/**
* @brief An MPL wrapper for the main MPU Self Test API inv_factory_calibrate().
* See inv_factory_calibrate() function for more details.
*
* @pre inv_dmp_open() <b>must</b> have been called to populate the mldl_cfg
* data structure.
* On Windows, SetupPlatform() is also a madatory pre condition to
* ensure the accelerometer is properly configured before running the
* test.
*
* @param mlsl_handle
* serial interface handle to allow serial communication with the
* device, both gyro and accelerometer.
* @param provide_result
* If 1:
* perform and analyze the offset, drive frequency, and noise
* calculation and compare it against set thresholds. Report
* also the final result using a bit-mask like error code as
* described in the inv_test_gyro_xxxx() functions.
* When 0:
* skip the noise and drive frequency calculation and pass/fail
* assessment. It simply calculates the gyro and accel biases.
* NOTE: for MPU6050 devices, this parameter is currently
* ignored.
*
* @return INV_SUCCESS or first non-zero error code otherwise.
*/
inv_error_t inv_self_test_factory_calibrate(void *mlsl_handle,
unsigned char provide_result)
{
INVENSENSE_FUNC_START;
inv_error_t firstError = INV_SUCCESS;
inv_error_t result;
unsigned char initState = inv_get_state();
if (initState < INV_STATE_DMP_OPENED) {
MPL_LOGE("Self Test cannot run before inv_dmp_open()\n");
return INV_ERROR_SM_IMPROPER_STATE;
}
/* obtain a pointer to the 'struct mldl_cfg' data structure. */
mputestCfgPtr = inv_get_dl_config();
if(initState == INV_STATE_DMP_STARTED) {
result = inv_dmp_stop();
ERROR_CHECK_FIRST(firstError, result);
}
result = inv_factory_calibrate(mlsl_handle, provide_result);
ERROR_CHECK_FIRST(firstError, result);
if(initState == INV_STATE_DMP_STARTED) {
result = inv_dmp_start();
ERROR_CHECK_FIRST(firstError, result);
}
return firstError;
}
/**
* @brief Closes the motion sensor engine.
* Does not close the serial communication. To do that,
* call MLSerialClose().
* After calling MLDmpClose() another DMP module can be
* loaded in the MPL with the corresponding necessary
* intialization and configurations, via any of the
* MLDmpXXXOpen functions.
*
* @pre MLDmpOpen() must have been called.
*
* @code
* result = MLDmpClose();
* if (ML_SUCCESS != result) {
* // Handle the error case
* }
* @endcode
*
* @return ML_SUCCESS, Non-zero error code otherwise.
*/
tMLError MLDmpClose(void)
{
INVENSENSE_FUNC_START;
tMLError result;
tMLError firstError = ML_SUCCESS;
if (MLGetState() <= ML_STATE_DMP_CLOSED)
return ML_SUCCESS;
result = MLDLDmpStop(ML_ALL_SENSORS);
ERROR_CHECK_FIRST(firstError, result);
result = FIFOClose();
ERROR_CHECK_FIRST(firstError, result);
result = MLDLClose();
ERROR_CHECK_FIRST(firstError, result);
result = MLStateTransition(ML_STATE_SERIAL_OPENED);
ERROR_CHECK_FIRST(firstError, result);
return result;
}