From 323aa18c0ee57cf5fee65511e45ae63d3d2a77ed Mon Sep 17 00:00:00 2001
From: Stephen Birarda <commit@birarda.com>
Date: Thu, 16 Jan 2014 14:16:38 -0800
Subject: [PATCH] remove MotionDriver and pthread libraries
---
cmake/modules/FindMotionDriver.cmake | 44 -
interface/CMakeLists.txt | 4 -
.../external/MotionDriver/CMakeLists.txt | 14 -
interface/external/MotionDriver/License.txt | 218 --
.../external/MotionDriver/include/dmpKey.h | 494 ---
.../external/MotionDriver/include/dmpmap.h | 264 --
.../external/MotionDriver/include/inv_mpu.h | 127 -
.../include/inv_mpu_dmp_motion_driver.h | 97 -
.../external/MotionDriver/include/inv_tty.h | 22 -
.../MotionDriver/lib/MacOS/libMotionDriver.a | Bin 59312 -> 0 bytes
.../MotionDriver/lib/UNIX/libMotionDriver.a | Bin 62086 -> 0 bytes
interface/external/MotionDriver/src/inv_mpu.c | 2798 -----------------
.../src/inv_mpu_dmp_motion_driver.c | 1373 --------
interface/external/MotionDriver/src/inv_tty.c | 113 -
.../external/pthreads/WIN32/pthread_lib.lib | Bin 241598 -> 0 bytes
interface/external/pthreads/include/pthread.h | 1403 ---------
interface/external/pthreads/include/sched.h | 189 --
libraries/shared/src/NodeList.cpp | 1 -
18 files changed, 7161 deletions(-)
delete mode 100644 cmake/modules/FindMotionDriver.cmake
delete mode 100644 interface/external/MotionDriver/CMakeLists.txt
delete mode 100644 interface/external/MotionDriver/License.txt
delete mode 100644 interface/external/MotionDriver/include/dmpKey.h
delete mode 100644 interface/external/MotionDriver/include/dmpmap.h
delete mode 100644 interface/external/MotionDriver/include/inv_mpu.h
delete mode 100644 interface/external/MotionDriver/include/inv_mpu_dmp_motion_driver.h
delete mode 100644 interface/external/MotionDriver/include/inv_tty.h
delete mode 100644 interface/external/MotionDriver/lib/MacOS/libMotionDriver.a
delete mode 100644 interface/external/MotionDriver/lib/UNIX/libMotionDriver.a
delete mode 100644 interface/external/MotionDriver/src/inv_mpu.c
delete mode 100644 interface/external/MotionDriver/src/inv_mpu_dmp_motion_driver.c
delete mode 100644 interface/external/MotionDriver/src/inv_tty.c
delete mode 100644 interface/external/pthreads/WIN32/pthread_lib.lib
delete mode 100644 interface/external/pthreads/include/pthread.h
delete mode 100644 interface/external/pthreads/include/sched.h
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: ${MOTIONDRIVER_LIBRARIES}")
- endif (NOT MOTIONDRIVER_FIND_QUIETLY)
- else (MOTIONDRIVER_FOUND)
- if (MOTIONDRIVER_FIND_REQUIRED)
- message(FATAL_ERROR "Could not find MotionDriver")
- endif (MOTIONDRIVER_FIND_REQUIRED)
- endif (MOTIONDRIVER_FOUND)
-
- # show the MOTIONDRIVER_INCLUDE_DIRS and MOTIONDRIVER_LIBRARIES variables only in the advanced view
- mark_as_advanced(MOTIONDRIVER_INCLUDE_DIRS MOTIONDRIVER_LIBRARIES)
-
-endif (MOTIONDRIVER_LIBRARIES AND MOTIONDRIVER_INCLUDE_DIRS)
diff --git a/interface/CMakeLists.txt b/interface/CMakeLists.txt
index 65fd74bc98..b1e4305cbf 100644
--- a/interface/CMakeLists.txt
+++ b/interface/CMakeLists.txt
@@ -10,7 +10,6 @@ project(${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)
@@ -166,7 +164,6 @@ include_directories(
SYSTEM
${FACESHIFT_INCLUDE_DIRS}
${GLM_INCLUDE_DIRS}
- ${MOTIONDRIVER_INCLUDE_DIRS}
)
MESSAGE("here..." ${FACESHIFT_LIBRARIES} )
@@ -174,7 +171,6 @@ 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
-
-Unless you and InvenSense Corporation ("InvenSense") execute a separate written
-software license agreement governing use of the accompanying software, this
-software is licensed to you under the terms of this Software License
-Agreement ("Agreement").
