driver_mpu9250_dmp.c

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#include "driver_mpu9250_dmp.h"
 
static mpu9250_handle_t gs_handle;        

uint8_t mpu9250_dmp_irq_handler(void)
{
    if (mpu9250_irq_handler(&gs_handle) != 0)
    {
        return 1;
    }
    else
    {
        return 0;
    }
}

uint8_t mpu9250_dmp_init(mpu9250_interface_t interface, mpu9250_address_t addr_pin,
                         void (*receive_callback)(uint8_t type),
                         void (*tap_callback)(uint8_t count, uint8_t direction),
                         void (*orient_callback)(uint8_t orientation)
                        )
{
    uint8_t res;
    uint8_t reg;
    int32_t gyro_offset_raw[3];
    int32_t accel_offset_raw[3];
    int32_t gyro_offset[3];
    int32_t accel_offset[3];
    int8_t gyro_orientation[9] = {1, 0, 0,
                                  0, 1, 0,
                                  0, 0, 1};
    
    /* link interface function */
    DRIVER_MPU9250_LINK_INIT(&gs_handle, mpu9250_handle_t);
    DRIVER_MPU9250_LINK_IIC_INIT(&gs_handle, mpu9250_interface_iic_init);
    DRIVER_MPU9250_LINK_IIC_DEINIT(&gs_handle, mpu9250_interface_iic_deinit);
    DRIVER_MPU9250_LINK_IIC_READ(&gs_handle, mpu9250_interface_iic_read);
    DRIVER_MPU9250_LINK_IIC_WRITE(&gs_handle, mpu9250_interface_iic_write);
    DRIVER_MPU9250_LINK_SPI_INIT(&gs_handle, mpu9250_interface_spi_init);
    DRIVER_MPU9250_LINK_SPI_DEINIT(&gs_handle, mpu9250_interface_spi_deinit);
    DRIVER_MPU9250_LINK_SPI_READ(&gs_handle, mpu9250_interface_spi_read);
    DRIVER_MPU9250_LINK_SPI_WRITE(&gs_handle, mpu9250_interface_spi_write);
    DRIVER_MPU9250_LINK_DELAY_MS(&gs_handle, mpu9250_interface_delay_ms);
    DRIVER_MPU9250_LINK_DEBUG_PRINT(&gs_handle, mpu9250_interface_debug_print);
    DRIVER_MPU9250_LINK_RECEIVE_CALLBACK(&gs_handle, receive_callback);
    
    /* set the interface */
    res = mpu9250_set_interface(&gs_handle, interface);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interface failed.\n");
       
        return 1;
    }
    
    /* set the addr pin */
    res = mpu9250_set_addr_pin(&gs_handle, addr_pin);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set addr pin failed.\n");
       
        return 1;
    }
    
    /* init */
    res = mpu9250_init(&gs_handle);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: init failed.\n");
       
        return 1;
    }
    
    /* delay 100 ms */
    mpu9250_interface_delay_ms(100);
    
    /* disable sleep */
    res = mpu9250_set_sleep(&gs_handle, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set sleep failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set fifo 1024kb */
    res = mpu9250_set_fifo_1024kb(&gs_handle);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set fifo 1024kb failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* run the self test */
    res = mpu9250_self_test(&gs_handle, gyro_offset_raw, accel_offset_raw);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: self test failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    
    /* if spi interface, disable iic interface */
    if (interface == MPU9250_INTERFACE_SPI)
    {
        /* disable iic */
        res = mpu9250_set_disable_iic_slave(&gs_handle, MPU9250_BOOL_TRUE);
        if (res != 0)
        {
            mpu9250_interface_debug_print("mpu9250: set disable iic slave failed.\n");
            (void)mpu9250_deinit(&gs_handle);
           
