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2020-02-07 14:57:44 +01:00
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/**
* This file is part of the hoverboard-sideboard-hack project.
*
* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
// Define to prevent recursive inclusion
#ifndef CONFIG_H
#define CONFIG_H
/* ==================================== VARIANT SELECTION ==================================== */
#if !defined(PLATFORMIO)
#define VARIANT_DEBUG // Variant for debugging and checking the capabilities of the side-board
//#define VARIANT_HOVERBOARD // Variant for using the side-boards connected to the Hoverboard mainboard
#endif
/* ==================================== DO NOT TOUCH SETTINGS ==================================== */
#define MPU6050 // [-] Define IMU sensor type
#define MPU_GYRO_FSR 2000 // [deg/s] Set Gyroscope Full Scale Range: 250 deg/s, 500 deg/s, 1000 deg/s, 2000 deg/s. !! DMP sensor fusion works only with 2000 deg/s !!
#define MPU_ACCEL_FSR 2 // [g] Set Acceleromenter Full Scale Range: 2g, 4g, 8g, 16g. !! DMP sensor fusion works only with 2g !!
#define MPU_I2C_SPEED 400000 // [bit/s] Define I2C speed for communicating with the MPU6050
#define DELAY_IN_MAIN_LOOP 1 // [ms] Delay in the main loop
/* =============================================================================================== */
/* ==================================== SETTINGS MPU-6050 ==================================== */
#define MPU_DMP_ENABLE // [-] Enable flag for MPU-6050 DMP (Digital Motion Processing) functionality.
#define MPU_DEFAULT_HZ 20 // [Hz] Default MPU frequecy: must be between 1Hz and 200Hz.
#define TEMP_READ_MS 500 // [ms] Temperature read time interval
#define PEDO_READ_MS 1000 // [ms] Pedometer read time interval
// #define USE_CAL_HW_REGISTERS // [-] Uncommnent this to SAVE the sensor calibration to the MPU-6050 registers after the Self-test was run
// DMP Tap Detection Settings
#define DMP_TAP_AXES TAP_XYZ // [-] Set which axes will register a tap: TAP_XYZ, TAP_X, TAP_Y, TAP_Z
#define DMP_TAP_THRESH 250 // [mg/ms] Set tap threshold for the selected axis.
#define DMP_TAP_COUNT 1 // [-] Set minimum number of taps needed for an interrupt. Minimum consecutive taps: 1 to 4
#define DMP_TAP_TIME 100 // [ms] Set time length between valid taps.
#define DMP_TAP_TIME_MULTI 500 // [ms] Set max time between taps to register as a multi-tap.
#define DMP_SHAKE_REJECT_THRESH 200 // [deg/s] Set shake rejection threshold in degree per second (dps). If the DMP detects a gyro sample larger than the thresh, taps are rejected.
#define DMP_SHAKE_REJECT_TIME 40 // [ms] Set shake rejection time. Sets the length of time that the gyro must be outside of the DMP_SHAKE_REJECT_THRESH before taps are rejected. A mandatory 60 ms is added to this parameter.
#define DMP_SHAKE_REJECT_TIMEOUT 10 // [ms] 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.
/* ==================================== SETTINGS USART ==================================== */
#if defined(VARIANT_DEBUG)
#define SERIAL_DEBUG // [-] Define for Serial Debug via the serial port
#elif defined(VARIANT_HOVERBOARD)
#define SERIAL_CONTROL // [-] Define for Serial Control via the serial port
#define SERIAL_FEEDBACK // [-] Define for Serial Feedback via the serial port
#endif
#define USART_MAIN_BAUD 38400 // [bit/s] MAIN Serial Tx/Rx baud rate
#define SERIAL_START_FRAME 0xAAAA // [-] Start frame definition for reliable serial communication
#define SERIAL_TIMEOUT 300 // [-] Numer of wrong received data for Serial timeout detection
/* ==================================== SETTINGS AUX ==================================== */
// #define AUX45_USE_GPIO // [-] Use AUX4, AUX5 as GPIO ports
// #define AUX45_USE_I2C // [-] Use AUX4, AUX5 as I2C port
#define AUX45_USE_USART // [-] Use AUX4, AUX5 as USART port
#ifdef AUX45_USE_USART
#define USART_AUX_BAUD 38400 // [bit/s] AUX Serial Tx/Rx baud rate
#endif
#ifdef AUX45_USE_I2C
#define AUX_I2C_SPEED 100000 // [bit/s] Define I2C speed for communicating via AUX45 wires
#endif
/* ==================================== VALIDATE SETTINGS ==================================== */
#if defined(SERIAL_DEBUG) && defined(SERIAL_CONTROL)
#error SERIAL_DEBUG and SERIAL_CONTROL not allowed. It is on the same cable.
#endif
#if defined(AUX45_USE_GPIO) && (defined(AUX45_USE_USART) || defined(AUX45_USE_I2C)) || (defined(AUX45_USE_USART) && defined(AUX45_USE_I2C))
#error AUX45_USE_(GPIO,USART,I2C) not allowed in the same time. It is on the same cable.
#endif
#endif

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/**
* This file is part of the hoverboard-sideboard-hack project.
*
* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
// Define to prevent recursive inclusion
#ifndef DEFINES_H
#define DEFINES_H
// Includes
#include "gd32f1x0.h"
#include "config.h"
/* =========================== Defines General =========================== */
// #define _BV(bit) (1 << (bit))
// #define ARRAYNUM(arr_nanme) (uint32_t)(sizeof(arr_nanme) / sizeof(*(arr_nanme)))
#define min(a, b) (((a) < (b)) ? (a) : (b))
#define max(a, b) (((a) > (b)) ? (a) : (b))
#define i2c_write i2c_writeBytes
#define i2c_read i2c_readBytes
#define delay_ms delay_1ms
#define get_ms get_tick_count_ms
/* =========================== Defines LEDs =========================== */
#define LED1_GPIO_Port GPIOA
#define LED1_Pin GPIO_PIN_0 // RED
#define LED2_GPIO_Port GPIOB
#define LED2_Pin GPIO_PIN_9 // GREEN
#define LED3_GPIO_Port GPIOB
#define LED3_Pin GPIO_PIN_8 // YELLOW
#define LED4_GPIO_Port GPIOB
#define LED4_Pin GPIO_PIN_5 // BLUE1
#define LED5_GPIO_Port GPIOB
#define LED5_Pin GPIO_PIN_4 // BLUE2
/* =========================== Defines SENSORS =========================== */
#define SENSOR1_GPIO_Port GPIOA
#define SENSOR1_Pin GPIO_PIN_4
#define SENSOR2_GPIO_Port GPIOC
#define SENSOR2_Pin GPIO_PIN_14
/* =========================== Defines USART =========================== */
#define USART_GPIO_PORT GPIOA
#define USART_GPIO_CLK RCU_GPIOA
#define USART_AF GPIO_AF_1
// USART ports number
#define USARTn 2
// USART to Auxiliary, connected to USART0
#define USART_AUX USART0
#define USART_AUX_CLK RCU_USART0
#define USART_AUX_TX_PIN GPIO_PIN_9
#define USART_AUX_RX_PIN GPIO_PIN_10
// USART to Mainboard, connected to USART1
#define USART_MAIN USART1
#define USART_MAIN_CLK RCU_USART1
#define USART_MAIN_TX_PIN GPIO_PIN_2
#define USART_MAIN_RX_PIN GPIO_PIN_3
// USART address for DMA defines
#define USART0_TDATA_ADDRESS ((uint32_t)0x40013828) // USART0: 0x4001 3800 - 0x4001 3BFF
#define USART0_RDATA_ADDRESS ((uint32_t)0x40013824)
#define USART1_TDATA_ADDRESS ((uint32_t)0x40004428) // USART1: 0x4000 4400 - 0x4000 47FF
#define USART1_RDATA_ADDRESS ((uint32_t)0x40004424)
/* =========================== Defines AUX =========================== */
#define AUX1_PU_GPIO_Port GPIOC
#define AUX1_PU_Pin GPIO_PIN_15
#define AUX2_GPIO_Port GPIOA
#define AUX2_Pin GPIO_PIN_1
#define AUX3_GPIO_Port GPIOB
#define AUX3_Pin GPIO_PIN_10
#ifdef AUX45_USE_GPIO
#define AUX4_GPIO_Port GPIOA
#define AUX4_Pin GPIO_PIN_10
#define AUX5_GPIO_Port GPIOA
#define AUX5_Pin GPIO_PIN_9
#endif
/* =========================== Defines I2C =========================== */
typedef enum {READ = 0, WRITE = !READ} i2c_cmd;
#define MPU_I2C I2C0
#define MPU_RCU_I2C RCU_I2C0
#define MPU_SCL_GPIO_Port GPIOB
#define MPU_SCL_Pin GPIO_PIN_6
#define MPU_SDA_GPIO_Port GPIOB
#define MPU_SDA_Pin GPIO_PIN_7
#define I2C_OWN_ADDRESS7 0x24