-
-ANY USE, REPRODUCTION OR DISTRIBUTION OF THE SOFTWARE CONSTITUTES YOUR
-ACCEPTANCE OF THIS AGREEMENT.
-
-1. DEFINITIONS.
-
-1.1. "InvenSense Product" means any of the proprietary integrated circuit
-product(s) sold by InvenSense with which the Software was designed to be used,
-or their successors.
-
-1.2. "Licensee" means you or if you are accepting on behalf of an entity
-then the entity and its affiliates exercising rights under, and complying
-with all of the terms of this Agreement.
-
-1.3. "Software" shall mean that software made available by InvenSense to
-Licensee in binary code form with this Agreement.
-
-2. LICENSE GRANT; OWNERSHIP
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-2.1. License Grants. Subject to the terms and conditions of this Agreement,
-InvenSense hereby grants to Licensee a non-exclusive, non-transferable,
-royalty-free license (i) to use and integrate the Software in conjunction
-with any other software; and (ii) to reproduce and distribute the Software
-complete, unmodified and only for use with a InvenSense Product.
-
-2.2. Restriction on Modification. If and to the extent that the Software is
-designed to be compliant with any published communications standard
-(including, without limitation, DOCSIS, HomePNA, IEEE, and ITU standards),
-Licensee may not make any modifications to the Software that would cause the
-Software or the accompanying InvenSense Products to be incompatible with such
-standard.
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-2.3. Restriction on Distribution. Licensee shall only distribute the
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-2.4. Proprietary Notices. Licensee shall not remove, efface or obscure any
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-including all intellectual property rights, in and to the Software. Licensee
-hereby covenants that it will not assert any claim that the Software created
-by or for InvenSense infringe any intellectual property right owned or
-controlled by Licensee.
-
-2.6. No Other Rights Granted; Restrictions. Apart from the license rights
-expressly set forth in this Agreement, InvenSense does not grant and Licensee
-does not receive any ownership right, title or interest nor any security
-interest or other interest in any intellectual property rights relating to
-the Software, nor in any copy of any part of the foregoing. No license is
-granted to Licensee in any human readable code of the Software (source code).
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-the Software or other material in violation of any applicable law or
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-3.1. No Warranty. THE SOFTWARE IS OFFERED "AS IS," AND INVENSENSE GRANTS AND
-LICENSEE RECEIVES NO WARRANTIES OF ANY KIND, EXPRESS OR IMPLIED, BY STATUTE,
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-provide any support for the Software. InvenSense may, but shall be under no
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-promptly report to InvenSense any defects it finds in the Software, as an aid
-to creating improved revisions of the Software.
-
-3.3. Dangerous Applications. The Software is not designed, intended, or
-certified for use in components of systems intended for the operation of
-weapons, weapons systems, nuclear installations, means of mass
-transportation, aviation, life-support computers or equipment (including
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-substances management, or for any other dangerous application in which the
-failure of the Software could create a situation where personal injury or
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-applications is fully at the risk of Licensee.
-
-4. TERM AND TERMINATION
-
-4.1. Termination. This Agreement will automatically terminate if Licensee
-fails to comply with any of the terms and conditions hereof. In such event,
-Licensee must destroy all copies of the Software and all of its component
-parts.