            return 1;
        }
    }
    
    /* set fifo 1024kb */
    res = mpu9250_set_fifo_1024kb(&gs_handle);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set fifo 1024kb failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default clock source */
    res = mpu9250_set_clock_source(&gs_handle, MPU9250_DMP_DEFAULT_CLOCK_SOURCE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set clock source failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default rate */
    res = mpu9250_set_sample_rate_divider(&gs_handle, (1000 / MPU9250_DMP_DEFAULT_RATE) - 1);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set sample rate divider failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default accelerometer range */
    res = mpu9250_set_accelerometer_range(&gs_handle, MPU9250_DMP_DEFAULT_ACCELEROMETER_RANGE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set accelerometer range failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default gyroscope_range */
    res = mpu9250_set_gyroscope_range(&gs_handle, MPU9250_DMP_DEFAULT_GYROSCOPE_RANGE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set gyroscope range failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default low pass filter */
    res = mpu9250_set_low_pass_filter(&gs_handle, MPU9250_DMP_DEFAULT_LOW_PASS_FILTER);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set low pass filter failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable temperature sensor */
    res = mpu9250_set_ptat(&gs_handle, MPU9250_BOOL_TRUE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set ptat failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default cycle wake up */
    res = mpu9250_set_cycle_wake_up(&gs_handle, MPU9250_DMP_DEFAULT_CYCLE_WAKE_UP);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set cycle wake up failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable acc x */
    res = mpu9250_set_standby_mode(&gs_handle, MPU9250_SOURCE_ACC_X, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set standby mode failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable acc y */
    res = mpu9250_set_standby_mode(&gs_handle, MPU9250_SOURCE_ACC_Y, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set standby mode failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable acc z */
    res = mpu9250_set_standby_mode(&gs_handle, MPU9250_SOURCE_ACC_Z, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set standby mode failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable gyro x */
    res = mpu9250_set_standby_mode(&gs_handle, MPU9250_SOURCE_GYRO_X, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set standby mode failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable gyro y */
    res = mpu9250_set_standby_mode(&gs_handle, MPU9250_SOURCE_GYRO_Y, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set standby mode failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable gyro z */
    res = mpu9250_set_standby_mode(&gs_handle, MPU9250_SOURCE_GYRO_Z, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set standby mode failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable gyroscope x test */
    res = mpu9250_set_gyroscope_test(&gs_handle, MPU9250_AXIS_X, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set gyroscope test failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable gyroscope y test */
    res = mpu9250_set_gyroscope_test(&gs_handle, MPU9250_AXIS_Y, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set gyroscope test failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable gyroscope z test */
    res = mpu9250_set_gyroscope_test(&gs_handle, MPU9250_AXIS_Z, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set gyroscope test failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable accelerometer x test */
    res = mpu9250_set_accelerometer_test(&gs_handle, MPU9250_AXIS_X, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set accelerometer test failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable accelerometer y test */
    res = mpu9250_set_accelerometer_test(&gs_handle, MPU9250_AXIS_Y, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set accelerometer test failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable accelerometer z test */
    res = mpu9250_set_accelerometer_test(&gs_handle, MPU9250_AXIS_Z, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set accelerometer test failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable temp fifo */
    res = mpu9250_set_fifo_enable(&gs_handle, MPU9250_FIFO_TEMP, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set fifo enable failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable xg fifo */
    res = mpu9250_set_fifo_enable(&gs_handle, MPU9250_FIFO_XG, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set fifo enable failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable yg fifo */
    res = mpu9250_set_fifo_enable(&gs_handle, MPU9250_FIFO_YG, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set fifo enable failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable zg fifo */
    res = mpu9250_set_fifo_enable(&gs_handle, MPU9250_FIFO_ZG, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set fifo enable failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable accel fifo */
    res = mpu9250_set_fifo_enable(&gs_handle, MPU9250_FIFO_ACCEL, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set fifo enable failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable fifo */
    res = mpu9250_set_fifo(&gs_handle, MPU9250_BOOL_TRUE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set fifo failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default interrupt level */
    res = mpu9250_set_interrupt_level(&gs_handle, MPU9250_DMP_DEFAULT_INTERRUPT_PIN_LEVEL);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt level failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default interrupt pin type */
    res = mpu9250_set_interrupt_pin_type(&gs_handle, MPU9250_DMP_DEFAULT_INTERRUPT_PIN_TYPE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt pin type failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    if (tap_callback != NULL)
    {
        /* set the default motion threshold */
        res = mpu9250_motion_threshold_convert_to_register(&gs_handle, MPU9250_DMP_DEFAULT_MOTION_THRESHOLD, &reg);
        if (res != 0)
        {
            mpu9250_interface_debug_print("mpu9250: motion threshold convert to register failed.\n");
            (void)mpu9250_deinit(&gs_handle);
           
