static void setup_dmp(char *dev_path){
char sysfs_path[200];
int ret;
FILE *fd;
sprintf(sysfs_path, "%s", dev_path);
printf("sysfs: %s\n", sysfs_path);
ret = write_sysfs_int_and_verify("power_state", sysfs_path, 1);
if (ret < 0)
return;
ret = write_sysfs_int("in_accel_scale", dev_path, 0);
if (ret < 0)
return;
ret = write_sysfs_int("in_anglvel_scale", dev_path, 3);
if (ret < 0)
return;
ret = write_sysfs_int("sampling_frequency", sysfs_path, 200);
if (ret < 0)
return;
ret = write_sysfs_int_and_verify("firmware_loaded", sysfs_path, 0);
if (ret < 0)
return;
sprintf(dmp_path, "%s/dmp_firmware", dev_path);
if ((fd = fopen(dmp_path, "wb")) < 0 ) {
perror("dmp fail");
}
inv_load_dmp(fd);
fclose(fd);
printf("firmware_loaded=%d\n", read_sysfs_posint("firmware_loaded", sysfs_path));
ret = write_sysfs_int_and_verify("dmp_on", sysfs_path, 1);
if (ret < 0)
return;
ret = write_sysfs_int_and_verify("dmp_int_on", sysfs_path, 1);
if (ret < 0)
return;
/* selelct which event to enable and interrupt on/off here */
//enable_glu(sysfs_path, 0);
ret = write_sysfs_int_and_verify("tap_on", sysfs_path, 0);
if (ret < 0)
return;
ret = write_sysfs_int_and_verify("pedometer_int_on", sysfs_path, 1);
ret = write_sysfs_int_and_verify("pedometer_on", sysfs_path, 1);
ret = write_sysfs_int_and_verify("dmp_event_int_on", sysfs_path, 1);
write_sysfs_int64("pedometer_steps", sysfs_path, 0x3ffffffff);
write_sysfs_int64("pedometer_time", sysfs_path, 0xffffffff);
if (ret < 0)
return;
ret = setup_offset_and_bias();
return;
}
/**
* @brief
* @return INV_SUCCESS or a non-zero error code.
*/
inv_error_t inv_setup_dmp(void)
{
inv_error_t result;
struct mldl_cfg * mldl_cfg = inv_get_dl_config();
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, DMP_CODE_SIZE, 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 (mldl_cfg->slave[EXT_SLAVE_TYPE_ACCEL] &&
mldl_cfg->slave[EXT_SLAVE_TYPE_ACCEL]->config) {
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(mldl_cfg,
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(mldl_cfg,
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(mldl_cfg,
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(mldl_cfg,
inv_get_serial_handle(),
inv_get_serial_handle(),
&config);
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
}
return result;
}