-
-4.2. Effect Of Termination. Upon any termination of this Agreement, the
-rights and licenses granted to Licensee under this Agreement shall
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-4.3. Survival. The rights and obligations under this Agreement which by
-their nature should survive termination will remain in effect after
-expiration or termination of this Agreement.
-
-5. CONFIDENTIALITY
-
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-relating to the Software, and any other information (if such other
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-protection thereof is an essential condition to Licensee's use and possession
-of the Software. Licensee shall retain all Confidential Information in
-strict confidence and not disclose it to any third party or use it in any way
-except under a written agreement with terms and conditions at least as
-protective as the terms of this Section. Licensee will exercise at least the
-same amount of diligence in preserving the secrecy of the Confidential
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-confidential information, but in no event less than reasonable diligence.
-Information shall not be considered Confidential Information if and to the
-extent that it: (i) was in the public domain at the time it was disclosed or
-has entered the public domain through no fault of Licensee; (ii) was known to
-Licensee, without restriction, at the time of disclosure as proven by the
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-known to Licensee, without restriction, from a source other than InvenSense
-without breach of this Agreement by Licensee and otherwise not in violation
-of InvenSense's rights.
-
-5.2. Return of Confidential Information. Notwithstanding the foregoing, all
-documents and other tangible objects containing or representing InvenSense
-Confidential Information and all copies thereof which are in the possession
-of Licensee shall be and remain the property of InvenSense, and shall be
-promptly returned to InvenSense upon written request by InvenSense or upon
-termination of this Agreement.
-
-6. LIMITATION OF LIABILITY
-TO THE MAXIMUM EXTENT PERMITTED BY LAW, IN NO EVENT SHALL INVENSENSE OR ANY OF
-INVENSENSE'S LICENSORS HAVE ANY LIABILITY FOR ANY INDIRECT, INCIDENTAL,
-SPECIAL, OR CONSEQUENTIAL DAMAGES, HOWEVER CAUSED AND ON ANY THEORY OF
-LIABILITY, WHETHER FOR BREACH OF CONTRACT, TORT (INCLUDING NEGLIGENCE) OR
-OTHERWISE, ARISING OUT OF THIS AGREEMENT, INCLUDING BUT NOT LIMITED TO LOSS
-OF PROFITS, EVEN IF SUCH PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH
-DAMAGES. IN NO EVENT WILL INVENSENSE'S LIABILITY WHETHER IN CONTRACT, TORT
-(INCLUDING NEGLIGENCE), OR OTHERWISE, EXCEED THE AMOUNT PAID BY LICENSEE FOR
-SOFTWARE UNDER THIS AGREEMENT. THESE LIMITATIONS SHALL APPLY NOTWITHSTANDING
-ANY FAILURE OF ESSENTIAL PURPOSE OF ANY LIMITED REMEDY.
-
-7. MISCELLANEOUS
-
-7.1. Export Regulations. YOU UNDERSTAND AND AGREE THAT THE SOFTWARE IS
-SUBJECT TO UNITED STATES AND OTHER APPLICABLE EXPORT-RELATED LAWS AND
-REGULATIONS AND THAT YOU MAY NOT EXPORT, RE-EXPORT OR TRANSFER THE SOFTWARE
-OR ANY DIRECT PRODUCT OF THE SOFTWARE EXCEPT AS PERMITTED UNDER THOSE LAWS.
-WITHOUT LIMITING THE FOREGOING, EXPORT, RE-EXPORT OR TRANSFER OF THE SOFTWARE
-TO CUBA, IRAN, NORTH KOREA, SUDAN AND SYRIA IS PROHIBITED.
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-7.2 Assignment. This Agreement shall be binding upon and inure to the
-benefit of the parties and their respective successors and assigns, provided,
-however that Licensee may not assign this Agreement or any rights or
-obligation hereunder, directly or indirectly, by operation of law or
-otherwise, without the prior written consent of InvenSense, and any such
-attempted assignment shall be void. Notwithstanding the foregoing, Licensee
-may assign this Agreement to a successor to all or substantially all of its
-business or assets to which this Agreement relates that is not a competitor
-of InvenSense.
