\hypertarget{inv__mpu__dmp__motion__driver_8c}{}\doxysection{D\+:/gitt/\+Microchip\+For32/bsp\+\_\+\+MPU6050/inv\+\_\+mpu\+\_\+dmp\+\_\+motion\+\_\+driver.c 文件参考}
\label{inv__mpu__dmp__motion__driver_8c}\index{D:/gitt/MicrochipFor32/bsp\_MPU6050/inv\_mpu\_dmp\_motion\_driver.c@{D:/gitt/MicrochipFor32/bsp\_MPU6050/inv\_mpu\_dmp\_motion\_driver.c}}


DMP image and interface functions.  


{\ttfamily \#include $<$stdio.\+h$>$}\newline
{\ttfamily \#include $<$stdint.\+h$>$}\newline
{\ttfamily \#include $<$stdlib.\+h$>$}\newline
{\ttfamily \#include $<$string.\+h$>$}\newline
{\ttfamily \#include $<$math.\+h$>$}\newline
{\ttfamily \#include \char`\"{}inv\+\_\+mpu.\+h\char`\"{}}\newline
{\ttfamily \#include \char`\"{}inv\+\_\+mpu\+\_\+dmp\+\_\+motion\+\_\+driver.\+h\char`\"{}}\newline
{\ttfamily \#include \char`\"{}dmp\+Key.\+h\char`\"{}}\newline
{\ttfamily \#include \char`\"{}dmpmap.\+h\char`\"{}}\newline
{\ttfamily \#include \char`\"{}usart.\+h\char`\"{}}\newline
inv\+\_\+mpu\+\_\+dmp\+\_\+motion\+\_\+driver.\+c 的引用(Include)关系图\+:
\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=350pt]{inv__mpu__dmp__motion__driver_8c__incl}
\end{center}
\end{figure}
\doxysubsection*{类}
\begin{DoxyCompactItemize}
\item 
struct \mbox{\hyperlink{structdmp__s}{dmp\+\_\+s}}
\end{DoxyCompactItemize}
\doxysubsection*{宏定义}
\begin{DoxyCompactItemize}
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gaf5aa4c072d42b67d74043f642b68ddd7}{MOTION\+\_\+\+DRIVER\+\_\+\+TARGET\+\_\+\+MSP430}}
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gae36aca5baf9b6b7d74992aef00686d67}{delay\+\_\+ms}}~HAL\+\_\+\+Delay
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga3e6b6bc6d1cd2956353a31bfadd3c332}{get\+\_\+ms}}~\mbox{\hyperlink{group___d_r_i_v_e_r_s_gafa3071c8321f6e8dd2036be8a1e57ad0}{mget\+\_\+ms}}
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga2905fba7885cd95057e1655cb4d16bda}{log\+\_\+i}}~printf
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gab354affc295f7d61fe8a355c9361cc5a}{log\+\_\+e}}~printf
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gadf5652e51b8c08c2eb6a902d1d1f319c}{CFG\+\_\+\+LP\+\_\+\+QUAT}}~(2712)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga5c2c9516862587e8e1aa8c0c428076d9}{END\+\_\+\+ORIENT\+\_\+\+TEMP}}~(1866)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gaae53afa64170cb4723c04f16c2fa5f30}{CFG\+\_\+27}}~(2742)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga12aa4c3bdc65c24ca29ef08e62fd3e13}{CFG\+\_\+20}}~(2224)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga18ca772a0ce432c5ccb0e318af3c2b86}{CFG\+\_\+23}}~(2745)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga7aa6ed56d6fd41be120b9bdb488c220a}{CFG\+\_\+\+FIFO\+\_\+\+ON\+\_\+\+EVENT}}~(2690)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga89e5662bddc67ac00f5b85035bd60ed8}{END\+\_\+\+PREDICTION\+\_\+\+UPDATE}}~(1761)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gafd43f64b7c6bc86374cedfcf69c6b12f}{CGNOTICE\+\_\+\+INTR}}~(2620)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga0ff907b44d0e42641e71e6da41829090}{X\+\_\+\+GRT\+\_\+\+Y\+\_\+\+TMP}}~(1358)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gaca5a7c1f2519e622571bda2aa2311553}{CFG\+\_\+\+DR\+\_\+\+INT}}~(1029)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga93cd3f526d9e31b00c9364bab3df41e0}{CFG\+\_\+\+AUTH}}~(1035)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gac90829b4b9a77480e0582bb7551e182e}{UPDATE\+\_\+\+PROP\+\_\+\+ROT}}~(1835)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga7b344f27570daf0f096213bfcd8e0627}{END\+\_\+\+COMPARE\+\_\+\+Y\+\_\+\+X\+\_\+\+TMP2}}~(1455)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gab280108da935f42e6a3e30d6af04a7c1}{SKIP\+\_\+\+X\+\_\+\+GRT\+\_\+\+Y\+\_\+\+TMP}}~(1359)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga962a3b26ee2dd822ebc67d5ed7e01bc1}{SKIP\+\_\+\+END\+\_\+\+COMPARE}}~(1435)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga68df22b3699418acab9063ee5f996d8e}{FCFG\+\_\+3}}~(1088)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gac0e79063d1a071c1a8bd3f7081e4299e}{FCFG\+\_\+2}}~(1066)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga9a7d63d6add8f9fdf9edc722a01aeb92}{FCFG\+\_\+1}}~(1062)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga3658f219d52dff5022cc499a747ca589}{END\+\_\+\+COMPARE\+\_\+\+Y\+\_\+\+X\+\_\+\+TMP3}}~(1434)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga687777b4390e4a84ac774cf0600abe20}{FCFG\+\_\+7}}~(1073)