diff options
Diffstat (limited to 'drivers/iio/imu/inv_mpu/dmpDefaultMPU6050.c')
| -rw-r--r-- | drivers/iio/imu/inv_mpu/dmpDefaultMPU6050.c | 323 |
1 files changed, 323 insertions, 0 deletions
diff --git a/drivers/iio/imu/inv_mpu/dmpDefaultMPU6050.c b/drivers/iio/imu/inv_mpu/dmpDefaultMPU6050.c new file mode 100644 index 00000000..b49fc0a5 --- /dev/null +++ b/drivers/iio/imu/inv_mpu/dmpDefaultMPU6050.c @@ -0,0 +1,323 @@ +/* + * Copyright (C) 2012 Invensense, Inc. + * + * This software is licensed under the terms of the GNU General Public + * License version 2, as published by the Free Software Foundation, and + * may be copied, distributed, and modified under those terms. + * + * This program 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 General Public License for more details. + * + */ +/** + * @addtogroup DRIVERS + * @brief Hardware drivers. + * + * @{ + * @file dmpDefaultMPU6050.c + * @brief dmp Default data + * @details This file is part of invensense mpu driver code + * + */ + +#include "dmpKey.h" +#include "dmpmap.h" + +#define CFG_LP_QUAT (2710) +#define END_ORIENT_TEMP (1874) +#define CFG_27 (2738) +#define CFG_20 (2232) +#define CFG_23 (2741) +#define CFG_FIFO_ON_EVENT (2687) +#define END_PREDICTION_UPDATE (1769) +#define CGNOTICE_INTR (2629) +#define X_GRT_Y_TMP (1366) +#define CFG_DR_INT (1029) +#define CFG_AUTH (1035) +#define UPDATE_PROP_ROT (1843) +#define FCFG_1 (1062) +#define SKIP_X_GRT_Y_TMP (1367) +#define SKIP_END_COMPARE (1443) +#define FCFG_3 (1110) +#define FCFG_2 (1066) +#define END_COMPARE_Y_X_TMP2 (1463) +#define END_COMPARE_Y_X_TMP3 (1442) +#define FCFG_7 (1076) +#define FCFG_6 (1128) +#define FLAT_STATE_END (1721) +#define SWING_END_4 (1624) +#define SWING_END_2 (1573) +#define SWING_END_3 (1595) +#define SWING_END_1 (1558) +#define CFG_8 (2716) +#define CFG_15 (2724) +#define CFG_16 (2742) +#define FLAT_STATE_END_TEMP (1691) +#define END_COMPARE_Y_X_TMP (1415) +#define DO_NOT_UPDATE_PROP_ROT (1847) +#define CFG_7 (1221) +#define END_COMPARE_Y_X (1492) +#define SKIP_SWING_END_1 (1559) +#define SKIP_SWING_END_3 (1596) +#define SKIP_SWING_END_2 (1574) +#define TILTG75_START (1680) +#define CFG_6 (2749) +#define TILTL75_END (1677) +#define END_ORIENT (1892) +#define CFG_FLICK_IN (2582) +#define TILTL75_START (1651) +#define CFG_MOTION_BIAS (1224) +#define X_GRT_Y (1416) +#define TEMPLABEL (2332) +#define CFG_DISPLAY_ORIENT_INT (1861) +#define X_GRT_Y_TMP2 (1387) + +#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_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) + +static const struct tKeyLabel