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-7.3. Governing Law; Venue. This Agreement shall be governed by the laws of
-California without regard to any conflict-of-laws rules, and the United
-Nations Convention on Contracts for the International Sale of Goods is hereby
-excluded. The sole jurisdiction and venue for actions related to the subject
-matter hereof shall be the state and federal courts located in the County of
-Orange, California, and both parties hereby consent to such jurisdiction and
-venue.
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-7.4. Severability. All terms and provisions of this Agreement shall, if
-possible, be construed in a manner which makes them valid, but in the event
-any term or provision of this Agreement is found by a court of competent
-jurisdiction to be illegal or unenforceable, the validity or enforceability
-of the remainder of this Agreement shall not be affected if the illegal or
-unenforceable provision does not materially affect the intent of this
-Agreement. If the illegal or unenforceable provision materially affects the
-intent of the parties to this Agreement, this Agreement shall become
-terminated.
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-Agreement would cause irreparable harm and significant injury to InvenSense
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-the Agreement in addition to any other rights and remedies it may have.
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-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.
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-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
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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 <stdio.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-#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) ((a<b)?a:b)
-#elif defined EMPL_TARGET_MSP430
-#include "msp430.h"
-#include "msp430_i2c.h"
-#include "msp430_clock.h"
-#include "msp430_interrupt.h"
-#include "log.h"
-#define i2c_write msp430_i2c_write
-#define i2c_read msp430_i2c_read
-#define delay_ms msp430_delay_ms
-#define get_ms msp430_get_clock_ms
-static inline int reg_int_cb(struct int_param_s *int_param)
-{
- return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit,
- int_param->active_low);
-}
-#define log_i MPL_LOGI
-#define log_e MPL_LOGE
-/* labs is already defined by TI's toolchain. */
-/* fabs is for doubles. fabsf is for floats. */
-#define fabs fabsf
-#define min(a,b) ((a<b)?a:b)
-#elif defined EMPL_TARGET_UC3L0
-/* Instead of using the standard TWI driver from the ASF library, we're using
- * a TWI driver that follows the slave address + register address convention.
- */
-#include "twi.h"
-#include "delay.h"
-#include "sysclk.h"
-#include "log.h"
-#include "sensors_xplained.h"
-#include "uc3l0_clock.h"
-#define i2c_write(a, b, c, d) twi_write(a, b, d, c)
-#define i2c_read(a, b, c, d) twi_read(a, b, d, c)
-/* delay_ms is a function already defined in ASF. */
-#define get_ms uc3l0_get_clock_ms
-static inline int reg_int_cb(struct int_param_s *int_param)
-{
- sensor_board_irq_connect(int_param->pin, int_param->cb, int_param->arg);
- return 0;
-}
-#define log_i MPL_LOGI
-#define log_e MPL_LOGE
-/* UC3 is a 32-bit processor, so abs and labs are equivalent. */
-#define labs abs
-#define fabs(x) (((x)>0)?(x):-(x))
-#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<b)?a:b)
-#define log_i printf
-#define log_e printf
-static inline int reg_int_cb(struct int_param_s *int_param)
-{
- return 0; // no-op
-}
-#endif
-
-#if !defined MPU6050 && !defined MPU9150 && !defined MPU6500 && !defined MPU9250
-#error Which gyro are you using? Define MPUxxxx in your compiler options.
-#endif
-
-/* Time for some messy macro work. =]
- * #define MPU9150
- * is equivalent to..
- * #define MPU6050
- * #define AK8975_SECONDARY
- *
- * #define MPU9250
- * is equivalent to..
- * #define MPU6500
- * #define AK8963_SECONDARY
- */
-#if defined MPU9150
-#ifndef MPU6050
-#define MPU6050
-#endif /* #ifndef MPU6050 */
-#if defined AK8963_SECONDARY
-#error "MPU9150 and AK8963_SECONDARY cannot both be defined."