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga2ba17b85493f082e37d7e57f45200144}{FCFG\+\_\+6}}~(1106)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga5c1ebd0914bd0e30766c9cbcc25c31c5}{FLAT\+\_\+\+STATE\+\_\+\+END}}~(1713)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gaa6efdc55c49bd242ffafb9a9b227cca8}{SWING\+\_\+\+END\+\_\+4}}~(1616)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga8a156eab56c25c1f9156a2751fa2155d}{SWING\+\_\+\+END\+\_\+2}}~(1565)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga3ff31c1255dc1fceb7c590bc7f0b3ab0}{SWING\+\_\+\+END\+\_\+3}}~(1587)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga6f4579a77f23d509cd63d4506e44fa23}{SWING\+\_\+\+END\+\_\+1}}~(1550)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga3dc0e5c81e361fb871fbf63eeba82520}{CFG\+\_\+8}}~(2718)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga1fe6e4489855269e7197beb38b07c723}{CFG\+\_\+15}}~(2727)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga7e9d5deadbd595432b6319178d573cd3}{CFG\+\_\+16}}~(2746)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga63971727875ac02e2ce6632bd3f82bc2}{CFG\+\_\+\+EXT\+\_\+\+GYRO\+\_\+\+BIAS}}~(1189)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gae9f800bcc27bb65de184d1dbe9c0ce24}{END\+\_\+\+COMPARE\+\_\+\+Y\+\_\+\+X\+\_\+\+TMP}}~(1407)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gae7f639b1d39b818bc03ba14cf334bf68}{DO\+\_\+\+NOT\+\_\+\+UPDATE\+\_\+\+PROP\+\_\+\+ROT}}~(1839)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gaf07742dc92c885f8f7d59e70683f9257}{CFG\+\_\+7}}~(1205)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gaba18283a93fa46f0251d4a6131ed2d5d}{FLAT\+\_\+\+STATE\+\_\+\+END\+\_\+\+TEMP}}~(1683)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gab843d731bb3863d28961b6a92f302053}{END\+\_\+\+COMPARE\+\_\+\+Y\+\_\+X}}~(1484)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gae14f280fb2449ecb6dcb8782a8dfd088}{SKIP\+\_\+\+SWING\+\_\+\+END\+\_\+1}}~(1551)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga17ac0b4bafc904502e30e9c718a83d15}{SKIP\+\_\+\+SWING\+\_\+\+END\+\_\+3}}~(1588)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gad179280ab7654fcada6f0816f6b0eda8}{SKIP\+\_\+\+SWING\+\_\+\+END\+\_\+2}}~(1566)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga158f88485952a3849f3833c145854d99}{TILTG75\+\_\+\+START}}~(1672)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga40938f669c5b33b4316a7a5fba679eba}{CFG\+\_\+6}}~(2753)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gac23b1dfe6637cd51283c18aa3d2e9c50}{TILTL75\+\_\+\+END}}~(1669)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gabe465e03425237cc6043670f55f28d02}{END\+\_\+\+ORIENT}}~(1884)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gad4e759975ee4ab865e8bd1ebd7f48908}{CFG\+\_\+\+FLICK\+\_\+\+IN}}~(2573)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga0ca3aa6c4c503f68cab0bbba28325f12}{TILTL75\+\_\+\+START}}~(1643)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga8214527cbba23694722d04715126be0f}{CFG\+\_\+\+MOTION\+\_\+\+BIAS}}~(1208)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga70e52e79b5774e056a86795a52e3b027}{X\+\_\+\+GRT\+\_\+Y}}~(1408)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gaf08a08d5d5c6944564fe84a46227968d}{TEMPLABEL}}~(2324)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gacc91af9a664cf438b93a3faa108bb603}{CFG\+\_\+\+ANDROID\+\_\+\+ORIENT\+\_\+\+INT}}~(1853)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga01dcbc69fa28559529653a3b4aabea00}{CFG\+\_\+\+GYRO\+\_\+\+RAW\+\_\+\+DATA}}~(2722)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga193d85c2bd5dd9e43c1f89445e999ac6}{X\+\_\+\+GRT\+\_\+\+Y\+\_\+\+TMP2}}~(1379)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga155b1481095edac7a26c8c3d5b9c5a24}{D\+\_\+0\+\_\+22}}~(22+512)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga15d46d25c01d6bc9c849c3ba42dcfa54}{D\+\_\+0\+\_\+24}}~(24+512)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga98e58a52ab30dcc007284b185347cf0f}{D\+\_\+0\+\_\+36}}~(36)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gaa3d478603bf46f77a6eb95f2c71ee48e}{D\+\_\+0\+\_\+52}}~(52)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga7e992a46da86f1d053f9ef5fc2e53b7a}{D\+\_\+0\+\_\+96}}~(96)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga5edbce4fdd515aa31a227fb8eaf0151f}{D\+\_\+0\+\_\+104}}~(104)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gabbbb1d6730f23abc1e951d7741fa24d5}{D\+\_\+0\+\_\+108}}~(108)