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android_mt6572_jiabo/hardware/invensense/60xx/mlsdk/mllite/dmpDefault.c
FuQuan 3ff2876a30 first commit
2025-09-05 16:56:03 +08:00

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/*
$License:
Copyright 2011 InvenSense, Inc.
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
$
*/
/***************************************************************************** *
* $Id: dmpDefault.c 5627 2011-06-10 22:34:18Z nroyer $
******************************************************************************/
/* WARNING: autogenerated code, do not modify */
/**
* @defgroup DMPDEFAULT
* @brief Data and configuration for MLDmpDefaultOpen.
*
* @{
* @file inv_setup_dmp.c
* @brief Data and configuration for MLDmpDefaultOpen.
*/
#include "mltypes.h"
#include "dmpDefault.h"
#include "dmpKey.h"
#include "dmpmap.h"
#include "ml.h"
#include "mpu.h"
#include "mldl.h"
#include "mldl_cfg.h"
#define CFG_25 703
#define CFG_24 699
#define CFG_26 707
#define CFG_21 802
#define CFG_20 645
#define CFG_23 814
#define CFG_TAP4 808
#define CFG_TAP5 809
#define CFG_TAP6 810
#define CFG_1 783
#define CFG_TAP0 802
#define CFG_TAP1 804
#define CFG_TAP2 805
#define CFG_TAP3 806
#define FCFG_AZ 878
#define CFG_ORIENT_IRQ_1 715
#define CFG_ORIENT_IRQ_2 738
#define CFG_ORIENT_IRQ_3 743
#define CFG_TAP_QUANTIZE 647
#define FCFG_3 936
#define CFG_TAP_CLEAR_STICKY 817
#define FCFG_1 868
#define CFG_ACCEL_FILTER 968
#define FCFG_2 872
#define CFG_3D 521
#define CFG_3B 517
#define CFG_3C 519
#define FCFG_5 942
#define FCFG_4 857
#define FCFG_FSCALE 877
#define CFG_TAP_JERK 639
#define FCFG_6 996
#define CFG_12 797
#define FCFG_7 930
#define CFG_14 790
#define CFG_15 790
#define CFG_16 815
#define CFG_18 551
#define CFG_6 823
#define CFG_7 564
#define CFG_4 526
#define CFG_5 749
#define CFG_3 515
#define CFG_GYRO_SOURCE 777
#define CFG_8 772
#define CFG_9 778
#define CFG_ORIENT_2 733
#define CFG_ORIENT_1 713
#define FCFG_ACCEL_INPUT 904
#define CFG_TAP7 811
#define CFG_TAP_SAVE_ACCB 687
#define FCFG_ACCEL_INIT 831
#define D_0_22 (22)
#define D_0_24 (24)
#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_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_168 (256 + 168)
#define D_1_175 (256 + 175)
#define D_1_178 (256 + 178)
#define D_1_236 (256 + 236)
#define D_1_244 (256 + 244)
static const tKeyLabel dmpTConfig[] = {
{KEY_CFG_25, CFG_25},
{KEY_CFG_24, CFG_24},
{KEY_CFG_26, CFG_26},
{KEY_CFG_21, CFG_21},
{KEY_CFG_20, CFG_20},
{KEY_CFG_23, CFG_23},