#ifdef AUX45_USE_I2C
#define AUX_I2C I2C1
#define AUX_RCU_I2C RCU_I2C1
#define AUX_SCL_GPIO_Port GPIOA
#define AUX_SCL_Pin GPIO_PIN_9
#define AUX_SDA_GPIO_Port GPIOA
#define AUX_SDA_Pin GPIO_PIN_10
#define AUX_I2C_OWN_ADDRESS7 0x34
#endif
/* =========================== Defines MPU-6050 =========================== */
#define log_i printf // redirect the log_i debug function to printf
#define RAD2DEG 57.295779513082323 // RAD2DEG = 180/pi. Example: angle[deg] = angle[rad] * RAD2DEG
#define ACCEL_ON (0x01)
#define GYRO_ON (0x02)
#define COMPASS_ON (0x04)
#define PRINT_ACCEL (0x01)
#define PRINT_GYRO (0x02)
#define PRINT_QUAT (0x04)
#define PRINT_EULER (0x08)
#define PRINT_TEMP (0x10)
#define PRINT_PEDO (0x20)
typedef struct{
int16_t x;
int16_t y;
int16_t z;
} Gyro;
typedef struct{
int16_t x;
int16_t y;
int16_t z;
} Accel;
typedef struct{
int32_t w;
int32_t x;
int32_t y;
int32_t z;
} Quaternion;
typedef struct{
int16_t roll;
int16_t pitch;
int16_t yaw;
} Euler;
typedef struct {
Gyro gyro;
Accel accel;
Quaternion quat;
Euler euler;
int16_t temp;
} MPU_Data;
#endif

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/*!
\file gd32f1x0_it.h
\brief the header file of the ISR
*/
/*
Copyright (C) 2017 GigaDevice
2014-12-26, V1.0.0, platform GD32F1x0(x=3,5)
2016-01-15, V2.0.0, platform GD32F1x0(x=3,5,7,9)
2016-04-30, V3.0.0, firmware update for GD32F1x0(x=3,5,7,9)
2017-06-19, V3.1.0, firmware update for GD32F1x0(x=3,5,7,9)
*/
#ifndef GD32F1X0_IT_H
#define GD32F1X0_IT_H
#include "gd32f1x0.h"
#include "config.h"
/* function declarations */
/* NMI handle function */
void NMI_Handler(void);
/* HardFault handle function */
void HardFault_Handler(void);
/* MemManage handle function */
void MemManage_Handler(void);
/* BusFault handle function */
void BusFault_Handler(void);
/* UsageFault handle function */
void UsageFault_Handler(void);
/* SVC handle function */
void SVC_Handler(void);
/* DebugMon handle function */
void DebugMon_Handler(void);
/* PendSV handle function */
void PendSV_Handler(void);
/* SysTick handle function */
void SysTick_Handler(void);
/* I2C0 event handle function */
void I2C0_EV_IRQHandler(void);
/* I2C0 error handle function */
void I2C0_ER_IRQHandler(void);
#ifdef AUX45_USE_I2C
/* I2C1 event handle function */
void I2C1_EV_IRQHandler(void);
/* I2C1 error handle function */
void I2C1_ER_IRQHandler(void);
#endif
#endif /* GD32F1X0_IT_H */

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/**
* This file is part of the hoverboard-sideboard-hack project.
*
* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef I2C_IT_H
#define I2C_IT_H
#include "gd32f1x0.h"
#include "config.h"
/* Interrupt function declarations */
void I2C0_EventIRQ_Handler(void); // handle I2C0 event interrupt request
void I2C0_ErrorIRQ_Handler(void); // handle I2C0 error interrupt request
#ifdef AUX45_USE_I2C
void I2C1_EventIRQ_Handler(void); // handle I2C1 event interrupt request
void I2C1_ErrorIRQ_Handler(void); // handle I2C1 error interrupt request
#endif
#endif /* I2C_IT_H */

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/**
* This file was taken from InvenSense MotionApps v6.12 library and
* refactored for the hoverboard-sideboard-hack project.
*
* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
* Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
// Define to prevent recursive inclusion
#ifndef MPU6050_H
#define MPU6050_H
#include <stdint.h>
#include "defines.h"
//--------------------------------------------
#define INV_X_GYRO (0x40)
#define INV_Y_GYRO (0x20)
#define INV_Z_GYRO (0x10)
#define INV_XYZ_GYRO (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO)
#define INV_XYZ_ACCEL (0x08)
#define INV_XYZ_COMPASS (0x01)
#define MPU_INT_STATUS_DATA_READY (0x0001)
#define MPU_INT_STATUS_DMP (0x0002)
#define MPU_INT_STATUS_PLL_READY (0x0004)
#define MPU_INT_STATUS_I2C_MST (0x0008)
#define MPU_INT_STATUS_FIFO_OVERFLOW (0x0010)
#define MPU_INT_STATUS_ZMOT (0x0020)
#define MPU_INT_STATUS_MOT (0x0040)
#define MPU_INT_STATUS_FREE_FALL (0x0080)
#define MPU_INT_STATUS_DMP_0 (0x0100)
#define MPU_INT_STATUS_DMP_1 (0x0200)
#define MPU_INT_STATUS_DMP_2 (0x0400)
#define MPU_INT_STATUS_DMP_3 (0x0800)
#define MPU_INT_STATUS_DMP_4 (0x1000)
#define MPU_INT_STATUS_DMP_5 (0x2000)
/* Set up APIs */
int mpu_init(void);
int mpu_init_slave(void);
int mpu_set_bypass(unsigned char bypass_on);
/* Configuration APIs */
int mpu_lp_accel_mode(unsigned short rate);
int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time, unsigned short lpa_freq);
int mpu_set_int_level(unsigned char active_low);
int mpu_set_int_latched(unsigned char enable);
int mpu_set_dmp_state(unsigned char enable);
int mpu_get_dmp_state(unsigned char *enabled);
int mpu_get_lpf(unsigned short *lpf);
int mpu_set_lpf(unsigned short lpf);
int mpu_get_gyro_fsr(unsigned short *fsr);
int mpu_set_gyro_fsr(unsigned short fsr);
int mpu_get_accel_fsr(unsigned char *fsr);
int mpu_set_accel_fsr(unsigned char fsr);
int mpu_get_compass_fsr(unsigned short *fsr);
int mpu_get_gyro_sens(float *sens);
int mpu_get_accel_sens(unsigned short *sens);
int mpu_get_sample_rate(unsigned short *rate);
int mpu_set_sample_rate(unsigned short rate);
int mpu_get_compass_sample_rate(unsigned short *rate);
int mpu_set_compass_sample_rate(unsigned short rate);
int mpu_get_fifo_config(unsigned char *sensors);
int mpu_configure_fifo(unsigned char sensors);
int mpu_get_power_state(unsigned char *power_on);
int mpu_set_sensors(unsigned char sensors);
int mpu_read_6500_accel_bias(long *accel_bias);
int mpu_set_gyro_bias_reg(long * gyro_bias);
int mpu_set_accel_bias_6500_reg(const long *accel_bias);
int mpu_read_6050_accel_bias(long *accel_bias);
int mpu_set_accel_bias_6050_reg(const long *accel_bias);
/* Data getter/setter APIs */
int mpu_get_gyro_reg(short *data, unsigned long *timestamp);
int mpu_get_accel_reg(short *data, unsigned long *timestamp);
int mpu_get_compass_reg(short *data, unsigned long *timestamp);
int mpu_get_temperature(long *data, unsigned long *timestamp);
int mpu_get_int_status(short *status);
int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
unsigned char *sensors, unsigned char *more);
int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
unsigned char *more);
int mpu_reset_fifo(void);
int mpu_write_mem(unsigned short mem_addr, unsigned short length,
unsigned char *data);
int mpu_read_mem(unsigned short mem_addr, unsigned short length,
unsigned char *data);
int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
unsigned short start_addr, unsigned short sample_rate);
int mpu_reg_dump(void);
int mpu_read_reg(unsigned char reg, unsigned char *data);
int mpu_run_self_test(long *gyro, long *accel);
int mpu_run_6500_self_test(long *gyro, long *accel, unsigned char debug);
void mpu_start_self_test(void);
void mpu_setup_gyro(void);
/* MPU configuration */
int mpu_config(void);
/* MPU get packet data */
void mpu_get_data(void);
/* Data post-processing */
void mpu_read_gyro_raw(void);
void mpu_read_accel_raw(void);
void mpu_calc_euler_angles(void);
void mpu_tap_func(unsigned char direction, unsigned char count);
void mpu_android_orient_func(unsigned char orientation);
/* Handle user input commands */
void mpu_handle_input(char c);
void mpu_print_to_console(void);
#endif

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/**
* This file was taken from InvenSense MotionApps v6.12 library and
* refactored for the hoverboard-sideboard-hack project.