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga4d6d669548fe77f07062baf9e452fb06}{D\+\_\+0\+\_\+163}}~(163)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gabe9d05e6c0b53d1452944c767ec4e39f}{D\+\_\+0\+\_\+188}}~(188)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga737381384143cf039503023e04037a26}{D\+\_\+0\+\_\+192}}~(192)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gafd5baf97b37c848b12dec9b718d27188}{D\+\_\+0\+\_\+224}}~(224)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga87090eb84fc9a689a087e9f7e59cd4fb}{D\+\_\+0\+\_\+228}}~(228)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gafd752a244bd3eb5e07f77712d9653197}{D\+\_\+0\+\_\+232}}~(232)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga9141d44a2f2636d23c001b5832118326}{D\+\_\+0\+\_\+236}}~(236)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gab444dc9d9eaf98f46563cc87fcb965a4}{D\+\_\+1\+\_\+2}}~(256 + 2)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga83973bf9de6879524cca19f3332e707e}{D\+\_\+1\+\_\+4}}~(256 + 4)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga2f44fbe8696fcc34619d6e61916c22d0}{D\+\_\+1\+\_\+8}}~(256 + 8)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga6b208218857c2067078082e832148f61}{D\+\_\+1\+\_\+10}}~(256 + 10)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gac84316958d525db0c89e1519e8af6637}{D\+\_\+1\+\_\+24}}~(256 + 24)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga2533cfdd19cb87a86667620a33a9d561}{D\+\_\+1\+\_\+28}}~(256 + 28)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga359aac18087bef8a3f044faf13952fa2}{D\+\_\+1\+\_\+36}}~(256 + 36)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gae0dfa8b55558dff48604d4ac2c28fa9c}{D\+\_\+1\+\_\+40}}~(256 + 40)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga4fd075d6c0e817fbafca24af8305386e}{D\+\_\+1\+\_\+44}}~(256 + 44)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga065f93eacb4dcc7020cc21146e533110}{D\+\_\+1\+\_\+72}}~(256 + 72)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gaadac9643410cb6abb08481bebc549d0d}{D\+\_\+1\+\_\+74}}~(256 + 74)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gae6ba99808ab9bc8eaddbc7c7cc6af1f3}{D\+\_\+1\+\_\+79}}~(256 + 79)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga05bc14cf9653fc7778acfa75c9ac19df}{D\+\_\+1\+\_\+88}}~(256 + 88)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga63bb29a8be69128a60f4716aacc447a8}{D\+\_\+1\+\_\+90}}~(256 + 90)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gabd8a1ea9b71ac9389116a33e317aad6c}{D\+\_\+1\+\_\+92}}~(256 + 92)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga9deaa01235044f6470a4269db6b624ea}{D\+\_\+1\+\_\+96}}~(256 + 96)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gaa3060f343d69794f21fcb65974c135bd}{D\+\_\+1\+\_\+98}}~(256 + 98)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga1a90f348e71ec52d2ae6af1b56a513e6}{D\+\_\+1\+\_\+106}}~(256 + 106)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga0443e52a615f3203ebc5ca43189bdcb8}{D\+\_\+1\+\_\+108}}~(256 + 108)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga2c149c0691ea56561d9f3cd0f34bb1d9}{D\+\_\+1\+\_\+112}}~(256 + 112)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga782fd500c37614a9a83b50adf3f18a2d}{D\+\_\+1\+\_\+128}}~(256 + 144)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga3248b12d5c7a9f33e19f32da0822ce60}{D\+\_\+1\+\_\+152}}~(256 + 12)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga97169732d7858751120c9b32109f5875}{D\+\_\+1\+\_\+160}}~(256 + 160)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gab7a349f836821460da79b4bbcb1089c2}{D\+\_\+1\+\_\+176}}~(256 + 176)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga783f9fddb57c3462c7d4344c46cbec51}{D\+\_\+1\+\_\+178}}~(256 + 178)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga0c4568c70e2cd501e8de6c3147eb0276}{D\+\_\+1\+\_\+218}}~(256 + 218)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga2b58e015c2162382339b7c57607ee32c}{D\+\_\+1\+\_\+232}}~(256 + 232)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga1ac208ac9e1ba17e8b116176c2878068}{D\+\_\+1\+\_\+236}}~(256 + 236)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga9156998202039a8904e4733bd37faf4e}{D\+\_\+1\+\_\+240}}~(256 + 240)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gaa65adef1ba1e6fd197e3058089c559fb}{D\+\_\+1\+\_\+244}}~(256 + 244)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gab5988bd1329cb108a57a5e81ecd2c26b}{D\+\_\+1\+\_\+250}}~(256 + 