{KEY_CFG_TAP4, CFG_TAP4},
{KEY_CFG_TAP5, CFG_TAP5},
{KEY_CFG_TAP6, CFG_TAP6},
{KEY_CFG_1, CFG_1},
{KEY_CFG_TAP0, CFG_TAP0},
{KEY_CFG_TAP1, CFG_TAP1},
{KEY_CFG_TAP2, CFG_TAP2},
{KEY_CFG_TAP3, CFG_TAP3},
{KEY_FCFG_AZ, FCFG_AZ},
{KEY_CFG_ORIENT_IRQ_1, CFG_ORIENT_IRQ_1},
{KEY_CFG_ORIENT_IRQ_2, CFG_ORIENT_IRQ_2},
{KEY_CFG_ORIENT_IRQ_3, CFG_ORIENT_IRQ_3},
{KEY_CFG_TAP_QUANTIZE, CFG_TAP_QUANTIZE},
{KEY_FCFG_3, FCFG_3},
{KEY_CFG_TAP_CLEAR_STICKY, CFG_TAP_CLEAR_STICKY},
{KEY_FCFG_1, FCFG_1},
//{KEY_CFG_ACCEL_FILTER, CFG_ACCEL_FILTER},
{KEY_FCFG_2, FCFG_2},
{KEY_CFG_3D, CFG_3D},
{KEY_CFG_3B, CFG_3B},
{KEY_CFG_3C, CFG_3C},
{KEY_FCFG_5, FCFG_5},
{KEY_FCFG_4, FCFG_4},
{KEY_FCFG_FSCALE, FCFG_FSCALE},
{KEY_CFG_TAP_JERK, CFG_TAP_JERK},
{KEY_FCFG_6, FCFG_6},
{KEY_CFG_12, CFG_12},
{KEY_FCFG_7, FCFG_7},
{KEY_CFG_14, CFG_14},
{KEY_CFG_15, CFG_15},
{KEY_CFG_16, CFG_16},
{KEY_CFG_18, CFG_18},
{KEY_CFG_6, CFG_6},
{KEY_CFG_7, CFG_7},
{KEY_CFG_4, CFG_4},
{KEY_CFG_5, CFG_5},
{KEY_CFG_3, CFG_3},
{KEY_CFG_GYRO_SOURCE, CFG_GYRO_SOURCE},
{KEY_CFG_8, CFG_8},
{KEY_CFG_9, CFG_9},
{KEY_CFG_ORIENT_2, CFG_ORIENT_2},
{KEY_CFG_ORIENT_1, CFG_ORIENT_1},
{KEY_FCFG_ACCEL_INPUT, FCFG_ACCEL_INPUT},
{KEY_CFG_TAP7, CFG_TAP7},
{KEY_CFG_TAP_SAVE_ACCB, CFG_TAP_SAVE_ACCB},
{KEY_FCFG_ACCEL_INIT, FCFG_ACCEL_INIT},
{KEY_D_0_22, D_0_22},
{KEY_D_0_24, D_0_24},
{KEY_D_0_36, D_0_36},
{KEY_D_0_52, D_0_52},
{KEY_D_0_96, D_0_96},
{KEY_D_0_104, D_0_104},
{KEY_D_0_108, D_0_108},
{KEY_D_0_163, D_0_163},
{KEY_D_0_188, D_0_188},
{KEY_D_0_192, D_0_192},
{KEY_D_0_224, D_0_224},
{KEY_D_0_228, D_0_228},
{KEY_D_0_232, D_0_232},
{KEY_D_0_236, D_0_236},
{KEY_DMP_PREVPTAT, DMP_PREVPTAT},
{KEY_D_1_2, D_1_2},
{KEY_D_1_4, D_1_4},
{KEY_D_1_8, D_1_8},
{KEY_D_1_10, D_1_10},
{KEY_D_1_24, D_1_24},
{KEY_D_1_28, D_1_28},
{KEY_D_1_92, D_1_92},
{KEY_D_1_96, D_1_96},
{KEY_D_1_98, D_1_98},
{KEY_D_1_106, D_1_106},
{KEY_D_1_108, D_1_108},
{KEY_D_1_112, D_1_112},
{KEY_D_1_128, D_1_128},
{KEY_D_1_152, D_1_152},
{KEY_D_1_168, D_1_168},
{KEY_D_1_175, D_1_175},
{KEY_D_1_178, D_1_178},
{KEY_D_1_236, D_1_236},
{KEY_D_1_244, D_1_244},
{KEY_DMP_TAPW_MIN, DMP_TAPW_MIN},
{KEY_DMP_TAP_THR_X, DMP_TAP_THX},
{KEY_DMP_TAP_THR_Y, DMP_TAP_THY},
{KEY_DMP_TAP_THR_Z, DMP_TAP_THZ},
{KEY_DMP_SH_TH_Y, DMP_SH_TH_Y},
{KEY_DMP_SH_TH_X, DMP_SH_TH_X},
{KEY_DMP_SH_TH_Z, DMP_SH_TH_Z},
{KEY_DMP_ORIENT, DMP_ORIENT}
};
#define NUM_LOCAL_KEYS (sizeof(dmpTConfig)/sizeof(dmpTConfig[0]))
static const unsigned short sConfig = 0x013f;
#define SCD (1024)
static const unsigned char dmpMemory[SCD] = {