            return 1;
        }
        
        /* set the motion threshold */
        res = mpu9250_set_motion_threshold(&gs_handle, reg);
        if (res != 0)
        {
            mpu9250_interface_debug_print("mpu9250: set motion threshold failed.\n");
            (void)mpu9250_deinit(&gs_handle);
           
            return 1;
        }
        
        /* enable wake on motion */
        res = mpu9250_set_wake_on_motion(&gs_handle, MPU9250_BOOL_TRUE);
        if (res != 0)
        {
            mpu9250_interface_debug_print("mpu9250: set wake on motion failed.\n");
            (void)mpu9250_deinit(&gs_handle);
           
            return 1;
        }
    }
    
    /* set the default motion interrupt */
    res = mpu9250_set_interrupt(&gs_handle, MPU9250_INTERRUPT_MOTION, MPU9250_DMP_DEFAULT_INTERRUPT_MOTION);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default fifo overflow interrupt */
    res = mpu9250_set_interrupt(&gs_handle, MPU9250_INTERRUPT_FIFO_OVERFLOW, MPU9250_DMP_DEFAULT_INTERRUPT_FIFO_OVERFLOW);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default dmp interrupt */
    res = mpu9250_set_interrupt(&gs_handle, MPU9250_INTERRUPT_DMP, MPU9250_DMP_DEFAULT_INTERRUPT_DMP);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default fsync int interrupt */
    res = mpu9250_set_interrupt(&gs_handle, MPU9250_INTERRUPT_FSYNC_INT, MPU9250_DMP_DEFAULT_INTERRUPT_FSYNC_INT);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default data ready interrupt */
    res = mpu9250_set_interrupt(&gs_handle, MPU9250_INTERRUPT_DATA_READY, MPU9250_DMP_DEFAULT_INTERRUPT_DATA_READY);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default latch */
    res = mpu9250_set_interrupt_latch(&gs_handle, MPU9250_DMP_DEFAULT_INTERRUPT_LATCH);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt latch failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default interrupt read clear */
    res = mpu9250_set_interrupt_read_clear(&gs_handle, MPU9250_DMP_DEFAULT_INTERRUPT_READ_CLEAR);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt read clear failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default extern sync */
    res = mpu9250_set_extern_sync(&gs_handle, MPU9250_DMP_DEFAULT_EXTERN_SYNC);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set extern sync failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default fsync interrupt */
    res = mpu9250_set_fsync_interrupt(&gs_handle, MPU9250_DMP_DEFAULT_FSYNC_INTERRUPT);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set fsync interrupt failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default fsync interrupt level */
    res = mpu9250_set_fsync_interrupt_level(&gs_handle, MPU9250_DMP_DEFAULT_FSYNC_INTERRUPT_LEVEL);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set fsync interrupt level failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default iic master */
    res = mpu9250_set_iic_master(&gs_handle, MPU9250_DMP_DEFAULT_IIC_MASTER);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set iic master failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default iic bypass */
    res = mpu9250_set_iic_bypass(&gs_handle, MPU9250_DMP_DEFAULT_IIC_BYPASS);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set iic bypass failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default gyro standby */
    res = mpu9250_set_gyro_standby(&gs_handle, MPU9250_DMP_DEFAULT_GYROSCOPE_STANDBY);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set gyro standby failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default fifo mode */
    res = mpu9250_set_fifo_mode(&gs_handle, MPU9250_DMP_DEFAULT_FIFO_MODE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set fifo mode failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default gyroscope choice */
    res = mpu9250_set_gyroscope_choice(&gs_handle, MPU9250_DMP_DEFAULT_GYROSCOPE_CHOICE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set gyroscope choice failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default low pass filter */
    res = mpu9250_set_low_pass_filter(&gs_handle, MPU9250_DMP_DEFAULT_LOW_PASS_FILTER);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set low pass filter failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default accelerometer choice */
    res = mpu9250_set_accelerometer_choice(&gs_handle, MPU9250_DMP_DEFAULT_ACCELEROMETER_CHOICE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set accelerometer choice failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default accelerometer low pass filter */
    res = mpu9250_set_accelerometer_low_pass_filter(&gs_handle, MPU9250_DMP_DEFAULT_ACCELEROMETER_LOW_PASS_FILTER);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set accelerometer low pass filter failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default low power accel output rate */
    res = mpu9250_set_low_power_accel_output_rate(&gs_handle, MPU9250_DMP_DEFAULT_LOW_POWER_ACCEL_OUTPUT_RATE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set low power accel output rate failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default accel compare with previous sample */