250)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga0f11a9f42b3d13434b8a62aefd077912}{D\+\_\+1\+\_\+252}}~(256 + 252)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga57d4674cf7793419f7dfa54606c73bf2}{D\+\_\+2\+\_\+12}}~(512 + 12)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga36e10f13d70b3d8e038d39d807587202}{D\+\_\+2\+\_\+96}}~(512 + 96)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga09ccdf661a9ab9f8df8f2c7070d0dff9}{D\+\_\+2\+\_\+108}}~(512 + 108)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gae2175af550784283fee34f3e67ba9c35}{D\+\_\+2\+\_\+208}}~(512 + 208)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga08f00bcef1e8814906c2354dc8b9e8b8}{D\+\_\+2\+\_\+224}}~(512 + 224)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gafe0c8ed2924052fe714ec9174389bbe0}{D\+\_\+2\+\_\+236}}~(512 + 236)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gaf53e9ad71a55861be572b74497681bb1}{D\+\_\+2\+\_\+244}}~(512 + 244)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gab8953d8cd2c2dbeea3cc33ee50d0e3e1}{D\+\_\+2\+\_\+248}}~(512 + 248)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga94327b4d894185063c5104a02d9714ee}{D\+\_\+2\+\_\+252}}~(512 + 252)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gaaf010f875dd67b0107be3e9fa31b3e27}{CPASS\+\_\+\+BIAS\+\_\+X}}~(35 $\ast$ 16 + 4)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga6d24a81ab42b7fa4eb8139de1f61dabd}{CPASS\+\_\+\+BIAS\+\_\+Y}}~(35 $\ast$ 16 + 8)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gab931596f83f81d20cb6f79b99a6d71c7}{CPASS\+\_\+\+BIAS\+\_\+Z}}~(35 $\ast$ 16 + 12)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga6a6966c355589a06d8fb29efaff9902f}{CPASS\+\_\+\+MTX\+\_\+00}}~(36 $\ast$ 16)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gaf0c24262e6d095fbd0b259111221d22f}{CPASS\+\_\+\+MTX\+\_\+01}}~(36 $\ast$ 16 + 4)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gac5f1350e9764b47bad1e5338e1f42e42}{CPASS\+\_\+\+MTX\+\_\+02}}~(36 $\ast$ 16 + 8)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga345d7d640ac1340e3eaf23c4efc9cd80}{CPASS\+\_\+\+MTX\+\_\+10}}~(36 $\ast$ 16 + 12)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gad6a7e3d40cf198dd69e7d3caeefc8453}{CPASS\+\_\+\+MTX\+\_\+11}}~(37 $\ast$ 16)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga5f4053bd26eb944d431d93d282be9296}{CPASS\+\_\+\+MTX\+\_\+12}}~(37 $\ast$ 16 + 4)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga452f20a72e035275b876e8cc592691f6}{CPASS\+\_\+\+MTX\+\_\+20}}~(37 $\ast$ 16 + 8)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gae126c2fef7bf856f38d6d04b7504a3c4}{CPASS\+\_\+\+MTX\+\_\+21}}~(37 $\ast$ 16 + 12)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gab45a80c778b591671aa8f10a64209423}{CPASS\+\_\+\+MTX\+\_\+22}}~(43 $\ast$ 16 + 12)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gae48ad5d76a4abec0759ff23ba2b2a68e}{D\+\_\+\+EXT\+\_\+\+GYRO\+\_\+\+BIAS\+\_\+X}}~(61 $\ast$ 16)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga6de6f7302f19c1f63f1a04b51ff14b1a}{D\+\_\+\+EXT\+\_\+\+GYRO\+\_\+\+BIAS\+\_\+Y}}~(61 $\ast$ 16) + 4
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gacd6dead1c0b0458f1ec5d66914a1cf90}{D\+\_\+\+EXT\+\_\+\+GYRO\+\_\+\+BIAS\+\_\+Z}}~(61 $\ast$ 16) + 8
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga5d68a8e4a168cc789fb481ba9b1ac431}{D\+\_\+\+ACT0}}~(40 $\ast$ 16)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga3d6aba10b057d1b66f0c5f33334afb07}{D\+\_\+\+ACSX}}~(40 $\ast$ 16 + 4)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga289d47aab7f881d4e0c1233229462644}{D\+\_\+\+ACSY}}~(40 $\ast$ 16 + 8)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gaae2baed3a317cde49f3ab8af10e73e97}{D\+\_\+\+ACSZ}}~(40 $\ast$ 16 + 12)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga045a0c3dbfc3523917e914681f437c3f}{FLICK\+\_\+\+MSG}}~(45 $\ast$ 16 + 4)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gae0cb172ae789a96d344d5dd008aca254}{FLICK\+\_\+\+COUNTER}}~(45 $\ast$ 16 + 8)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga2e56bca3c291c9a618b572307216ec1d}{FLICK\+\_\+\+LOWER}}~(45 $\ast$ 16 + 12)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gadf0738d3c6f0096ecb157aa2b296f1e1}{FLICK\+\_\+\+UPPER}}~(46 $\ast$ 16 + 