched_getscheduler (pid_t pid); - -/* - * Note that this macro returns ENOTSUP rather than - * ENOSYS as might be expected. However, returning ENOSYS - * should mean that sched_get_priority_{min,max} are - * not implemented as well as sched_rr_get_interval. - * This is not the case, since we just don't support - * round-robin scheduling. Therefore I have chosen to - * return the same value as sched_setscheduler when - * SCHED_RR is passed to it. - */ -#define sched_rr_get_interval(_pid, _interval) \ - ( errno = ENOTSUP, (int) -1 ) - - -#if defined(__cplusplus) -} /* End of extern "C" */ -#endif /* __cplusplus */ - -#undef PTW32_SCHED_LEVEL -#undef PTW32_SCHED_LEVEL_MAX - -#endif /* !_SCHED_H */ - diff --git a/libraries/shared/src/NodeList.cpp b/libraries/shared/src/NodeList.cpp index 736c94dfed..1dadcab421 100644 --- a/libraries/shared/src/NodeList.cpp +++ b/libraries/shared/src/NodeList.cpp @@ -6,7 +6,6 @@ // Copyright (c) 2013 High Fidelity, Inc. All rights reserved. // -#include #include #include #include