    res = mpu9250_set_accel_compare_with_previous_sample(&gs_handle, MPU9250_DMP_DEFAULT_ACCELEROMETER_COMPARE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set accel compare with previous sample failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* dmp load firmware */
    res = mpu9250_dmp_load_firmware(&gs_handle);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp load firmware failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable axis x */
    res = mpu9250_dmp_set_tap_axes(&gs_handle, MPU9250_AXIS_X, MPU9250_BOOL_TRUE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set tap axes failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable axis y */
    res = mpu9250_dmp_set_tap_axes(&gs_handle, MPU9250_AXIS_Y, MPU9250_BOOL_TRUE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set tap axes failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable axis z */
    res = mpu9250_dmp_set_tap_axes(&gs_handle, MPU9250_AXIS_Z, MPU9250_BOOL_TRUE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set tap axes failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default fifo rate */
    res = mpu9250_dmp_set_fifo_rate(&gs_handle, MPU9250_DMP_DEFAULT_RATE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set fifo rate failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default interrupt mode */
    res = mpu9250_dmp_set_interrupt_mode(&gs_handle, MPU9250_DMP_DEFAULT_INTERRUPT_MODE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set interrupt mode failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default dmp orientation */
    res = mpu9250_dmp_set_orientation(&gs_handle, gyro_orientation);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set orientation failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable feature */
    res = mpu9250_dmp_set_feature(&gs_handle, MPU9250_DMP_FEATURE_6X_QUAT | MPU9250_DMP_FEATURE_TAP | MPU9250_DMP_FEATURE_PEDOMETER |
                                              MPU9250_DMP_FEATURE_ORIENT | MPU9250_DMP_FEATURE_SEND_RAW_ACCEL |
                                              MPU9250_DMP_FEATURE_SEND_CAL_GYRO | MPU9250_DMP_FEATURE_GYRO_CAL);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set feature failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* dmp set tap callback */
    res = mpu9250_dmp_set_tap_callback(&gs_handle, tap_callback);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set tap callback failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* dmp set orient callback */
    res = mpu9250_dmp_set_orient_callback(&gs_handle, orient_callback);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set orient callback failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default pedometer walk time */
    res = mpu9250_dmp_set_pedometer_walk_time(&gs_handle, MPU9250_DMP_DEFAULT_PEOMETER_WALK_TIME);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set pedometer walk time failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default pedometer step count */
    res = mpu9250_dmp_set_pedometer_step_count(&gs_handle, MPU9250_DMP_DEFAULT_PEOMETER_STEP_COUNT);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set pedometer step count failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default shake reject timeout */
    res = mpu9250_dmp_set_shake_reject_timeout(&gs_handle, MPU9250_DMP_DEFAULT_SHAKE_REJECT_TIMEOUT);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set shake reject timeout failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default shake reject time */
    res = mpu9250_dmp_set_shake_reject_time(&gs_handle, MPU9250_DMP_DEFAULT_SHAKE_REJECT_TIME);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set shake reject time failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default shake reject thresh */
    res = mpu9250_dmp_set_shake_reject_thresh(&gs_handle, MPU9250_DMP_DEFAULT_SHAKE_REJECT_THRESH);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set shake reject thresh failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default tap time multi */
    res = mpu9250_dmp_set_tap_time_multi(&gs_handle, MPU9250_DMP_DEFAULT_TAP_TIME_MULTI);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set tap time multi failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default tap time */
    res = mpu9250_dmp_set_tap_time(&gs_handle, MPU9250_DMP_DEFAULT_TAP_TIME);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set tap time failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default min tap count */
    res = mpu9250_dmp_set_min_tap_count(&gs_handle, MPU9250_DMP_DEFAULT_MIN_TAP_COUNT);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set min tap count failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default tap thresh x */
    res = mpu9250_dmp_set_tap_thresh(&gs_handle, MPU9250_AXIS_X, MPU9250_DMP_DEFAULT_TAP_X_THRESH);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set tap thresh failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
 