12)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gafcd825024b1b4f2dd4570e897c3fe24e}{D\+\_\+\+AUTH\+\_\+\+OUT}}~(992)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gad59a17a973be28ebc0d0bc3ae1e3316f}{D\+\_\+\+AUTH\+\_\+\+IN}}~(996)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gaf2eaee2b8c50adbd556a815d7ab795e9}{D\+\_\+\+AUTH\+\_\+A}}~(1000)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga7ee552ff37e87403b24788c2b8e80ce6}{D\+\_\+\+AUTH\+\_\+B}}~(1004)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga2c2d27ad76c61cf19da3460f810eefb1}{D\+\_\+\+PEDSTD\+\_\+\+BP\+\_\+B}}~(768 + 0x1C)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga14795bbdfea8a4d5961d2e0d0affe162}{D\+\_\+\+PEDSTD\+\_\+\+HP\+\_\+A}}~(768 + 0x78)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga36c0d5ca76fbb5df31ec8ca0a26db835}{D\+\_\+\+PEDSTD\+\_\+\+HP\+\_\+B}}~(768 + 0x7C)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gac2bece455bcecb189a347b6c0edf2b6f}{D\+\_\+\+PEDSTD\+\_\+\+BP\+\_\+\+A4}}~(768 + 0x40)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga41557d8ab6be78f157aa4770d5123235}{D\+\_\+\+PEDSTD\+\_\+\+BP\+\_\+\+A3}}~(768 + 0x44)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga000da9f0c92ec1a103f8e1c50e7e61fd}{D\+\_\+\+PEDSTD\+\_\+\+BP\+\_\+\+A2}}~(768 + 0x48)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga6c42f0b2097fe55659dc5ec653681d50}{D\+\_\+\+PEDSTD\+\_\+\+BP\+\_\+\+A1}}~(768 + 0x4C)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga35d9c5ca325de3055539cdae8e5b497c}{D\+\_\+\+PEDSTD\+\_\+\+INT\+\_\+\+THRSH}}~(768 + 0x68)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga211abccbe885d02059206ca4da711b54}{D\+\_\+\+PEDSTD\+\_\+\+CLIP}}~(768 + 0x6C)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga50a1a44c925cadaa77b3b88e08db7e08}{D\+\_\+\+PEDSTD\+\_\+\+SB}}~(768 + 0x28)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga0d3790675bcf0bbb837f2834523aca11}{D\+\_\+\+PEDSTD\+\_\+\+SB\+\_\+\+TIME}}~(768 + 0x2C)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga3b281a8de65d0ac3ed6321b4df4ab6d0}{D\+\_\+\+PEDSTD\+\_\+\+PEAKTHRSH}}~(768 + 0x98)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga1968b4f2f2daece7e19a24bad6388864}{D\+\_\+\+PEDSTD\+\_\+\+TIML}}~(768 + 0x2A)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga3c410f5ee95cf78486e71a276ed8b36a}{D\+\_\+\+PEDSTD\+\_\+\+TIMH}}~(768 + 0x2E)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga1e71c4f2fc11aa787bd4c8a5a4126525}{D\+\_\+\+PEDSTD\+\_\+\+PEAK}}~(768 + 0\+X94)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga4925c8f2bfe6e2698c10bf5b1094dc54}{D\+\_\+\+PEDSTD\+\_\+\+STEPCTR}}~(768 + 0x60)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gaee461dfb8a3fcd18ea6dddeaba63457b}{D\+\_\+\+PEDSTD\+\_\+\+TIMECTR}}~(964)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gae84f6c1fd0f4ccc0f0b5aedc01d48636}{D\+\_\+\+PEDSTD\+\_\+\+DECI}}~(768 + 0x\+A0)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga0ee24f50eee31a512b652647521d24bb}{D\+\_\+\+HOST\+\_\+\+NO\+\_\+\+MOT}}~(976)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga2cc522b8f621f32418257ab61144a744}{D\+\_\+\+ACCEL\+\_\+\+BIAS}}~(660)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gac74c2352245609d469f38d6ffff9030e}{D\+\_\+\+ORIENT\+\_\+\+GAP}}~(76)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga214de0f949e6ed8fcf11ce1b3b6eebad}{D\+\_\+\+TILT0\+\_\+H}}~(48)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga6c85fceb5f74a918b0399d0307158ff7}{D\+\_\+\+TILT0\+\_\+L}}~(50)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga4e1a6f62758ed17f6f950a15dae3f71f}{D\+\_\+\+TILT1\+\_\+H}}~(52)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga4e42a147afc872019b8affbbe545e233}{D\+\_\+\+TILT1\+\_\+L}}~(54)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga9325b74799bbe82c52821c1a3d31cb0a}{D\+\_\+\+TILT2\+\_\+H}}~(56)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga1f94ccf82d2693832423d759dba5dbfa}{D\+\_\+\+TILT2\+\_\+L}}~(58)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga296360133bdb8e75a844083e52ae6542}{D\+\_\+\+TILT3\+\_\+H}}~(60)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gab62313b938bb0a02efe7584203c0c950}{D\+\_\+\+TILT3\+\_\+L}}~(62)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga304702b72a030fceea30b45d1ab53a5c}{DMP\+\_\+\+CODE\+\_\+\+SIZE}}~(3062)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gac5690dcf21f75f38bc3ea13ad4799714}{INT\+\_\+\+SRC\+\_\+\+TAP}}~(0x01)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga7c3f4a57d404a1321ce6dfc00e33ac4d}{INT\+\_\+\+SRC\+\_\+\+ANDROID\+\_\+\+ORIENT}}~(0x08)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gadda8f4118bd084cfb4fcda3571585c56}{DMP\+\_\+\+FEATURE\+\_\+\+SEND\+\_\+\+ANY\+\_\+\+GYRO}}