-#elif !defined AK8975_SECONDARY /* #if defined AK8963_SECONDARY */
-#define AK8975_SECONDARY
-#endif /* #if defined AK8963_SECONDARY */
-#elif defined MPU9250 /* #if defined MPU9150 */
-#ifndef MPU6500
-#define MPU6500
-#endif /* #ifndef MPU6500 */
-#if defined AK8975_SECONDARY
-#error "MPU9250 and AK8975_SECONDARY cannot both be defined."
-#elif !defined AK8963_SECONDARY /* #if defined AK8975_SECONDARY */
-#define AK8963_SECONDARY
-#endif /* #if defined AK8975_SECONDARY */
-#endif /* #if defined MPU9150 */
-
-#if defined AK8975_SECONDARY || defined AK8963_SECONDARY
-#define AK89xx_SECONDARY
-#else
-/* #warning "No compass = less profit for Invensense. Lame." */
-#endif
-
-static int set_int_enable(unsigned char enable);
-
-/* Hardware registers needed by driver. */
-struct gyro_reg_s {
- unsigned char who_am_i;
- unsigned char rate_div;
- unsigned char lpf;
- unsigned char prod_id;
- unsigned char user_ctrl;
- unsigned char fifo_en;
- unsigned char gyro_cfg;
- unsigned char accel_cfg;
- unsigned char accel_cfg2;
- unsigned char lp_accel_odr;
- unsigned char motion_thr;
- unsigned char motion_dur;
- unsigned char fifo_count_h;
- unsigned char fifo_r_w;
- unsigned char raw_gyro;
- unsigned char raw_accel;
- unsigned char temp;
- unsigned char int_enable;
- unsigned char dmp_int_status;
- unsigned char int_status;
- unsigned char accel_intel;
- unsigned char pwr_mgmt_1;
- unsigned char pwr_mgmt_2;
- unsigned char int_pin_cfg;
- unsigned char mem_r_w;
- unsigned char accel_offs;
- unsigned char i2c_mst;
- unsigned char bank_sel;
- unsigned char mem_start_addr;
- unsigned char prgm_start_h;
-#if defined AK89xx_SECONDARY
- unsigned char s0_addr;
- unsigned char s0_reg;
- unsigned char s0_ctrl;
- unsigned char s1_addr;
- unsigned char s1_reg;
- unsigned char s1_ctrl;
- unsigned char s4_ctrl;
- unsigned char s0_do;
- unsigned char s1_do;
- unsigned char i2c_delay_ctrl;
- unsigned char raw_compass;
- /* The I2C_MST_VDDIO bit is in this register. */
- unsigned char yg_offs_tc;
-#endif
-};
-
-/* Information specific to a particular device. */
-struct hw_s {
- unsigned char addr;
- unsigned short max_fifo;
- unsigned char num_reg;
- unsigned short temp_sens;
- short temp_offset;
- unsigned short bank_size;
-#if defined AK89xx_SECONDARY
- unsigned short compass_fsr;
-#endif
-};
-
-/* When entering motion interrupt mode, the driver keeps track of the
- * previous state so that it can be restored at a later time.
- * TODO: This is tacky. Fix it.
- */
-struct motion_int_cache_s {
- unsigned short gyro_fsr;
- unsigned char accel_fsr;
- unsigned short lpf;
- unsigned short sample_rate;
- unsigned char sensors_on;
- unsigned char fifo_sensors;
- unsigned char dmp_on;
-};
-
-/* Cached chip configuration data.
- * TODO: A lot of these can be handled with a bitmask.