*
* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
* Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
// Define to prevent recursive inclusion
#ifndef MPU6050_DMP_H
#define MPU6050_DMP_H
#include <stdint.h>
#define TAP_X (0x01)
#define TAP_Y (0x02)
#define TAP_Z (0x04)
#define TAP_XYZ (0x07)
#define TAP_X_UP (0x01)
#define TAP_X_DOWN (0x02)
#define TAP_Y_UP (0x03)
#define TAP_Y_DOWN (0x04)
#define TAP_Z_UP (0x05)
#define TAP_Z_DOWN (0x06)
#define ANDROID_ORIENT_PORTRAIT (0x00)
#define ANDROID_ORIENT_LANDSCAPE (0x01)
#define ANDROID_ORIENT_REVERSE_PORTRAIT (0x02)
#define ANDROID_ORIENT_REVERSE_LANDSCAPE (0x03)
#define DMP_INT_GESTURE (0x01)
#define DMP_INT_CONTINUOUS (0x02)
#define DMP_FEATURE_TAP (0x001)
#define DMP_FEATURE_ANDROID_ORIENT (0x002)
#define DMP_FEATURE_LP_QUAT (0x004)
#define DMP_FEATURE_PEDOMETER (0x008)
#define DMP_FEATURE_6X_LP_QUAT (0x010)
#define DMP_FEATURE_GYRO_CAL (0x020)
#define DMP_FEATURE_SEND_RAW_ACCEL (0x040)
#define DMP_FEATURE_SEND_RAW_GYRO (0x080)
#define DMP_FEATURE_SEND_CAL_GYRO (0x100)
#define INV_WXYZ_QUAT (0x100)
/* Set up functions. */
int dmp_load_motion_driver_firmware(void);
int dmp_set_fifo_rate(unsigned short rate);
int dmp_get_fifo_rate(unsigned short *rate);
int dmp_enable_feature(unsigned short mask);
int dmp_get_enabled_features(unsigned short *mask);
int dmp_set_interrupt_mode(unsigned char mode);
int dmp_set_orientation(unsigned short orient);
int dmp_set_gyro_bias(long *bias);
int dmp_set_accel_bias(long *bias);
/* Tap functions. */
int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char));
int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh);
int dmp_set_tap_axes(unsigned char axis);
int dmp_set_tap_count(unsigned char min_taps);
int dmp_set_tap_time(unsigned short time);
int dmp_set_tap_time_multi(unsigned short time);
int dmp_set_shake_reject_thresh(long sf, unsigned short thresh);
int dmp_set_shake_reject_time(unsigned short time);
int dmp_set_shake_reject_timeout(unsigned short time);
/* Android orientation functions. */
int dmp_register_android_orient_cb(void (*func)(unsigned char));
/* LP quaternion functions. */
int dmp_enable_lp_quat(unsigned char enable);
int dmp_enable_6x_lp_quat(unsigned char enable);
/* Pedometer functions. */
int dmp_get_pedometer_step_count(unsigned long *count);
int dmp_set_pedometer_step_count(unsigned long count);
int dmp_get_pedometer_walk_time(unsigned long *time);
int dmp_set_pedometer_walk_time(unsigned long time);
/* DMP gyro calibration functions. */
int dmp_enable_gyro_cal(unsigned char enable);
/* Read function. This function should be called whenever the MPU interrupt is
* detected.