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga973c680573b37fc359fc68d0707da355}{MAX\+\_\+\+PACKET\+\_\+\+LENGTH}}~(32)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga9d0f0425cbcb58186500cb8686e41e67}{DMP\+\_\+\+SAMPLE\+\_\+\+RATE}}~(200)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gac0325c658f2911bdfc3b44fca31c684f}{GYRO\+\_\+\+SF}}~(46850825LL $\ast$ 200 / \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga9d0f0425cbcb58186500cb8686e41e67}{DMP\+\_\+\+SAMPLE\+\_\+\+RATE}})
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gabb3bcb4d19c847aa89a356478b7da027}{FIFO\+\_\+\+CORRUPTION\+\_\+\+CHECK}}
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga633dcbd524d41e6f76c0fda39828c8e1}{QUAT\+\_\+\+ERROR\+\_\+\+THRESH}}~(1L$<$$<$24)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga290880f86641e11d62db9792eab808bd}{QUAT\+\_\+\+MAG\+\_\+\+SQ\+\_\+\+NORMALIZED}}~(1L$<$$<$28)
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_gae76871da254b93d8b944ec65792db252}{QUAT\+\_\+\+MAG\+\_\+\+SQ\+\_\+\+MIN}}~(\mbox{\hyperlink{group___d_r_i_v_e_r_s_ga290880f86641e11d62db9792eab808bd}{QUAT\+\_\+\+MAG\+\_\+\+SQ\+\_\+\+NORMALIZED}} -\/ \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga633dcbd524d41e6f76c0fda39828c8e1}{QUAT\+\_\+\+ERROR\+\_\+\+THRESH}})
\item 
\#define \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga3036f612f259f4e13c631a31fb0e7176}{QUAT\+\_\+\+MAG\+\_\+\+SQ\+\_\+\+MAX}}~(\mbox{\hyperlink{group___d_r_i_v_e_r_s_ga290880f86641e11d62db9792eab808bd}{QUAT\+\_\+\+MAG\+\_\+\+SQ\+\_\+\+NORMALIZED}} + \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga633dcbd524d41e6f76c0fda39828c8e1}{QUAT\+\_\+\+ERROR\+\_\+\+THRESH}})
\end{DoxyCompactItemize}
\doxysubsection*{函数}
\begin{DoxyCompactItemize}
\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga66626a842452f444e9af29cb0d2c6150}{dmp\+\_\+load\+\_\+motion\+\_\+driver\+\_\+firmware}} (void)
\begin{DoxyCompactList}\small\item\em Load the DMP with this image. \end{DoxyCompactList}\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga6cb5ff144ce6e1546f00809de8bb24a4}{dmp\+\_\+set\+\_\+orientation}} (unsigned short orient)
\begin{DoxyCompactList}\small\item\em Push gyro and accel orientation to the DMP. The orientation is represented here as the output of {\itshape inv\+\_\+orientation\+\_\+matrix\+\_\+to\+\_\+scalar}. \end{DoxyCompactList}\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga4766e37ef95cbf0044c8f9594ed811d1}{dmp\+\_\+set\+\_\+gyro\+\_\+bias}} (long $\ast$bias)
\begin{DoxyCompactList}\small\item\em Push gyro biases to the DMP. Because the gyro integration is handled in the DMP, any gyro biases calculated by the MPL should be pushed down to DMP memory to remove 3-\/axis quaternion drift. ~\newline
 NOTE\+: If the DMP-\/based gyro calibration is enabled, the DMP will overwrite the biases written to this location once a new one is computed. \end{DoxyCompactList}\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_gafbd714aee6086836f70aaea847771669}{dmp\+\_\+set\+\_\+accel\+\_\+bias}} (long $\ast$bias)
\begin{DoxyCompactList}\small\item\em Push accel biases to the DMP. These biases will be removed from the DMP 6-\/axis quaternion. \end{DoxyCompactList}\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga5399728fd572a7694af20286cc9d4121}{dmp\+\_\+set\+\_\+fifo\+\_\+rate}} (unsigned short rate)
\begin{DoxyCompactList}\small\item\em Set DMP output rate. Only used when DMP is on. \end{DoxyCompactList}\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_gaf3f9953bc04af751b1101700daffa951}{dmp\+\_\+get\+\_\+fifo\+\_\+rate}} (unsigned short $\ast$rate)
\begin{DoxyCompactList}\small\item\em Get DMP output rate. \end{DoxyCompactList}\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga15da67c0a6c94e0cdaceb8b165e13af9}{dmp\+\_\+set\+\_\+tap\+\_\+thresh}} (unsigned char axis, unsigned short thresh)
\begin{DoxyCompactList}\small\item\em Set tap threshold for a specific axis. \end{DoxyCompactList}\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga66bc5c8fc26fcb498df53fc62aa87e4f}{dmp\+\_\+set\+\_\+tap\+\_\+axes}} (unsigned char axis)
\begin{DoxyCompactList}\small\item\em Set which axes will register a tap. \end{DoxyCompactList}\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga819f947b2cb107ada7b9a94c41be0dad}{dmp\+\_\+set\+\_\+tap\+\_\+count}} (unsigned char min\+\_\+taps)
\begin{DoxyCompactList}\small\item\em Set minimum number of taps needed for an interrupt. \end{DoxyCompactList}\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga97466067f4a23368f4d7e2547fe359d9}{dmp\+\_\+set\+\_\+tap\+\_\+time}} (unsigned short time)