- */
-struct chip_cfg_s {
- /* Matches gyro_cfg >> 3 & 0x03 */
- unsigned char gyro_fsr;
- /* Matches accel_cfg >> 3 & 0x03 */
- unsigned char accel_fsr;
- /* Enabled sensors. Uses same masks as fifo_en, NOT pwr_mgmt_2. */
- unsigned char sensors;
- /* Matches config register. */
- unsigned char lpf;
- unsigned char clk_src;
- /* Sample rate, NOT rate divider. */
- unsigned short sample_rate;
- /* Matches fifo_en register. */
- unsigned char fifo_enable;
- /* Matches int enable register. */
- unsigned char int_enable;
- /* 1 if devices on auxiliary I2C bus appear on the primary. */
- unsigned char bypass_mode;
- /* 1 if half-sensitivity.
- * NOTE: This doesn't belong here, but everything else in hw_s is const,
- * and this allows us to save some precious RAM.
- */
- unsigned char accel_half;
- /* 1 if device in low-power accel-only mode. */
- unsigned char lp_accel_mode;
- /* 1 if interrupts are only triggered on motion events. */
- unsigned char int_motion_only;
- struct motion_int_cache_s cache;
- /* 1 for active low interrupts. */
- unsigned char active_low_int;
- /* 1 for latched interrupts. */
- unsigned char latched_int;
- /* 1 if DMP is enabled. */
- unsigned char dmp_on;
- /* Ensures that DMP will only be loaded once. */
- unsigned char dmp_loaded;
- /* Sampling rate used when DMP is enabled. */
- unsigned short dmp_sample_rate;
-#ifdef AK89xx_SECONDARY
- /* Compass sample rate. */
- unsigned short compass_sample_rate;
- unsigned char compass_addr;
- short mag_sens_adj[3];
-#endif
-};
-
-/* Information for self-test. */
-struct test_s {
- unsigned long gyro_sens;
- unsigned long accel_sens;
- unsigned char reg_rate_div;
- unsigned char reg_lpf;
- unsigned char reg_gyro_fsr;
- unsigned char reg_accel_fsr;
- unsigned short wait_ms;
- unsigned char packet_thresh;
- float min_dps;
- float max_dps;
- float max_gyro_var;
- float min_g;
- float max_g;
- float max_accel_var;
-};
-
-/* Gyro driver state variables. */
-struct gyro_state_s {
- const struct gyro_reg_s *reg;
- const struct hw_s *hw;
- struct chip_cfg_s chip_cfg;
- const struct test_s *test;
-};
-
-/* Filter configurations. */
-enum lpf_e {
- INV_FILTER_256HZ_NOLPF2 = 0,
- INV_FILTER_188HZ,
- INV_FILTER_98HZ,
- INV_FILTER_42HZ,
- INV_FILTER_20HZ,
- INV_FILTER_10HZ,
- INV_FILTER_5HZ,
- INV_FILTER_2100HZ_NOLPF,
- NUM_FILTER
-};
-
-/* Full scale ranges. */
-enum gyro_fsr_e {
- INV_FSR_250DPS = 0,
- INV_FSR_500DPS,
- INV_FSR_1000DPS,
- INV_FSR_2000DPS,
- NUM_GYRO_FSR
-};
-
-/* Full scale ranges. */
-enum accel_fsr_e {
- INV_FSR_2G = 0,
- INV_FSR_4G,
- INV_FSR_8G,
- INV_FSR_16G,
- NUM_ACCEL_FSR
-};
-
-/* Clock sources. */
-enum clock_sel_e {
- INV_CLK_INTERNAL = 0,
- INV_CLK_PLL,
- NUM_CLK
-};
-
-/* Low-power accel wakeup rates. */
-enum lp_accel_rate_e {
-#if defined MPU6050
- INV_LPA_1_25HZ,
- INV_LPA_5HZ,
- INV_LPA_20HZ,
