/**
  * 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
#ifdef  MPU_SENSOR_ENABLE

#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 // MPU_SENSOR_ENABLE
#endif // MPU6050_DMP_H