0xfb, 0x00, 0x00, 0x3e, 0x00, 0x0b, 0x00, 0x36, 0x5a, 0xd6, 0x96, 0x06, 0x3f, 0xa3, 0x00, 0x00,
0x20, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x77, 0x8e, 0x00, 0x01, 0x00, 0x01,
0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x28, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x03, 0xe8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7f, 0xff, 0xff, 0xfe, 0x80, 0x01,
0x02, 0x00, 0x00, 0x01, 0x04, 0x00, 0x00, 0x03, 0x06, 0x00, 0x00, 0x05, 0x01, 0xe9, 0xa2, 0x0f,
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, 0x00, 0x00, 0x3e, 0x00, 0x02, 0xb4, 0x8b, 0x00, 0x00, 0x7a, 0xdf, 0x00, 0x02, 0x5b, 0x2f,
0xfc, 0xba, 0xfa, 0x00, 0x01, 0x00, 0x80, 0x00, 0x02, 0x01, 0x80, 0x00, 0x03, 0x02, 0x80, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0xb4, 0x8b, 0x00, 0x00, 0x7a, 0xdf, 0x00, 0x02, 0x5b, 0x2f,
0x00, 0x7d, 0x32, 0xba, 0x00, 0x0a, 0x1e, 0xd1, 0x00, 0x3a, 0xe8, 0x25, 0x00, 0x00, 0x00, 0x00,
0x3f, 0xd7, 0x96, 0x08, 0xff, 0xb3, 0x39, 0xf5, 0xfe, 0x11, 0x1b, 0x62, 0xfb, 0xf4, 0xb4, 0x52,
0xfb, 0x8c, 0x6f, 0x5d, 0xfd, 0x5d, 0x08, 0xd9, 0x00, 0x7c, 0x73, 0x3b, 0x00, 0x6c, 0x12, 0xcc,
0x32, 0x00, 0x13, 0x9d, 0x32, 0x00, 0xd0, 0xd6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xf4,
0x0d, 0x68, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xd0, 0xd6, 0x00, 0x00, 0x27, 0x10,
0xfb, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00,
0x00, 0x00, 0xfa, 0x36, 0xff, 0xbc, 0x30, 0x8e, 0x00, 0x05, 0xfb, 0xf0, 0xff, 0xd9, 0x5b, 0xc8,
0x3e, 0x80, 0x00, 0x00, 0x3e, 0x80, 0x00, 0x00, 0x3e, 0x80, 0x00, 0x00, 0x12, 0x82, 0x2d, 0x90,
0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x02, 0xff, 0xff, 0x00, 0x05, 0x02, 0x00, 0x00, 0x0c,
0x00, 0x03, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x03, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x20, 0x00, 0xff, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xb2, 0x6a, 0x00, 0x00, 0x00, 0x00,
0xff, 0xec, 0x3f, 0xc8, 0xff, 0xee, 0x00, 0x00, 0xff, 0xfe, 0x40, 0x00, 0xff, 0xff, 0xff, 0xc8,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0xff, 0xff, 0xff, 0xff, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00,
0x00, 0x00, 0x00, 0x33, 0x00, 0x00, 0x03, 0x65, 0x00, 0x00, 0x00, 0x99, 0x00, 0x00, 0x02, 0xf5,
0x9e, 0xc5, 0xa3, 0x8a, 0x22, 0x8a, 0x6e, 0x8a, 0x56, 0x8a, 0x5e, 0x9f, 0xc1, 0x83, 0x06, 0x26,
0x46, 0x66, 0x0e, 0x2e, 0x4e, 0x6e, 0x9d, 0xc4, 0xad, 0x00, 0x2c, 0x54, 0x7c, 0xf9, 0xc5, 0xa3,