- INV_LPA_40HZ
-#elif defined MPU6500
- INV_LPA_0_3125HZ,
- INV_LPA_0_625HZ,
- INV_LPA_1_25HZ,
- INV_LPA_2_5HZ,
- INV_LPA_5HZ,
- INV_LPA_10HZ,
- INV_LPA_20HZ,
- INV_LPA_40HZ,
- INV_LPA_80HZ,
- INV_LPA_160HZ,
- INV_LPA_320HZ,
- INV_LPA_640HZ
-#endif
-};
-
-#define BIT_I2C_MST_VDDIO (0x80)
-#define BIT_FIFO_EN (0x40)
-#define BIT_DMP_EN (0x80)
-#define BIT_FIFO_RST (0x04)
-#define BIT_DMP_RST (0x08)
-#define BIT_FIFO_OVERFLOW (0x10)
-#define BIT_DATA_RDY_EN (0x01)
-#define BIT_DMP_INT_EN (0x02)
-#define BIT_MOT_INT_EN (0x40)
-#define BITS_FSR (0x18)
-#define BITS_LPF (0x07)
-#define BITS_HPF (0x07)
-#define BITS_CLK (0x07)
-#define BIT_FIFO_SIZE_1024 (0x40)
-#define BIT_FIFO_SIZE_2048 (0x80)
-#define BIT_FIFO_SIZE_4096 (0xC0)
-#define BIT_RESET (0x80)
-#define BIT_SLEEP (0x40)
-#define BIT_S0_DELAY_EN (0x01)
-#define BIT_S2_DELAY_EN (0x04)
-#define BITS_SLAVE_LENGTH (0x0F)
-#define BIT_SLAVE_BYTE_SW (0x40)
-#define BIT_SLAVE_GROUP (0x10)
-#define BIT_SLAVE_EN (0x80)
-#define BIT_I2C_READ (0x80)
-#define BITS_I2C_MASTER_DLY (0x1F)
-#define BIT_AUX_IF_EN (0x20)
-#define BIT_ACTL (0x80)
-#define BIT_LATCH_EN (0x20)
-#define BIT_ANY_RD_CLR (0x10)
-#define BIT_BYPASS_EN (0x02)
-#define BITS_WOM_EN (0xC0)
-#define BIT_LPA_CYCLE (0x20)
-#define BIT_STBY_XA (0x20)
-#define BIT_STBY_YA (0x10)
-#define BIT_STBY_ZA (0x08)
-#define BIT_STBY_XG (0x04)
-#define BIT_STBY_YG (0x02)
-#define BIT_STBY_ZG (0x01)
-#define BIT_STBY_XYZA (BIT_STBY_XA | BIT_STBY_YA | BIT_STBY_ZA)
-#define BIT_STBY_XYZG (BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG)
-
-#if defined AK8975_SECONDARY
-#define SUPPORTS_AK89xx_HIGH_SENS (0x00)
-#define AK89xx_FSR (9830)
-#elif defined AK8963_SECONDARY
-#define SUPPORTS_AK89xx_HIGH_SENS (0x10)
-#define AK89xx_FSR (4915)
-#endif
-
-#ifdef AK89xx_SECONDARY
-#define AKM_REG_WHOAMI (0x00)
-
-#define AKM_REG_ST1 (0x02)
-#define AKM_REG_HXL (0x03)
-#define AKM_REG_ST2 (0x09)
-
-#define AKM_REG_CNTL (0x0A)
-#define AKM_REG_ASTC (0x0C)
-#define AKM_REG_ASAX (0x10)
-#define AKM_REG_ASAY (0x11)
-#define AKM_REG_ASAZ (0x12)
-
-#define AKM_DATA_READY (0x01)
-#define AKM_DATA_OVERRUN (0x02)
-#define AKM_OVERFLOW (0x80)
-#define AKM_DATA_ERROR (0x40)
-
-#define AKM_BIT_SELF_TEST (0x40)
-
-#define AKM_POWER_DOWN (0x00 | SUPPORTS_AK89xx_HIGH_SENS)
-#define AKM_SINGLE_MEASUREMENT (0x01 | SUPPORTS_AK89xx_HIGH_SENS)
-#define AKM_FUSE_ROM_ACCESS (0x0F | SUPPORTS_AK89xx_HIGH_SENS)
-#define AKM_MODE_SELF_TEST (0x08 | SUPPORTS_AK89xx_HIGH_SENS)
-
-#define AKM_WHOAMI (0x48)
-#endif
-
-#if defined MPU6050
-const struct gyro_reg_s reg = {
- .who_am_i = 0x75,
- .rate_div = 0x19,
- .lpf = 0x1A,
- .prod_id = 0x0C,
- .user_ctrl = 0x6A,
- .fifo_en = 0x23,
- .gyro_cfg = 0x1B,
- .accel_cfg = 0x1C,
- .motion_thr = 0x1F,
- .motion_dur = 0x20,
- .fifo_count_h = 0x72,
- .fifo_r_w = 0x74,