    /* set the default tap thresh y */
    res = mpu9250_dmp_set_tap_thresh(&gs_handle, MPU9250_AXIS_Y,MPU9250_DMP_DEFAULT_TAP_Y_THRESH);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set tap thresh failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default tap thresh z */
    res = mpu9250_dmp_set_tap_thresh(&gs_handle, MPU9250_AXIS_Z, MPU9250_DMP_DEFAULT_TAP_Z_THRESH);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set tap thresh failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* dmp gyro accel raw offset convert */
    res = mpu9250_dmp_gyro_accel_raw_offset_convert(&gs_handle, gyro_offset_raw, accel_offset_raw, 
                                                    gyro_offset, accel_offset);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp gyro accel raw offset convert failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* dmp set accel bias */
    res = mpu9250_dmp_set_accel_bias(&gs_handle, accel_offset);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set accel bias failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* dmp set gyro bias */
    res = mpu9250_dmp_set_gyro_bias(&gs_handle, gyro_offset);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set gyro bias failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable the dmp */
    res = mpu9250_dmp_set_enable(&gs_handle, MPU9250_BOOL_TRUE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set enable failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* force fifo reset */
    res = mpu9250_force_fifo_reset(&gs_handle);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: force fifo reset failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    return 0;
}

uint8_t mpu9250_dmp_get_pedometer_counter(uint32_t *cnt)
{
    /* get the pedometer counter */
    if (mpu9250_dmp_get_pedometer_step_count(&gs_handle, cnt) != 0)
    {
        return 1;
    }
    
    return 0;
}

uint8_t mpu9250_dmp_read_all(int16_t (*accel_raw)[3], float (*accel_g)[3],
                             int16_t (*gyro_raw)[3], float (*gyro_dps)[3],
                             int32_t (*quat)[4],
                             float *pitch, float *roll, float *yaw,
                             uint16_t *l
                            )
{
    /* dmp read */
    if (mpu9250_dmp_read(&gs_handle, accel_raw, accel_g,
                         gyro_raw, gyro_dps, quat,
                         pitch, roll, yaw, l) != 0
                        )
    {
        return 1;
    }
    
    return 0;
}

uint8_t mpu9250_dmp_deinit(void)
{
    /* deinit */
    if (mpu9250_deinit(&gs_handle) != 0)
    {
        return 1;
    }
    
    return 0;
}