\begin{DoxyCompactList}\small\item\em Set length between valid taps. \end{DoxyCompactList}\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_gaeca250a90eb816eb2609229849481337}{dmp\+\_\+set\+\_\+tap\+\_\+time\+\_\+multi}} (unsigned short time)
\begin{DoxyCompactList}\small\item\em Set max time between taps to register as a multi-\/tap. \end{DoxyCompactList}\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga62efdae1330d5bcaf4c75b069ded0ed0}{dmp\+\_\+set\+\_\+shake\+\_\+reject\+\_\+thresh}} (long sf, unsigned short thresh)
\begin{DoxyCompactList}\small\item\em Set shake rejection threshold. If the DMP detects a gyro sample larger than {\itshape thresh}, taps are rejected. \end{DoxyCompactList}\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga09d7a6d90e1bd2e907f1866d850c5608}{dmp\+\_\+set\+\_\+shake\+\_\+reject\+\_\+time}} (unsigned short time)
\begin{DoxyCompactList}\small\item\em Set shake rejection time. Sets the length of time that the gyro must be outside of the threshold set by {\itshape gyro\+\_\+set\+\_\+shake\+\_\+reject\+\_\+thresh} before taps are rejected. A mandatory 60 ms is added to this parameter. \end{DoxyCompactList}\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga5d44d1a32535000e6902cdc5224d1b54}{dmp\+\_\+set\+\_\+shake\+\_\+reject\+\_\+timeout}} (unsigned short time)
\begin{DoxyCompactList}\small\item\em Set shake rejection timeout. Sets the length of time after a shake rejection that the gyro must stay inside of the threshold before taps can be detected again. A mandatory 60 ms is added to this parameter. \end{DoxyCompactList}\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_gad8f4d1a93e0f03d950559501c5a7255b}{dmp\+\_\+get\+\_\+pedometer\+\_\+step\+\_\+count}} (unsigned long $\ast$count)
\begin{DoxyCompactList}\small\item\em Get current step count. \end{DoxyCompactList}\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga568562c19998f585b1d2ba056cd209db}{dmp\+\_\+set\+\_\+pedometer\+\_\+step\+\_\+count}} (unsigned long count)
\begin{DoxyCompactList}\small\item\em Overwrite current step count. WARNING\+: This function writes to DMP memory and could potentially encounter a race condition if called while the pedometer is enabled. \end{DoxyCompactList}\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga62c8e5e99986b0e60ca0dc9a9b9c3fcc}{dmp\+\_\+get\+\_\+pedometer\+\_\+walk\+\_\+time}} (unsigned long $\ast$time)
\begin{DoxyCompactList}\small\item\em Get duration of walking time. \end{DoxyCompactList}\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga62f469269047f8cba16a2b7f5349acc0}{dmp\+\_\+set\+\_\+pedometer\+\_\+walk\+\_\+time}} (unsigned long time)
\begin{DoxyCompactList}\small\item\em Overwrite current walk time. WARNING\+: This function writes to DMP memory and could potentially encounter a race condition if called while the pedometer is enabled. \end{DoxyCompactList}\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga70c485bdfa30515e5b869b081192caa1}{dmp\+\_\+enable\+\_\+feature}} (unsigned short mask)
\begin{DoxyCompactList}\small\item\em Enable DMP features. The following \#define\textquotesingle{}s are used in the input mask\+: ~\newline
 DMP\+\_\+\+FEATURE\+\_\+\+TAP ~\newline
 DMP\+\_\+\+FEATURE\+\_\+\+ANDROID\+\_\+\+ORIENT ~\newline
 DMP\+\_\+\+FEATURE\+\_\+\+LP\+\_\+\+QUAT ~\newline
 DMP\+\_\+\+FEATURE\+\_\+6\+X\+\_\+\+LP\+\_\+\+QUAT ~\newline
 DMP\+\_\+\+FEATURE\+\_\+\+GYRO\+\_\+\+CAL ~\newline
 DMP\+\_\+\+FEATURE\+\_\+\+SEND\+\_\+\+RAW\+\_\+\+ACCEL ~\newline
 DMP\+\_\+\+FEATURE\+\_\+\+SEND\+\_\+\+RAW\+\_\+\+GYRO ~\newline
 NOTE\+: DMP\+\_\+\+FEATURE\+\_\+\+LP\+\_\+\+QUAT and DMP\+\_\+\+FEATURE\+\_\+6\+X\+\_\+\+LP\+\_\+\+QUAT are mutually exclusive. ~\newline
 NOTE\+: DMP\+\_\+\+FEATURE\+\_\+\+SEND\+\_\+\+RAW\+\_\+\+GYRO and DMP\+\_\+\+FEATURE\+\_\+\+SEND\+\_\+\+CAL\+\_\+\+GYRO are also mutually exclusive. \end{DoxyCompactList}\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga92b920b72f5146ea14d45ad2d529b64c}{dmp\+\_\+get\+\_\+enabled\+\_\+features}} (unsigned short $\ast$mask)
\begin{DoxyCompactList}\small\item\em Get list of currently enabled DMP features. \end{DoxyCompactList}\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga653ebcec6758f006dd89939e8f3c6ebb}{dmp\+\_\+enable\+\_\+gyro\+\_\+cal}} (unsigned char enable)
