/**
* @brief Initializes the MPL. Should be called first and once
* @return Returns INV_SUCCESS if successful or an error code if not.
*/
inv_error_t inv_init_mpl(void)
{
inv_init_storage_manager();
/* initialize the start callback manager */
INV_ERROR_CHECK(inv_init_start_manager());
/* initialize the data builder */
INV_ERROR_CHECK(inv_init_data_builder());
INV_ERROR_CHECK(inv_enable_results_holder());
return INV_SUCCESS;
}
/*******************************************************************************
* M a i n
******************************************************************************/
int main(int argc, char **argv)
{
FILE *fptr;
int self_test_status = 0;
inv_error_t result;
bias_dtype gyro_bias[3];
bias_dtype gyro_scale;
bias_dtype accel_bias[3];
bias_dtype accel_scale;
int scale_ratio;
size_t packet_sz;
int axis_sign = 1;
unsigned char *buffer;
long timestamp;
long long temperature = 0;
bool compass_present = true;
int c;
result= inv_init_sysfs_attributes();
if (result)
return -1;
// Self-test for Non-Hub
inv_init_storage_manager();
// Register packet to be saved.
result = inv_register_load_store(
inv_db_load_func, inv_db_save_func,
sizeof(save_data), INV_DB_SAVE_KEY);
// Self-test for Android Hub
if (android_hub() == true) {
printf(" android_hub() == true \n");
fptr = fopen(mpu.self_test, "r");
if (fptr) {
fscanf(fptr, "%d", &self_test_status);
printf("\nSelf-Test:Hub:Self test result - "
"Gyro passed= %x, Accel passed= %x, Compass passed= %x\n",
(self_test_status & GYRO_PASS_STATUS_BIT),
(self_test_status & ACCEL_PASS_STATUS_BIT) >> 1,
(self_test_status & COMPASS_PASS_STATUS_BIT) >> 2);
fclose(fptr);
result = 0;
} else {