0xc1, 0xc3, 0x8f, 0x96, 0x19, 0xa6, 0x81, 0xda, 0x0c, 0xd9, 0x2e, 0xd8, 0xa3, 0x86, 0x31, 0x81,
0xa6, 0xd9, 0x30, 0x26, 0xd8, 0xd8, 0xfa, 0xc1, 0x8c, 0xc2, 0x99, 0xc5, 0xa3, 0x2d, 0x55, 0x7d,
0x81, 0x91, 0xac, 0x38, 0xad, 0x3a, 0xc3, 0x83, 0x91, 0xac, 0x2d, 0xd9, 0x28, 0xd8, 0x4d, 0xd9,
0x48, 0xd8, 0x6d, 0xd9, 0x68, 0xd8, 0x8c, 0x9d, 0xae, 0x29, 0xd9, 0x04, 0xae, 0xd8, 0x51, 0xd9,
0x04, 0xae, 0xd8, 0x79, 0xd9, 0x04, 0xd8, 0x81, 0xfb, 0x9d, 0xad, 0x00, 0x8d, 0xae, 0x19, 0x81,
0xad, 0xd9, 0x01, 0xd8, 0xfa, 0xae, 0xda, 0x26, 0xd8, 0x8e, 0x91, 0x29, 0x83, 0xa7, 0xd9, 0xad,
0xad, 0xad, 0xad, 0xfb, 0x2a, 0xd8, 0xd8, 0xf9, 0xc0, 0xac, 0x89, 0x91, 0x3e, 0x5e, 0x76, 0xfb,
0xac, 0x2e, 0x2e, 0xf9, 0xc1, 0x8c, 0x5a, 0x9c, 0xac, 0x2c, 0x28, 0x28, 0x28, 0x9c, 0xac, 0x30,
0x18, 0xa8, 0x98, 0x81, 0x28, 0x34, 0x3c, 0x97, 0x24, 0xa7, 0x28, 0x34, 0x3c, 0x9c, 0x24, 0xfa,
0xc0, 0x89, 0xac, 0x91, 0x2c, 0x4c, 0x6c, 0x8a, 0x9b, 0x2d, 0xd9, 0xd8, 0xd8, 0x51, 0xd9, 0xd8,
0xd8, 0x79, 0xd9, 0xd8, 0xd8, 0xf9, 0x9e, 0x88, 0xa3, 0x31, 0xda, 0xd8, 0xd8, 0x91, 0x2d, 0xd9,
0x28, 0xd8, 0x4d, 0xd9, 0x48, 0xd8, 0x6d, 0xd9, 0x68, 0xd8, 0xc1, 0x83, 0x93, 0x35, 0x3d, 0x80,
0x25, 0xda, 0xd8, 0xd8, 0x85, 0x69, 0xda, 0xd8, 0xd8, 0xf9, 0xc2, 0x93, 0x81, 0xa3, 0x28, 0x34,
0x3c, 0xfb, 0x91, 0xab, 0x8b, 0x18, 0xa3, 0x09, 0xd9, 0xab, 0x97, 0x0a, 0x91, 0x3c, 0xc0, 0x87,
0x9c, 0xc5, 0xa3, 0xdd, 0xf9, 0xa3, 0xa3, 0xa3, 0xa3, 0x95, 0xf9, 0xa3, 0xa3, 0xa3, 0x9d, 0xf9,
0xa3, 0xa3, 0xa3, 0xa3, 0xf9, 0x90, 0xa3, 0xa3, 0xa3, 0xa3, 0x91, 0xc3, 0x99, 0xf9, 0xa3, 0xa3,
0xa3, 0x98, 0xf9, 0xa3, 0xa3, 0xa3, 0xa3, 0x97, 0xa3, 0xa3, 0xa3, 0xa3, 0xfb, 0x9b, 0xa3, 0xa3,
0xdc, 0xc5, 0xa7, 0xf9, 0x26, 0x26, 0x26, 0xd8, 0xd8, 0xff, 0xd8, 0xd8, 0xd8, 0xd8, 0xd8, 0xc1,
0xc2, 0xc4, 0x81, 0xa0, 0x90, 0xfa, 0x2c, 0x80, 0x74, 0xfb, 0x70, 0xfa, 0x7c, 0xc0, 0x86, 0x98,
0xa8, 0xf9, 0xc9, 0x88, 0xa1, 0xfa, 0x0e, 0x97, 0x80, 0xf9, 0xa9, 0x2e, 0x2e, 0x2e, 0xaa, 0x2e,
0x2e, 0x2e, 0xfa, 0xaa, 0xc9, 0x2c, 0xcb, 0xa9, 0x4c, 0xcd, 0x6c, 0xf9, 0x89, 0xa5, 0xca, 0xcd,
0xcf, 0xc3, 0x9e, 0xa9, 0x3e, 0x5e, 0x7e, 0x85, 0xa5, 0x1a, 0x3e, 0x5e, 0xc2, 0xa5, 0x99, 0xfb,
0x08, 0x34, 0x5c, 0xf9, 0xa9, 0xc9, 0xcb, 0xcd, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97,
0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0x97, 0xa9,
0xf9, 0x89, 0x26, 0x46, 0x66, 0x8a, 0xa8, 0x96, 0x36, 0x56, 0x76, 0xaa, 0x98, 0x82, 0x87, 0x2d,
0x35, 0x3d, 0xc5, 0xa3, 0xc2, 0xc1, 0x97, 0x80, 0x4a, 0x4e, 0x4e, 0xa3, 0xfa, 0x48, 0xcd, 0xc9,
0xf9, 0xc4, 0xa9, 0x99, 0x83, 0x0d, 0x35, 0x5d, 0x89, 0xc5, 0xa3, 0x2d, 0x55, 0x7d, 0xc3, 0x93,