\begin{DoxyCompactList}\small\item\em Calibrate the gyro data in the DMP. After eight seconds of no motion, the DMP will compute gyro biases and subtract them from the quaternion output. If {\itshape dmp\+\_\+enable\+\_\+feature} is called with {\itshape DMP\+\_\+\+FEATURE\+\_\+\+SEND\+\_\+\+CAL\+\_\+\+GYRO}, the biases will also be subtracted from the gyro output. \end{DoxyCompactList}\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga4ee4339b79a58558d121ba8206056394}{dmp\+\_\+enable\+\_\+lp\+\_\+quat}} (unsigned char enable)
\begin{DoxyCompactList}\small\item\em Generate 3-\/axis quaternions from the DMP. In this driver, the 3-\/axis and 6-\/axis DMP quaternion features are mutually exclusive. \end{DoxyCompactList}\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_gaac712ef33727433f666b3861894873be}{dmp\+\_\+enable\+\_\+6x\+\_\+lp\+\_\+quat}} (unsigned char enable)
\begin{DoxyCompactList}\small\item\em Generate 6-\/axis quaternions from the DMP. In this driver, the 3-\/axis and 6-\/axis DMP quaternion features are mutually exclusive. \end{DoxyCompactList}\item 
static int \mbox{\hyperlink{group___d_r_i_v_e_r_s_gaee85b322f461f83536e49840651a7576}{decode\+\_\+gesture}} (unsigned char $\ast$gesture)
\begin{DoxyCompactList}\small\item\em Decode the four-\/byte gesture data and execute any callbacks. \end{DoxyCompactList}\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_gaf10c08103d2aec9aa5555a5694bafced}{dmp\+\_\+set\+\_\+interrupt\+\_\+mode}} (unsigned char mode)
\begin{DoxyCompactList}\small\item\em Specify when a DMP interrupt should occur. A DMP interrupt can be configured to trigger on either of the two conditions below\+: ~\newline
 a. One FIFO period has elapsed (set by {\itshape mpu\+\_\+set\+\_\+sample\+\_\+rate}). ~\newline
 b. A tap event has been detected. \end{DoxyCompactList}\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga02db5f25359abe84be002c543cdc3803}{dmp\+\_\+read\+\_\+fifo}} (short $\ast$gyro, short $\ast$accel, long $\ast$quat, unsigned long $\ast$timestamp, short $\ast$sensors, unsigned char $\ast$more)
\begin{DoxyCompactList}\small\item\em Get one packet from the FIFO. If {\itshape sensors} does not contain a particular sensor, disregard the data returned to that pointer. ~\newline
 {\itshape sensors} can contain a combination of the following flags\+: ~\newline
 INV\+\_\+\+X\+\_\+\+GYRO, INV\+\_\+\+Y\+\_\+\+GYRO, INV\+\_\+\+Z\+\_\+\+GYRO ~\newline
 INV\+\_\+\+XYZ\+\_\+\+GYRO ~\newline
 INV\+\_\+\+XYZ\+\_\+\+ACCEL ~\newline
 INV\+\_\+\+WXYZ\+\_\+\+QUAT ~\newline
 If the FIFO has no new data, {\itshape sensors} will be zero. ~\newline
 If the FIFO is disabled, {\itshape sensors} will be zero and this function will return a non-\/zero error code. \end{DoxyCompactList}\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga8a2df36126e34b78863e3acf1249d814}{dmp\+\_\+register\+\_\+tap\+\_\+cb}} (void($\ast$func)(unsigned char, unsigned char))
\begin{DoxyCompactList}\small\item\em Register a function to be executed on a tap event. The tap direction is represented by one of the following\+: ~\newline
 TAP\+\_\+\+X\+\_\+\+UP ~\newline
 TAP\+\_\+\+X\+\_\+\+DOWN ~\newline
 TAP\+\_\+\+Y\+\_\+\+UP ~\newline
 TAP\+\_\+\+Y\+\_\+\+DOWN ~\newline
 TAP\+\_\+\+Z\+\_\+\+UP ~\newline
 TAP\+\_\+\+Z\+\_\+\+DOWN \end{DoxyCompactList}\item 
int \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga2e66a02d29ec89466cf339587592943c}{dmp\+\_\+register\+\_\+android\+\_\+orient\+\_\+cb}} (void($\ast$func)(unsigned char))
\begin{DoxyCompactList}\small\item\em Register a function to be executed on a android orientation event. \end{DoxyCompactList}\end{DoxyCompactItemize}
\doxysubsection*{变量}
\begin{DoxyCompactItemize}
\item 
static const unsigned char \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga18acad3bc779e5f0fcb478454ed3018c}{dmp\+\_\+memory}} \mbox{[}\mbox{\hyperlink{group___d_r_i_v_e_r_s_ga304702b72a030fceea30b45d1ab53a5c}{DMP\+\_\+\+CODE\+\_\+\+SIZE}}\mbox{]}
\item 
static const unsigned short \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga4c3bab083aa4c83b435dcfa14b881165}{s\+Start\+Address}} = 0x0400
\item 
static struct \mbox{\hyperlink{structdmp__s}{dmp\+\_\+s}} \mbox{\hyperlink{group___d_r_i_v_e_r_s_gab873eceb75f8d47f6a04c9d2db1a36e5}{dmp}}
\end{DoxyCompactItemize}


\doxysubsection{详细描述}
DMP image and interface functions. 

All functions are preceded by the dmp\+\_\+ prefix to differentiate among MPL and general driver function calls. 

在文件 \mbox{\hyperlink{inv__mpu__dmp__motion__driver_8c_source}{inv\+\_\+mpu\+\_\+dmp\+\_\+motion\+\_\+driver.\+c}} 中定义.

