-
Notifications
You must be signed in to change notification settings - Fork 1
/
Copy pathinv_mpu_dmp_motion_driver.c
1345 lines (1230 loc) · 54.9 KB
/
inv_mpu_dmp_motion_driver.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/*
$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"
/* 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)
*/
#include <Arduino.h>
#include "arduino_mpu9250_i2c.h"
#include "arduino_mpu9250_clk.h"
#define i2c_write(a, b, c, d) arduino_i2c_write(a, b, c, d)
#define i2c_read(a, b, c, d) arduino_i2c_read(a, b, c, d)
#define delay_ms arduino_delay_ms
#define get_ms arduino_get_clock_ms
#define log_i _MLPrintLog
#define log_e _MLPrintLog
/* 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. */