*/
int dmp_read_fifo(short *gyro, short *accel, long *quat,
unsigned long *timestamp, short *sensors, unsigned char *more);
#endif

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/*
$License:
Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
$
*/
#ifndef DMPKEY_H__
#define DMPKEY_H__
#define KEY_CFG_25 (0)
#define KEY_CFG_24 (KEY_CFG_25 + 1)
#define KEY_CFG_26 (KEY_CFG_24 + 1)
#define KEY_CFG_27 (KEY_CFG_26 + 1)
#define KEY_CFG_21 (KEY_CFG_27 + 1)
#define KEY_CFG_20 (KEY_CFG_21 + 1)
#define KEY_CFG_TAP4 (KEY_CFG_20 + 1)
#define KEY_CFG_TAP5 (KEY_CFG_TAP4 + 1)
#define KEY_CFG_TAP6 (KEY_CFG_TAP5 + 1)
#define KEY_CFG_TAP7 (KEY_CFG_TAP6 + 1)
#define KEY_CFG_TAP0 (KEY_CFG_TAP7 + 1)
#define KEY_CFG_TAP1 (KEY_CFG_TAP0 + 1)
#define KEY_CFG_TAP2 (KEY_CFG_TAP1 + 1)
#define KEY_CFG_TAP3 (KEY_CFG_TAP2 + 1)
#define KEY_CFG_TAP_QUANTIZE (KEY_CFG_TAP3 + 1)
#define KEY_CFG_TAP_JERK (KEY_CFG_TAP_QUANTIZE + 1)
#define KEY_CFG_DR_INT (KEY_CFG_TAP_JERK + 1)
#define KEY_CFG_AUTH (KEY_CFG_DR_INT + 1)
#define KEY_CFG_TAP_SAVE_ACCB (KEY_CFG_AUTH + 1)
#define KEY_CFG_TAP_CLEAR_STICKY (KEY_CFG_TAP_SAVE_ACCB + 1)
#define KEY_CFG_FIFO_ON_EVENT (KEY_CFG_TAP_CLEAR_STICKY + 1)
#define KEY_FCFG_ACCEL_INPUT (KEY_CFG_FIFO_ON_EVENT + 1)
#define KEY_FCFG_ACCEL_INIT (KEY_FCFG_ACCEL_INPUT + 1)
#define KEY_CFG_23 (KEY_FCFG_ACCEL_INIT + 1)
#define KEY_FCFG_1 (KEY_CFG_23 + 1)
#define KEY_FCFG_3 (KEY_FCFG_1 + 1)
#define KEY_FCFG_2 (KEY_FCFG_3 + 1)
#define KEY_CFG_3D (KEY_FCFG_2 + 1)
#define KEY_CFG_3B (KEY_CFG_3D + 1)
#define KEY_CFG_3C (KEY_CFG_3B + 1)
#define KEY_FCFG_5 (KEY_CFG_3C + 1)
#define KEY_FCFG_4 (KEY_FCFG_5 + 1)
#define KEY_FCFG_7 (KEY_FCFG_4 + 1)
#define KEY_FCFG_FSCALE (KEY_FCFG_7 + 1)
#define KEY_FCFG_AZ (KEY_FCFG_FSCALE + 1)
#define KEY_FCFG_6 (KEY_FCFG_AZ + 1)
#define KEY_FCFG_LSB4 (KEY_FCFG_6 + 1)
#define KEY_CFG_12 (KEY_FCFG_LSB4 + 1)
#define KEY_CFG_14 (KEY_CFG_12 + 1)
#define KEY_CFG_15 (KEY_CFG_14 + 1)
#define KEY_CFG_16 (KEY_CFG_15 + 1)
#define KEY_CFG_18 (KEY_CFG_16 + 1)
#define KEY_CFG_6 (KEY_CFG_18 + 1)
#define KEY_CFG_7 (KEY_CFG_6 + 1)
#define KEY_CFG_4 (KEY_CFG_7 + 1)
#define KEY_CFG_5 (KEY_CFG_4 + 1)
#define KEY_CFG_2 (KEY_CFG_5 + 1)
#define KEY_CFG_3 (KEY_CFG_2 + 1)
#define KEY_CFG_1 (KEY_CFG_3 + 1)
#define KEY_CFG_EXTERNAL (KEY_CFG_1 + 1)
#define KEY_CFG_8 (KEY_CFG_EXTERNAL + 1)
#define KEY_CFG_9 (KEY_CFG_8 + 1)
#define KEY_CFG_ORIENT_3 (KEY_CFG_9 + 1)
#define KEY_CFG_ORIENT_2 (KEY_CFG_ORIENT_3 + 1)
#define KEY_CFG_ORIENT_1 (KEY_CFG_ORIENT_2 + 1)
#define KEY_CFG_GYRO_SOURCE (KEY_CFG_ORIENT_1 + 1)
#define KEY_CFG_ORIENT_IRQ_1 (KEY_CFG_GYRO_SOURCE + 1)
#define KEY_CFG_ORIENT_IRQ_2 (KEY_CFG_ORIENT_IRQ_1 + 1)
#define KEY_CFG_ORIENT_IRQ_3 (KEY_CFG_ORIENT_IRQ_2 + 1)
#define KEY_FCFG_MAG_VAL (KEY_CFG_ORIENT_IRQ_3 + 1)
#define KEY_FCFG_MAG_MOV (KEY_FCFG_MAG_VAL + 1)
#define KEY_CFG_LP_QUAT (KEY_FCFG_MAG_MOV + 1)
/* MPU6050 keys */
#define KEY_CFG_ACCEL_FILTER (KEY_CFG_LP_QUAT + 1)
#define KEY_CFG_MOTION_BIAS (KEY_CFG_ACCEL_FILTER + 1)
#define KEY_TEMPLABEL (KEY_CFG_MOTION_BIAS + 1)
#define KEY_D_0_22 (KEY_TEMPLABEL + 1)
#define KEY_D_0_24 (KEY_D_0_22 + 1)
#define KEY_D_0_36 (KEY_D_0_24 + 1)
#define KEY_D_0_52 (KEY_D_0_36 + 1)
#define KEY_D_0_96 (KEY_D_0_52 + 1)
#define KEY_D_0_104 (KEY_D_0_96 + 1)
#define KEY_D_0_108 (KEY_D_0_104 + 1)
#define KEY_D_0_163 (KEY_D_0_108 + 1)
#define KEY_D_0_188 (KEY_D_0_163 + 1)
#define KEY_D_0_192 (KEY_D_0_188 + 1)
#define KEY_D_0_224 (KEY_D_0_192 + 1)
#define KEY_D_0_228 (KEY_D_0_224 + 1)
#define KEY_D_0_232 (KEY_D_0_228 + 1)
#define KEY_D_0_236 (KEY_D_0_232 + 1)
#define KEY_DMP_PREVPTAT (KEY_D_0_236 + 1)
#define KEY_D_1_2 (KEY_DMP_PREVPTAT + 1)
#define KEY_D_1_4 (KEY_D_1_2 + 1)
#define KEY_D_1_8 (KEY_D_1_4 + 1)
#define KEY_D_1_10 (KEY_D_1_8 + 1)
#define KEY_D_1_24 (KEY_D_1_10 + 1)
#define KEY_D_1_28 (KEY_D_1_24 + 1)
#define KEY_D_1_36 (KEY_D_1_28 + 1)
#define KEY_D_1_40 (KEY_D_1_36 + 1)
#define KEY_D_1_44 (KEY_D_1_40 + 1)
#define KEY_D_1_72 (KEY_D_1_44 + 1)
#define KEY_D_1_74 (KEY_D_1_72 + 1)
#define KEY_D_1_79 (KEY_D_1_74 + 1)
#define KEY_D_1_88 (KEY_D_1_79 + 1)
#define KEY_D_1_90 (KEY_D_1_88 + 1)
#define KEY_D_1_92 (KEY_D_1_90 + 1)
#define KEY_D_1_96 (KEY_D_1_92 + 1)
#define KEY_D_1_98 (KEY_D_1_96 + 1)
#define KEY_D_1_100 (KEY_D_1_98 + 1)
#define KEY_D_1_106 (KEY_D_1_100 + 1)
#define KEY_D_1_108 (KEY_D_1_106 + 1)
#define KEY_D_1_112 (KEY_D_1_108 + 1)
#define KEY_D_1_128 (KEY_D_1_112 + 1)
#define KEY_D_1_152 (KEY_D_1_128 + 1)
#define KEY_D_1_160 (KEY_D_1_152 + 1)
#define KEY_D_1_168 (KEY_D_1_160 + 1)
#define KEY_D_1_175 (KEY_D_1_168 + 1)
#define KEY_D_1_176 (KEY_D_1_175 + 1)
#define KEY_D_1_178 (KEY_D_1_176 + 1)
#define KEY_D_1_179 (KEY_D_1_178 + 1)
#define KEY_D_1_218 (KEY_D_1_179 + 1)
#define KEY_D_1_232 (KEY_D_1_218 + 1)
#define KEY_D_1_236 (KEY_D_1_232 + 1)
#define KEY_D_1_240 (KEY_D_1_236 + 1)
#define KEY_D_1_244 (KEY_D_1_240 + 1)
#define KEY_D_1_250 (KEY_D_1_244 + 1)
#define KEY_D_1_252 (KEY_D_1_250 + 1)