dmpTConfig[] = { + {KEY_CFG_27, CFG_27}, + {KEY_CFG_20, CFG_20}, + {KEY_CFG_23, CFG_23}, + {KEY_CFG_FIFO_ON_EVENT, CFG_FIFO_ON_EVENT}, + {KEY_CGNOTICE_INTR, CGNOTICE_INTR}, + {KEY_X_GRT_Y_TMP, X_GRT_Y_TMP}, + {KEY_CFG_DR_INT, CFG_DR_INT}, + {KEY_CFG_AUTH, CFG_AUTH}, + {KEY_FCFG_1, FCFG_1}, + {KEY_SKIP_X_GRT_Y_TMP, SKIP_X_GRT_Y_TMP}, + {KEY_SKIP_END_COMPARE, SKIP_END_COMPARE}, + {KEY_FCFG_3, FCFG_3}, + {KEY_FCFG_2, FCFG_2}, + {KEY_END_COMPARE_Y_X_TMP2, END_COMPARE_Y_X_TMP2}, + {KEY_CFG_DISPLAY_ORIENT_INT, CFG_DISPLAY_ORIENT_INT}, + {KEY_FCFG_7, FCFG_7}, + {KEY_FCFG_6, FCFG_6}, + {KEY_CFG_8, CFG_8}, + {KEY_CFG_15, CFG_15}, + {KEY_CFG_16, CFG_16}, + {KEY_END_COMPARE_Y_X_TMP, END_COMPARE_Y_X_TMP}, + {KEY_CFG_6, CFG_6}, + {KEY_END_COMPARE_Y_X, END_COMPARE_Y_X}, + {KEY_CFG_LP_QUAT, CFG_LP_QUAT}, + {KEY_END_ORIENT, END_ORIENT}, + {KEY_CFG_FLICK_IN, CFG_FLICK_IN}, + {KEY_CFG_7, CFG_7}, + {KEY_CFG_MOTION_BIAS, CFG_MOTION_BIAS}, + {KEY_X_GRT_Y, X_GRT_Y}, + {KEY_TEMPLABEL, TEMPLABEL}, + {KEY_END_COMPARE_Y_X_TMP3, END_COMPARE_Y_X_TMP3}, + {KEY_X_GRT_Y_TMP2, X_GRT_Y_TMP2}, + {KEY_D_0_22, D_0_22}, + {KEY_D_0_96, D_0_96}, + {KEY_D_0_104, D_0_104}, + {KEY_D_0_108, D_0_108}, + {KEY_D_1_36, D_1_36}, + {KEY_D_1_40, D_1_40}, + {KEY_D_1_44, D_1_44}, + {KEY_D_1_72, D_1_72}, + {KEY_D_1_74, D_1_74}, + {KEY_D_1_79, D_1_79}, + {KEY_D_1_88, D_1_88}, + {KEY_D_1_90, D_1_90}, + {KEY_D_1_92, D_1_92}, + {KEY_D_1_160, D_1_160}, + {KEY_D_1_176, D_1_176}, + {KEY_D_1_178, D_1_178}, + {KEY_D_1_218, D_1_218}, + {KEY_D_1_232, D_1_232}, + {KEY_D_1_250, D_1_250}, + {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}, + {KEY_D_AUTH_OUT, D_AUTH_OUT}, + {KEY_D_AUTH_IN, D_AUTH_IN}, + {KEY_D_AUTH_A, D_AUTH_A}, + {KEY_D_AUTH_B, D_AUTH_B}, + {KEY_CPASS_BIAS_X, CPASS_BIAS_X}, + {KEY_CPASS_BIAS_Y, CPASS_BIAS_Y}, + {KEY_CPASS_BIAS_Z, CPASS_BIAS_Z}, + {KEY_CPASS_MTX_00, CPASS_MTX_00}, + {KEY_CPASS_MTX_01, CPASS_MTX_01}, + {KEY_CPASS_MTX_02, CPASS_MTX_02}, + {KEY_CPASS_MTX_10, CPASS_MTX_10}, + {KEY_CPASS_MTX_11, CPASS_MTX_11}, + {KEY_CPASS_MTX_12, CPASS_MTX_12}, + {KEY_CPASS_MTX_20, CPASS_MTX_20}, + {KEY_CPASS_MTX_21, CPASS_MTX_21}, + {KEY_CPASS_MTX_22, CPASS_MTX_22}, + {KEY_D_ACT0, D_ACT0}, + {KEY_D_ACSX, D_ACSX}, + {KEY_D_ACSY, D_ACSY}, + {KEY_D_ACSZ, D_ACSZ}, + {KEY_FLICK_MSG, FLICK_MSG}, + {KEY_FLICK_COUNTER, FLICK_COUNTER}, + {KEY_FLICK_LOWER, FLICK_LOWER}, + {KEY_FLICK_UPPER, FLICK_UPPER}, + {KEY_D_PEDSTD_BP_B, D_PEDSTD_BP_B}, + {KEY_D_PEDSTD_HP_A, D_PEDSTD_HP_A}, + {KEY_D_PEDSTD_HP_B, D_PEDSTD_HP_B}, + {KEY_D_PEDSTD_BP_A4, D_PEDSTD_BP_A4}, + {KEY_D_PEDSTD_BP_A3, D_PEDSTD_BP_A3}, + {KEY_D_PEDSTD_BP_A2, D_PEDSTD_BP_A2}, + {KEY_D_PEDSTD_BP_A1, D_PEDSTD_BP_A1}, + {KEY_D_PEDSTD_INT_THRSH, D_PEDSTD_INT_THRSH}, + {KEY_D_PEDSTD_CLIP, D_PEDSTD_CLIP}, + {KEY_D_PEDSTD_SB, D_PEDSTD_SB}, + {KEY_D_PEDSTD_SB_TIME, D_PEDSTD_SB_TIME}, + {KEY_D_PEDSTD_PEAKTHRSH, D_PEDSTD_PEAKTHRSH}, + {KEY_D_PEDSTD_TIML, D_PEDSTD_TIML}, + {KEY_D_PEDSTD_TIMH, D_PEDSTD_TIMH}, + {KEY_D_PEDSTD_PEAK, D_PEDSTD_PEAK}, + {KEY_D_PEDSTD_STEPCTR, D_PEDSTD_STEPCTR}, + {KEY_D_PEDSTD_TIMECTR, D_PEDSTD_TIMECTR}, + {KEY_D_PEDSTD_DECI, D_PEDSTD_DECI}, + {KEY_D_HOST_NO_MOT, D_HOST_NO_MOT}, + {KEY_D_ACCEL_BIAS, D_ACCEL_BIAS}, +}; +#define NUM_LOCAL_KEYS (sizeof(dmpTConfig)/sizeof(dmpTConfig[0])) + +static struct tKeyLabel keys[NUM_KEYS]; + +unsigned short inv_dmp_get_address(unsigned short key) +{ + static int isSorted; + 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; +} +/** + * @} + */ |