uint8_t mpu_configure_fifo(uint8_t sensors)
{
uint8_t prev;
uint8_t result = 0;
/* Compass data isn't going into the FIFO. Stop trying. */
sensors &= ~MPU_XYZ_COMPASS;
if (mpu9250_st.dmp_on){
return 0;
} else {
if (!(mpu9250_st.sensors))
return -1;
prev = mpu9250_st.fifo_enable;
mpu9250_st.fifo_enable = sensors & mpu9250_st.sensors;
if (mpu9250_st.fifo_enable != sensors)
/* You're not getting what you asked for. Some sensors are
* asleep.
*/
result = -1;
else
result = 0;
if (sensors || mpu9250_st.lp_accel_mode)
set_int_enable(1);
else
set_int_enable(0);
if (sensors) {
if (mpu_reset_fifo()) {
mpu9250_st.fifo_enable = prev;
return -1;
}
}
}
return result;
}
inv_error_t MPU9250_DMP::enableInterrupt(unsigned char enable)
{
return set_int_enable(enable);
}