#define KEY_D_2_12 (KEY_D_1_252 + 1)
#define KEY_D_2_96 (KEY_D_2_12 + 1)
#define KEY_D_2_108 (KEY_D_2_96 + 1)
#define KEY_D_2_208 (KEY_D_2_108 + 1)
#define KEY_FLICK_MSG (KEY_D_2_208 + 1)
#define KEY_FLICK_COUNTER (KEY_FLICK_MSG + 1)
#define KEY_FLICK_LOWER (KEY_FLICK_COUNTER + 1)
#define KEY_CFG_FLICK_IN (KEY_FLICK_LOWER + 1)
#define KEY_FLICK_UPPER (KEY_CFG_FLICK_IN + 1)
#define KEY_CGNOTICE_INTR (KEY_FLICK_UPPER + 1)
#define KEY_D_2_224 (KEY_CGNOTICE_INTR + 1)
#define KEY_D_2_244 (KEY_D_2_224 + 1)
#define KEY_D_2_248 (KEY_D_2_244 + 1)
#define KEY_D_2_252 (KEY_D_2_248 + 1)
#define KEY_D_GYRO_BIAS_X (KEY_D_2_252 + 1)
#define KEY_D_GYRO_BIAS_Y (KEY_D_GYRO_BIAS_X + 1)
#define KEY_D_GYRO_BIAS_Z (KEY_D_GYRO_BIAS_Y + 1)
#define KEY_D_ACC_BIAS_X (KEY_D_GYRO_BIAS_Z + 1)
#define KEY_D_ACC_BIAS_Y (KEY_D_ACC_BIAS_X + 1)
#define KEY_D_ACC_BIAS_Z (KEY_D_ACC_BIAS_Y + 1)
#define KEY_D_GYRO_ENABLE (KEY_D_ACC_BIAS_Z + 1)
#define KEY_D_ACCEL_ENABLE (KEY_D_GYRO_ENABLE + 1)
#define KEY_D_QUAT_ENABLE (KEY_D_ACCEL_ENABLE +1)
#define KEY_D_OUTPUT_ENABLE (KEY_D_QUAT_ENABLE + 1)
#define KEY_D_CR_TIME_G (KEY_D_OUTPUT_ENABLE + 1)
#define KEY_D_CR_TIME_A (KEY_D_CR_TIME_G + 1)
#define KEY_D_CR_TIME_Q (KEY_D_CR_TIME_A + 1)
#define KEY_D_CS_TAX (KEY_D_CR_TIME_Q + 1)
#define KEY_D_CS_TAY (KEY_D_CS_TAX + 1)
#define KEY_D_CS_TAZ (KEY_D_CS_TAY + 1)
#define KEY_D_CS_TGX (KEY_D_CS_TAZ + 1)
#define KEY_D_CS_TGY (KEY_D_CS_TGX + 1)
#define KEY_D_CS_TGZ (KEY_D_CS_TGY + 1)
#define KEY_D_CS_TQ0 (KEY_D_CS_TGZ + 1)
#define KEY_D_CS_TQ1 (KEY_D_CS_TQ0 + 1)
#define KEY_D_CS_TQ2 (KEY_D_CS_TQ1 + 1)
#define KEY_D_CS_TQ3 (KEY_D_CS_TQ2 + 1)
/* Compass keys */
#define KEY_CPASS_BIAS_X (KEY_D_CS_TQ3 + 1)
#define KEY_CPASS_BIAS_Y (KEY_CPASS_BIAS_X + 1)
#define KEY_CPASS_BIAS_Z (KEY_CPASS_BIAS_Y + 1)
#define KEY_CPASS_MTX_00 (KEY_CPASS_BIAS_Z + 1)
#define KEY_CPASS_MTX_01 (KEY_CPASS_MTX_00 + 1)
#define KEY_CPASS_MTX_02 (KEY_CPASS_MTX_01 + 1)
#define KEY_CPASS_MTX_10 (KEY_CPASS_MTX_02 + 1)
#define KEY_CPASS_MTX_11 (KEY_CPASS_MTX_10 + 1)
#define KEY_CPASS_MTX_12 (KEY_CPASS_MTX_11 + 1)
#define KEY_CPASS_MTX_20 (KEY_CPASS_MTX_12 + 1)
#define KEY_CPASS_MTX_21 (KEY_CPASS_MTX_20 + 1)
#define KEY_CPASS_MTX_22 (KEY_CPASS_MTX_21 + 1)
/* Gesture Keys */
#define KEY_DMP_TAPW_MIN (KEY_CPASS_MTX_22 + 1)
#define KEY_DMP_TAP_THR_X (KEY_DMP_TAPW_MIN + 1)
#define KEY_DMP_TAP_THR_Y (KEY_DMP_TAP_THR_X + 1)
#define KEY_DMP_TAP_THR_Z (KEY_DMP_TAP_THR_Y + 1)
#define KEY_DMP_SH_TH_Y (KEY_DMP_TAP_THR_Z + 1)
#define KEY_DMP_SH_TH_X (KEY_DMP_SH_TH_Y + 1)
#define KEY_DMP_SH_TH_Z (KEY_DMP_SH_TH_X + 1)
#define KEY_DMP_ORIENT (KEY_DMP_SH_TH_Z + 1)
#define KEY_D_ACT0 (KEY_DMP_ORIENT + 1)
#define KEY_D_ACSX (KEY_D_ACT0 + 1)
#define KEY_D_ACSY (KEY_D_ACSX + 1)
#define KEY_D_ACSZ (KEY_D_ACSY + 1)
#define KEY_X_GRT_Y_TMP (KEY_D_ACSZ + 1)
#define KEY_SKIP_X_GRT_Y_TMP (KEY_X_GRT_Y_TMP + 1)
#define KEY_SKIP_END_COMPARE (KEY_SKIP_X_GRT_Y_TMP + 1)
#define KEY_END_COMPARE_Y_X_TMP2 (KEY_SKIP_END_COMPARE + 1)
#define KEY_CFG_ANDROID_ORIENT_INT (KEY_END_COMPARE_Y_X_TMP2 + 1)
#define KEY_NO_ORIENT_INTERRUPT (KEY_CFG_ANDROID_ORIENT_INT + 1)
#define KEY_END_COMPARE_Y_X_TMP (KEY_NO_ORIENT_INTERRUPT + 1)
#define KEY_END_ORIENT_1 (KEY_END_COMPARE_Y_X_TMP + 1)
#define KEY_END_COMPARE_Y_X (KEY_END_ORIENT_1 + 1)
#define KEY_END_ORIENT (KEY_END_COMPARE_Y_X + 1)
#define KEY_X_GRT_Y (KEY_END_ORIENT + 1)
#define KEY_NOT_TIME_MINUS_1 (KEY_X_GRT_Y + 1)
#define KEY_END_COMPARE_Y_X_TMP3 (KEY_NOT_TIME_MINUS_1 + 1)
#define KEY_X_GRT_Y_TMP2 (KEY_END_COMPARE_Y_X_TMP3 + 1)
/* Authenticate Keys */
#define KEY_D_AUTH_OUT (KEY_X_GRT_Y_TMP2 + 1)
#define KEY_D_AUTH_IN (KEY_D_AUTH_OUT + 1)
#define KEY_D_AUTH_A (KEY_D_AUTH_IN + 1)
#define KEY_D_AUTH_B (KEY_D_AUTH_A + 1)
/* Pedometer standalone only keys */
#define KEY_D_PEDSTD_BP_B (KEY_D_AUTH_B + 1)
#define KEY_D_PEDSTD_HP_A (KEY_D_PEDSTD_BP_B + 1)
#define KEY_D_PEDSTD_HP_B (KEY_D_PEDSTD_HP_A + 1)
#define KEY_D_PEDSTD_BP_A4 (KEY_D_PEDSTD_HP_B + 1)
#define KEY_D_PEDSTD_BP_A3 (KEY_D_PEDSTD_BP_A4 + 1)
#define KEY_D_PEDSTD_BP_A2 (KEY_D_PEDSTD_BP_A3 + 1)
#define KEY_D_PEDSTD_BP_A1 (KEY_D_PEDSTD_BP_A2 + 1)
#define KEY_D_PEDSTD_INT_THRSH (KEY_D_PEDSTD_BP_A1 + 1)
#define KEY_D_PEDSTD_CLIP (KEY_D_PEDSTD_INT_THRSH + 1)
#define KEY_D_PEDSTD_SB (KEY_D_PEDSTD_CLIP + 1)
#define KEY_D_PEDSTD_SB_TIME (KEY_D_PEDSTD_SB + 1)
#define KEY_D_PEDSTD_PEAKTHRSH (KEY_D_PEDSTD_SB_TIME + 1)
#define KEY_D_PEDSTD_TIML (KEY_D_PEDSTD_PEAKTHRSH + 1)
#define KEY_D_PEDSTD_TIMH (KEY_D_PEDSTD_TIML + 1)
#define KEY_D_PEDSTD_PEAK (KEY_D_PEDSTD_TIMH + 1)
#define KEY_D_PEDSTD_TIMECTR (KEY_D_PEDSTD_PEAK + 1)
#define KEY_D_PEDSTD_STEPCTR (KEY_D_PEDSTD_TIMECTR + 1)
#define KEY_D_PEDSTD_WALKTIME (KEY_D_PEDSTD_STEPCTR + 1)
#define KEY_D_PEDSTD_DECI (KEY_D_PEDSTD_WALKTIME + 1)
/*Host Based No Motion*/
#define KEY_D_HOST_NO_MOT (KEY_D_PEDSTD_DECI + 1)
/* EIS keys */
#define KEY_P_EIS_FIFO_FOOTER (KEY_D_HOST_NO_MOT + 1)
#define KEY_P_EIS_FIFO_YSHIFT (KEY_P_EIS_FIFO_FOOTER + 1)