- .raw_gyro = 0x43,
- .raw_accel = 0x3B,
- .temp = 0x41,
- .int_enable = 0x38,
- .dmp_int_status = 0x39,
- .int_status = 0x3A,
- .pwr_mgmt_1 = 0x6B,
- .pwr_mgmt_2 = 0x6C,
- .int_pin_cfg = 0x37,
- .mem_r_w = 0x6F,
- .accel_offs = 0x06,
- .i2c_mst = 0x24,
- .bank_sel = 0x6D,
- .mem_start_addr = 0x6E,
- .prgm_start_h = 0x70
-#ifdef AK89xx_SECONDARY
- ,.raw_compass = 0x49,
- .yg_offs_tc = 0x01,
- .s0_addr = 0x25,
- .s0_reg = 0x26,
- .s0_ctrl = 0x27,
- .s1_addr = 0x28,
- .s1_reg = 0x29,
- .s1_ctrl = 0x2A,
- .s4_ctrl = 0x34,
- .s0_do = 0x63,
- .s1_do = 0x64,
- .i2c_delay_ctrl = 0x67
-#endif
-};
-const struct hw_s hw = {
- .addr = 0x68,
- .max_fifo = 1024,
- .num_reg = 118,
- .temp_sens = 340,
- .temp_offset = -521,
- .bank_size = 256
-#if defined AK89xx_SECONDARY
- ,.compass_fsr = AK89xx_FSR
-#endif
-};
-
-const struct test_s test = {
- .gyro_sens = 32768/250,
- .accel_sens = 32768/16,
- .reg_rate_div = 0, /* 1kHz. */
- .reg_lpf = 1, /* 188Hz. */
- .reg_gyro_fsr = 0, /* 250dps. */
- .reg_accel_fsr = 0x18, /* 16g. */
- .wait_ms = 50,
- .packet_thresh = 5, /* 5% */
- .min_dps = 10.f,
- .max_dps = 105.f,
- .max_gyro_var = 0.14f,
- .min_g = 0.3f,
- .max_g = 0.95f,
- .max_accel_var = 0.14f
-};
-
-static struct gyro_state_s st = {
- .reg = ®,
- .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 <stdio.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-#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 <time.h>
-#include <unistd.h>
-#include <sys/time.h>
-
-#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/pthreads/WIN32/pthread_lib.lib b/interface/external/pthreads/WIN32/pthread_lib.lib
deleted file mode 100644
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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 <rpj@callisto.canberra.edu.au>
- *
- * 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 <windows.h>
-#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 <time.h>
-#else /* NEED_FTIME */
-/* use native WIN32 time API */
-#endif /* NEED_FTIME */
-
-#if defined(HAVE_SIGNAL_H)
-#include <signal.h>
-#endif /* HAVE_SIGNAL_H */
-
-#include <limits.h>
-
-/*
- * 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 <errno.h>
-#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 <sched.h>
-
-/*
- * 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 <unistd.h>, 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 <limits.h>, 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 <sys/types.h>
-#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 <signal.h> 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 <errno.h>
-#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 <sys/types.h>
-/* Required by Unix 98 */
-# include <time.h>
-# 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 <pthread.h>
#include <cstring>
#include <cstdlib>
#include <cstdio>