static int inv_mpu_get_config(struct mldl_cfg *mldl_cfg,
void *gyro_adapter,
struct ext_slave_config __user *usr_config)
{
int retval = 0;
struct ext_slave_config config;
void *user_data;
retval = copy_from_user(&config, usr_config, sizeof(config));
if (retval)
return -EFAULT;
user_data = config.data;
if (config.len && config.data) {
void *data;
data = kmalloc(config.len, GFP_KERNEL);
if (!data)
return -ENOMEM;
retval = copy_from_user(data,
(void __user *)config.data, config.len);
if (retval) {
retval = -EFAULT;
kfree(data);
return retval;
}
config.data = data;
}
retval = gyro_get_config(gyro_adapter, mldl_cfg, &config);
if (!retval)
retval = copy_to_user((unsigned char __user *)user_data,
config.data, config.len);
kfree(config.data);
return retval;
}
void main(void) {
//configuring
P1OUT |= 0x04; // set P1.2 for debug
P4DIR |= 0x20; // P4.5 as output (for debug)
gina_init();
scheduler_init();
leds_init();
if (*(&eui64+3)==0x09) { // this is a GINA board (not a basestation)
gyro_init();
large_range_accel_init();
magnetometer_init();
sensitive_accel_temperature_init();
}
radio_init();
timer_init();
P1OUT &= ~0x04; // clear P1.2 for debug
//check sensor configuration is right
gyro_get_config();
large_range_accel_get_config();
magnetometer_get_config();
sensitive_accel_temperature_get_config();
//scheduler_push_task(ID_TASK_APPLICATION);
scheduler_register_application_task(&task_application_imu_radio, 0, FALSE);
scheduler_start();
}