#define KEY_P_EIS_DATA_RATE (KEY_P_EIS_FIFO_YSHIFT + 1)
#define KEY_P_EIS_FIFO_XSHIFT (KEY_P_EIS_DATA_RATE + 1)
#define KEY_P_EIS_FIFO_SYNC (KEY_P_EIS_FIFO_XSHIFT + 1)
#define KEY_P_EIS_FIFO_ZSHIFT (KEY_P_EIS_FIFO_SYNC + 1)
#define KEY_P_EIS_FIFO_READY (KEY_P_EIS_FIFO_ZSHIFT + 1)
#define KEY_DMP_FOOTER (KEY_P_EIS_FIFO_READY + 1)
#define KEY_DMP_INTX_HC (KEY_DMP_FOOTER + 1)
#define KEY_DMP_INTX_PH (KEY_DMP_INTX_HC + 1)
#define KEY_DMP_INTX_SH (KEY_DMP_INTX_PH + 1)
#define KEY_DMP_AINV_SH (KEY_DMP_INTX_SH + 1)
#define KEY_DMP_A_INV_XH (KEY_DMP_AINV_SH + 1)
#define KEY_DMP_AINV_PH (KEY_DMP_A_INV_XH + 1)
#define KEY_DMP_CTHX_H (KEY_DMP_AINV_PH + 1)
#define KEY_DMP_CTHY_H (KEY_DMP_CTHX_H + 1)
#define KEY_DMP_CTHZ_H (KEY_DMP_CTHY_H + 1)
#define KEY_DMP_NCTHX_H (KEY_DMP_CTHZ_H + 1)
#define KEY_DMP_NCTHY_H (KEY_DMP_NCTHX_H + 1)
#define KEY_DMP_NCTHZ_H (KEY_DMP_NCTHY_H + 1)
#define KEY_DMP_CTSQ_XH (KEY_DMP_NCTHZ_H + 1)
#define KEY_DMP_CTSQ_YH (KEY_DMP_CTSQ_XH + 1)
#define KEY_DMP_CTSQ_ZH (KEY_DMP_CTSQ_YH + 1)
#define KEY_DMP_INTX_H (KEY_DMP_CTSQ_ZH + 1)
#define KEY_DMP_INTY_H (KEY_DMP_INTX_H + 1)
#define KEY_DMP_INTZ_H (KEY_DMP_INTY_H + 1)
//#define KEY_DMP_HPX_H (KEY_DMP_INTZ_H + 1)
//#define KEY_DMP_HPY_H (KEY_DMP_HPX_H + 1)
//#define KEY_DMP_HPZ_H (KEY_DMP_HPY_H + 1)
/* Stream keys */
#define KEY_STREAM_P_GYRO_Z (KEY_DMP_INTZ_H + 1)
#define KEY_STREAM_P_GYRO_Y (KEY_STREAM_P_GYRO_Z + 1)
#define KEY_STREAM_P_GYRO_X (KEY_STREAM_P_GYRO_Y + 1)
#define KEY_STREAM_P_TEMP (KEY_STREAM_P_GYRO_X + 1)
#define KEY_STREAM_P_AUX_Y (KEY_STREAM_P_TEMP + 1)
#define KEY_STREAM_P_AUX_X (KEY_STREAM_P_AUX_Y + 1)
#define KEY_STREAM_P_AUX_Z (KEY_STREAM_P_AUX_X + 1)
#define KEY_STREAM_P_ACCEL_Y (KEY_STREAM_P_AUX_Z + 1)
#define KEY_STREAM_P_ACCEL_X (KEY_STREAM_P_ACCEL_Y + 1)
#define KEY_STREAM_P_FOOTER (KEY_STREAM_P_ACCEL_X + 1)
#define KEY_STREAM_P_ACCEL_Z (KEY_STREAM_P_FOOTER + 1)
#define NUM_KEYS (KEY_STREAM_P_ACCEL_Z + 1)
typedef struct {
unsigned short key;
unsigned short addr;
} tKeyLabel;
#define DINA0A 0x0a
#define DINA22 0x22
#define DINA42 0x42
#define DINA5A 0x5a
#define DINA06 0x06
#define DINA0E 0x0e
#define DINA16 0x16
#define DINA1E 0x1e
#define DINA26 0x26
#define DINA2E 0x2e
#define DINA36 0x36
#define DINA3E 0x3e
#define DINA46 0x46
#define DINA4E 0x4e
#define DINA56 0x56
#define DINA5E 0x5e
#define DINA66 0x66
#define DINA6E 0x6e
#define DINA76 0x76
#define DINA7E 0x7e
#define DINA00 0x00
#define DINA08 0x08
#define DINA10 0x10
#define DINA18 0x18
#define DINA20 0x20
#define DINA28 0x28
#define DINA30 0x30
#define DINA38 0x38
#define DINA40 0x40
#define DINA48 0x48
#define DINA50 0x50
#define DINA58 0x58
#define DINA60 0x60
#define DINA68 0x68
#define DINA70 0x70
#define DINA78 0x78
#define DINA04 0x04
#define DINA0C 0x0c
#define DINA14 0x14
#define DINA1C 0x1C
#define DINA24 0x24
#define DINA2C 0x2c
#define DINA34 0x34
#define DINA3C 0x3c
#define DINA44 0x44
#define DINA4C 0x4c
#define DINA54 0x54
#define DINA5C 0x5c
#define DINA64 0x64
#define DINA6C 0x6c
#define DINA74 0x74
#define DINA7C 0x7c
#define DINA01 0x01
#define DINA09 0x09
#define DINA11 0x11
#define DINA19 0x19
#define DINA21 0x21
#define DINA29 0x29
#define DINA31 0x31
#define DINA39 0x39
#define DINA41 0x41
#define DINA49 0x49
#define DINA51 0x51
#define DINA59 0x59
#define DINA61 0x61
#define DINA69 0x69
#define DINA71 0x71
#define DINA79 0x79
#define DINA25 0x25
#define DINA2D 0x2d
#define DINA35 0x35
#define DINA3D 0x3d
#define DINA4D 0x4d
#define DINA55 0x55
#define DINA5D 0x5D
#define DINA6D 0x6d
#define DINA75 0x75
#define DINA7D 0x7d
#define DINADC 0xdc
#define DINAF2 0xf2
#define DINAAB 0xab
#define DINAAA 0xaa
#define DINAF1 0xf1
#define DINADF 0xdf
#define DINADA 0xda
#define DINAB1 0xb1
#define DINAB9 0xb9
#define DINAF3 0xf3
#define DINA8B 0x8b
#define DINAA3 0xa3
#define DINA91 0x91
#define DINAB6 0xb6
#define DINAB4 0xb4
#define DINC00 0x00
#define DINC01 0x01
#define DINC02 0x02
#define DINC03 0x03
#define DINC08 0x08
#define DINC09 0x09
#define DINC0A 0x0a
#define DINC0B 0x0b
#define DINC10 0x10
#define DINC11 0x11
#define DINC12 0x12
#define DINC13 0x13
#define DINC18 0x18
#define DINC19 0x19
#define DINC1A 0x1a
#define DINC1B 0x1b
#define DINC20 0x20
#define DINC21 0x21
#define DINC22 0x22
#define DINC23 0x23
#define DINC28 0x28
#define DINC29 0x29
#define DINC2A 0x2a
#define DINC2B 0x2b
#define DINC30 0x30
#define DINC31 0x31
#define DINC32 0x32
#define DINC33 0x33
#define DINC38 0x38
#define DINC39 0x39
#define DINC3A 0x3a
#define DINC3B 0x3b
#define DINC40 0x40
#define DINC41 0x41
#define DINC42 0x42
#define DINC43 0x43
#define DINC48 0x48
#define DINC49 0x49
#define DINC4A 0x4a
#define DINC4B 0x4b
#define DINC50 0x50
#define DINC51 0x51
#define DINC52 0x52
#define DINC53 0x53
#define DINC58 0x58
#define DINC59 0x59
#define DINC5A 0x5a
#define DINC5B 0x5b
#define DINC60 0x60
#define DINC61 0x61
#define DINC62 0x62
#define DINC63 0x63
#define DINC68 0x68
