C++ (Cpp) inv_set_bias_update示例

示例#1

文件： umplsetup.c 项目： ConstYavorskiy/muAV

inv_error_t umplDmpSetup(void)
{
    inv_error_t result;
 
    /* Setup Bias Trackers: 
     * inv_set_bias_update
     * Known to work with the following arguments:
     * INV_BIAS_FROM_NO_MOTION
     * INV_BIAS_FROM_TEMPERATURE
     * INV_LEARN_BIAS_FROM_TEMPERATURE
     *
     */
#if defined UMPL_NINE_AXIS
    inv_set_mpu_sensors(INV_NINE_AXIS);
#else
    inv_set_mpu_sensors(INV_SIX_AXIS_GYRO_ACCEL);
#endif

#ifdef UMPL_ENABLE_TEMPCOMP
    result = inv_set_bias_update( INV_BIAS_FROM_NO_MOTION
                                | INV_BIAS_FROM_TEMPERATURE
                                | INV_LEARN_BIAS_FROM_TEMPERATURE ); 
#else
    result = inv_set_bias_update( INV_BIAS_FROM_NO_MOTION );
#endif
    if (result != INV_SUCCESS)

#ifdef UMPL_NINE_AXIS
    result = inv_external_slave_akm8975_open();
    if (result != INV_SUCCESS)
#endif

    inv_set_fifo_interrupt(1);
      
    // Setup FIFO:
    result = inv_send_quaternion(INV_32_BIT);
    if (result != INV_SUCCESS)
    
    result = inv_send_gyro(INV_ALL,INV_32_BIT);
    if (result != INV_SUCCESS)
    
    result = inv_send_accel(INV_ALL,INV_32_BIT);
    if (result != INV_SUCCESS)

    result = inv_set_fifo_rate(10);
    if (result != INV_SUCCESS)

#ifdef UMPL_ENABLE_TEMPCOMP
    result = inv_enable_temp_comp();
    if (result != INV_SUCCESS)
#endif

    result = inv_set_motion_callback(umplMotionCallback);
    if (result != INV_SUCCESS)
    return INV_SUCCESS;
}

示例#2

文件： MPLSensor.cpp 项目： PDi-Communication-Systems-Inc/lollipop_hardware_invensense

/**
 * container function for all the calls we make once to set up the MPL.
 */
void MPLSensor::initMPL()
{
    FUNC_LOG;
    inv_error_t result;
    unsigned short bias_update_mask = 0xFFFF;
    struct mldl_cfg *mldl_cfg;

    if (inv_dmp_open() != INV_SUCCESS) {
        ALOGE("Fatal Error : could not open DMP correctly.\n");
    }

    result = inv_set_mpu_sensors(ALL_MPL_SENSORS_NP); //default to all sensors, also makes 9axis enable work
    ALOGE_IF(result != INV_SUCCESS,
            "Fatal Error : could not set enabled sensors.");

    if (inv_load_calibration() != INV_SUCCESS) {
        ALOGE("could not open MPL calibration file");
    }

    //check for the 9axis fusion library: if available load it and start 9x
    void* h_dmp_lib=dlopen("libinvensense_mpl.so", RTLD_NOW);
    if(h_dmp_lib) {
        const char* error;
        error = dlerror();
        inv_error_t (*fp_inv_enable_9x_fusion)() =
              (inv_error_t(*)()) dlsym(h_dmp_lib, "inv_enable_9x_fusion");
        if((error = dlerror()) != NULL) {
            ALOGE("%s %s", error, "inv_enable_9x_fusion");
        } else if ((*fp_inv_enable_9x_fusion)() != INV_SUCCESS) {
            ALOGE( "Warning : 9 axis sensor fusion not available "
                  "- No compass detected.\n");
        } else {
            /*  9axis is loaded and enabled                            */
            /*  this variable is used for coming up with sensor list   */
            mNineAxisEnabled = true;
        }
    } else {
        const char* error = dlerror();
        ALOGE("libinvensense_mpl.so not found, 9x sensor fusion disabled (%s)",error);
    }

    mldl_cfg = inv_get_dl_config();

    if (inv_set_bias_update(bias_update_mask) != INV_SUCCESS) {
        ALOGE("Error : Bias update function could not be set.\n");
    }

    if (inv_set_motion_interrupt(1) != INV_SUCCESS) {
        ALOGE("Error : could not set motion interrupt");
    }

    if (inv_set_fifo_interrupt(1) != INV_SUCCESS) {
        ALOGE("Error : could not set fifo interrupt");
    }

    result = inv_set_fifo_rate(6);
    if (result != INV_SUCCESS) {
        ALOGE("Fatal error: inv_set_fifo_rate returned %d\n", result);
    }

    setupCallbacks();

}