0xa3, 0x0e, 0x16, 0x1e, 0xa9, 0x2c, 0x54, 0x7c, 0xc0, 0xc2, 0x83, 0x97, 0xaf, 0x08, 0xc4, 0xa8,
0x11, 0xc1, 0x8f, 0xc5, 0xaf, 0x98, 0xf8, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xf9, 0xa3, 0x29,
0x55, 0x7d, 0xaf, 0x83, 0xc3, 0x93, 0xaf, 0xf8, 0x00, 0x28, 0x50, 0xc4, 0xc2, 0xc0, 0xf9, 0x97,
};
static tKeyLabel keys[NUM_KEYS];
static unsigned short inv_setup_dmpGetAddress(unsigned short key)
{
static int isSorted = 0;
if ( !isSorted ) {
int kk;
for (kk=0; kk<NUM_KEYS; ++kk) {
keys[ kk ].addr = 0xffff;
keys[ kk ].key = kk;
}
for (kk=0; kk<NUM_LOCAL_KEYS; ++kk) {
keys[ dmpTConfig[kk].key ].addr = dmpTConfig[kk].addr;
}
isSorted = 1;
}
if ( key >= NUM_KEYS )
return 0xffff;
return keys[ key ].addr;
}
/**
* @brief
* @return INV_SUCCESS or a non-zero error code.
*/
inv_error_t inv_setup_dmp(void)
{
inv_error_t result;
inv_set_get_address( inv_setup_dmpGetAddress );
result = inv_clock_source(MPU_CLK_SEL_PLLGYROZ);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = inv_dl_cfg_sampling(MPU_FILTER_42HZ, 4);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = inv_set_full_scale(2000.f);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = inv_load_dmp(dmpMemory, SCD, sConfig);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = inv_set_ignore_system_suspend(FALSE);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
if (inv_accel_present())
{
struct ext_slave_config config;
long odr;
config.key = MPU_SLAVE_CONFIG_ODR_SUSPEND;
config.len = sizeof(long);
config.apply = FALSE;
config.data = &odr;
odr = 0;
result = inv_mpu_config_accel(inv_get_dl_config(),
inv_get_serial_handle(),
inv_get_serial_handle(),
&config);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
config.key = MPU_SLAVE_CONFIG_ODR_RESUME;
odr = 200000;
result = inv_mpu_config_accel(inv_get_dl_config(),
inv_get_serial_handle(),
inv_get_serial_handle(),
&config);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
config.key = MPU_SLAVE_CONFIG_IRQ_SUSPEND;
odr = MPU_SLAVE_IRQ_TYPE_NONE;
result = inv_mpu_config_accel(inv_get_dl_config(),
inv_get_serial_handle(),
inv_get_serial_handle(),
&config);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
config.key = MPU_SLAVE_CONFIG_IRQ_RESUME;
odr = MPU_SLAVE_IRQ_TYPE_NONE;
result = inv_mpu_config_accel(inv_get_dl_config(),
inv_get_serial_handle(),
inv_get_serial_handle(),
&config);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
}
return result;
}
/**
* @}
*/
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