#define DINC69 0x69
#define DINC6A 0x6a
#define DINC6B 0x6b
#define DINC70 0x70
#define DINC71 0x71
#define DINC72 0x72
#define DINC73 0x73
#define DINC78 0x78
#define DINC79 0x79
#define DINC7A 0x7a
#define DINC7B 0x7b
#define DIND40 0x40
#define DINA80 0x80
#define DINA90 0x90
#define DINAA0 0xa0
#define DINAC9 0xc9
#define DINACB 0xcb
#define DINACD 0xcd
#define DINACF 0xcf
#define DINAC8 0xc8
#define DINACA 0xca
#define DINACC 0xcc
#define DINACE 0xce
#define DINAD8 0xd8
#define DINADD 0xdd
#define DINAF8 0xf0
#define DINAFE 0xfe
#define DINBF8 0xf8
#define DINAC0 0xb0
#define DINAC1 0xb1
#define DINAC2 0xb4
#define DINAC3 0xb5
#define DINAC4 0xb8
#define DINAC5 0xb9
#define DINBC0 0xc0
#define DINBC2 0xc2
#define DINBC4 0xc4
#define DINBC6 0xc6
#endif // DMPKEY_H__

264
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/*
$License:
Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
$
*/
#ifndef DMPMAP_H
#define DMPMAP_H
#ifdef __cplusplus
extern "C"
{
#endif
#define DMP_PTAT 0
#define DMP_XGYR 2
#define DMP_YGYR 4
#define DMP_ZGYR 6
#define DMP_XACC 8
#define DMP_YACC 10
#define DMP_ZACC 12
#define DMP_ADC1 14
#define DMP_ADC2 16
#define DMP_ADC3 18
#define DMP_BIASUNC 20
#define DMP_FIFORT 22
#define DMP_INVGSFH 24
#define DMP_INVGSFL 26
#define DMP_1H 28
#define DMP_1L 30
#define DMP_BLPFSTCH 32
#define DMP_BLPFSTCL 34
#define DMP_BLPFSXH 36
#define DMP_BLPFSXL 38
#define DMP_BLPFSYH 40
#define DMP_BLPFSYL 42
#define DMP_BLPFSZH 44
#define DMP_BLPFSZL 46
#define DMP_BLPFMTC 48
#define DMP_SMC 50
#define DMP_BLPFMXH 52
#define DMP_BLPFMXL 54
#define DMP_BLPFMYH 56
#define DMP_BLPFMYL 58
#define DMP_BLPFMZH 60
#define DMP_BLPFMZL 62
#define DMP_BLPFC 64
#define DMP_SMCTH 66
#define DMP_0H2 68
#define DMP_0L2 70
#define DMP_BERR2H 72
#define DMP_BERR2L 74
#define DMP_BERR2NH 76
#define DMP_SMCINC 78
#define DMP_ANGVBXH 80
#define DMP_ANGVBXL 82
#define DMP_ANGVBYH 84
#define DMP_ANGVBYL 86
#define DMP_ANGVBZH 88
#define DMP_ANGVBZL 90
#define DMP_BERR1H 92
#define DMP_BERR1L 94
#define DMP_ATCH 96
#define DMP_BIASUNCSF 98
#define DMP_ACT2H 100
#define DMP_ACT2L 102
#define DMP_GSFH 104
#define DMP_GSFL 106
#define DMP_GH 108
#define DMP_GL 110
#define DMP_0_5H 112
#define DMP_0_5L 114
#define DMP_0_0H 116
#define DMP_0_0L 118
#define DMP_1_0H 120
#define DMP_1_0L 122
#define DMP_1_5H 124
#define DMP_1_5L 126
#define DMP_TMP1AH 128
#define DMP_TMP1AL 130
#define DMP_TMP2AH 132
#define DMP_TMP2AL 134
#define DMP_TMP3AH 136
#define DMP_TMP3AL 138
#define DMP_TMP4AH 140
#define DMP_TMP4AL 142
#define DMP_XACCW 144
#define DMP_TMP5 146
#define DMP_XACCB 148
#define DMP_TMP8 150
#define DMP_YACCB 152
#define DMP_TMP9 154
#define DMP_ZACCB 156
#define DMP_TMP10 158
#define DMP_DZH 160
#define DMP_DZL 162
#define DMP_XGCH 164
#define DMP_XGCL 166
#define DMP_YGCH 168
#define DMP_YGCL 170
#define DMP_ZGCH 172
#define DMP_ZGCL 174
#define DMP_YACCW 176
#define DMP_TMP7 178
#define DMP_AFB1H 180
#define DMP_AFB1L 182
#define DMP_AFB2H 184
#define DMP_AFB2L 186
#define DMP_MAGFBH 188
#define DMP_MAGFBL 190
#define DMP_QT1H 192
#define DMP_QT1L 194
#define DMP_QT2H 196
#define DMP_QT2L 198
#define DMP_QT3H 200
#define DMP_QT3L 202
#define DMP_QT4H 204
#define DMP_QT4L 206
#define DMP_CTRL1H 208
#define DMP_CTRL1L 210
#define DMP_CTRL2H 212
#define DMP_CTRL2L 214
#define DMP_CTRL3H 216
#define DMP_CTRL3L 218
#define DMP_CTRL4H 220
#define DMP_CTRL4L 222
#define DMP_CTRLS1 224
#define DMP_CTRLSF1 226
#define DMP_CTRLS2 228
#define DMP_CTRLSF2 230
#define DMP_CTRLS3 232
#define DMP_CTRLSFNLL 234
#define DMP_CTRLS4 236
#define DMP_CTRLSFNL2 238
#define DMP_CTRLSFNL 240
#define DMP_TMP30 242
#define DMP_CTRLSFJT 244
#define DMP_TMP31 246
#define DMP_TMP11 248
#define DMP_CTRLSF2_2 250
#define DMP_TMP12 252
#define DMP_CTRLSF1_2 254
#define DMP_PREVPTAT 256
#define DMP_ACCZB 258
#define DMP_ACCXB 264
#define DMP_ACCYB 266
#define DMP_1HB 272
#define DMP_1LB 274
#define DMP_0H 276
#define DMP_0L 278
#define DMP_ASR22H 280
#define DMP_ASR22L 282
#define DMP_ASR6H 284
#define DMP_ASR6L 286
#define DMP_TMP13 288
#define DMP_TMP14 290
#define DMP_FINTXH 292
#define DMP_FINTXL 294
#define DMP_FINTYH 296
#define DMP_FINTYL 298
#define DMP_FINTZH 300
#define DMP_FINTZL 302
#define DMP_TMP1BH 304
#define DMP_TMP1BL 306
#define DMP_TMP2BH 308
#define DMP_TMP2BL 310
#define DMP_TMP3BH 312
#define DMP_TMP3BL 314
#define DMP_TMP4BH 316
#define DMP_TMP4BL 318
#define DMP_STXG 320
#define DMP_ZCTXG 322
#define DMP_STYG 324
#define DMP_ZCTYG 326
#define DMP_STZG 328
#define DMP_ZCTZG 330
#define DMP_CTRLSFJT2 332
#define DMP_CTRLSFJTCNT 334
#define DMP_PVXG 336
#define DMP_TMP15 338
#define DMP_PVYG 340
#define DMP_TMP16 342
#define DMP_PVZG 344
#define DMP_TMP17 346
#define DMP_MNMFLAGH 352
#define DMP_MNMFLAGL 354
#define DMP_MNMTMH 356
#define DMP_MNMTML 358
#define DMP_MNMTMTHRH 360
#define DMP_MNMTMTHRL 362
#define DMP_MNMTHRH 364
#define DMP_MNMTHRL 366
#define DMP_ACCQD4H 368
#define DMP_ACCQD4L 370
#define DMP_ACCQD5H 372
#define DMP_ACCQD5L 374
#define DMP_ACCQD6H 376
#define DMP_ACCQD6L 378
#define DMP_ACCQD7H 380
#define DMP_ACCQD7L 382
#define DMP_ACCQD0H 384
#define DMP_ACCQD0L 386
#define DMP_ACCQD1H 388
#define DMP_ACCQD1L 390
#define DMP_ACCQD2H 392
#define DMP_ACCQD2L 394
#define DMP_ACCQD3H 396
#define DMP_ACCQD3L 398
#define DMP_XN2H 400
#define DMP_XN2L 402
#define DMP_XN1H 404
#define DMP_XN1L 406
#define DMP_YN2H 408
#define DMP_YN2L 410
#define DMP_YN1H 412
#define DMP_YN1L 414
#define DMP_YH 416
#define DMP_YL 418
#define DMP_B0H 420
#define DMP_B0L 422
#define DMP_A1H 424
#define DMP_A1L 426
#define DMP_A2H 428
#define DMP_A2L 430
#define DMP_SEM1 432
#define DMP_FIFOCNT 434
#define DMP_SH_TH_X 436
#define DMP_PACKET 438
#define DMP_SH_TH_Y 440
#define DMP_FOOTER 442
#define DMP_SH_TH_Z 444
#define DMP_TEMP29 448
#define DMP_TEMP30 450
#define DMP_XACCB_PRE 452
#define DMP_XACCB_PREL 454
#define DMP_YACCB_PRE 456
#define DMP_YACCB_PREL 458
#define DMP_ZACCB_PRE 460
#define DMP_ZACCB_PREL 462
#define DMP_TMP22 464
#define DMP_TAP_TIMER 466
#define DMP_TAP_THX 468
#define DMP_TAP_THY 472
#define DMP_TAP_THZ 476
#define DMP_TAPW_MIN 478
#define DMP_TMP25 480
#define DMP_TMP26 482
#define DMP_TMP27 484
#define DMP_TMP28 486
#define DMP_ORIENT 488
#define DMP_THRSH 490
#define DMP_ENDIANH 492
#define DMP_ENDIANL 494
#define DMP_BLPFNMTCH 496
#define DMP_BLPFNMTCL 498
#define DMP_BLPFNMXH 500
#define DMP_BLPFNMXL 502
#define DMP_BLPFNMYH 504
#define DMP_BLPFNMYL 506
#define DMP_BLPFNMZH 508
#define DMP_BLPFNMZL 510
#ifdef __cplusplus
}
#endif
#endif // DMPMAP_H

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/**
* This file is part of the hoverboard-sideboard-hack project.
*
* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
// Define to prevent recursive inclusion
#ifndef SETUP_H
#define SETUP_H
// Includes
#include "gd32f1x0.h"
// Function declarations
void gpio_config(void);
void usart_config(uint32_t selUSART, uint32_t selBaudRate);
void usart_Tx_DMA_config(uint32_t selUSART, uint8_t *pData, uint32_t Size);
void usart_Rx_DMA_config(uint32_t selUSART, uint8_t *pData, uint32_t Size);
void i2c_config(void);
void i2c_nvic_config(void);
#endif

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/*!
\file systick.h
\brief the header file of systick
\version 2016-01-15, V1.0.0, demo for GD32F1x0
\version 2016-05-13, V2.0.0, demo for GD32F1x0
\version 2019-11-20, V3.0.0, demo for GD32F1x0
*/
/*
Copyright (c) 2019, GigaDevice Semiconductor Inc.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of its contributors
may be used to endorse or promote products derived from this software without
specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
OF SUCH DAMAGE.
*/
#ifndef SYS_TICK_H
#define SYS_TICK_H
#include <stdint.h>
/* configure systick */
void systick_config(void);
/* delay a time in milliseconds */
void delay_1ms(uint32_t count);
/* delay decrement */
void delay_decrement(void);
/* tick count increment */
void tick_count_increment(void);
/* get tick count ms */
void get_tick_count_ms(unsigned long *count);
#endif /* SYS_TICK_H */

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/**
* This file is part of the hoverboard-sideboard-hack project.
*
* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
// Define to prevent recursive inclusion
#ifndef UTIL_H
#define UTIL_H
#include <stdint.h>
#include "gd32f1x0.h"
#include "defines.h"
extern volatile int8_t i2c_status;
extern volatile i2c_cmd i2c_ReadWriteCmd;
extern volatile uint8_t i2c_slaveAddress;
extern volatile uint8_t i2c_regAddress;
extern volatile uint8_t* i2c_txbuffer;
extern volatile uint8_t* i2c_rxbuffer;
extern volatile uint8_t i2c_nDABytes;
extern volatile int8_t i2c_nRABytes;
#ifdef AUX45_USE_I2C
extern volatile int8_t i2c_aux_status;
extern volatile i2c_cmd i2c_aux_ReadWriteCmd;
extern volatile uint8_t i2c_aux_slaveAddress;
extern volatile uint8_t i2c_aux_regAddress;
extern volatile uint8_t* i2c_aux_txbuffer;
extern volatile uint8_t* i2c_aux_rxbuffer;
extern volatile uint8_t i2c_aux_nDABytes;
extern volatile int8_t i2c_aux_nRABytes;
#endif
/* general functions */
void consoleLog(char *message);
void introDemoLED(uint32_t tDelay);
/* i2c write/read functions */
int8_t i2c_writeBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
int8_t i2c_writeByte (uint8_t slaveAddr, uint8_t regAddr, uint8_t data);
int8_t i2c_writeBit (uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
int8_t i2c_readBytes (uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
int8_t i2c_readByte (uint8_t slaveAddr, uint8_t regAddr, uint8_t *data);
int8_t i2c_readBit (uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data);
#ifdef AUX45_USE_I2C
int8_t i2c_aux_writeBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
int8_t i2c_aux_readBytes (uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
#endif
#endif