driver_mpu9250_dmp_read_test.c

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#include "driver_mpu9250_dmp_read_test.h"
#include <stdlib.h>
 
static mpu9250_handle_t gs_handle;        
static int16_t gs_accel_raw[128][3];      
static float gs_accel_g[128][3];          
static int16_t gs_gyro_raw[128][3];       
static float gs_gyro_dps[128][3];         
static int32_t gs_quat[128][4];           
static float gs_pitch[128];               
static float gs_roll[128];                
static float gs_yaw[128];                 
uint8_t mpu9250_dmp_read_test_irq_handler(void)
{
    if (mpu9250_irq_handler(&gs_handle) != 0)
    {
        return 1;
    }
    else
    {
        return 0;
    }
}
 
uint8_t mpu9250_dmp_read_test(mpu9250_interface_t interface, mpu9250_address_t addr, uint32_t times)
{
    uint8_t res;
    uint32_t ms;
    uint32_t ms_check;
    uint32_t cnt;
    uint32_t cnt_check;
    uint32_t i;
    uint16_t m;
    uint16_t m_check;
    uint8_t c;
    uint8_t c_check;
    int32_t gyro_offset_raw[3];
    int32_t accel_offset_raw[3];
    int32_t gyro_offset[3];
    int32_t accel_offset[3];
    mpu9250_bool_t enable;
    mpu9250_info_t info;
    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, mpu9250_interface_receive_callback);
    
    /* get information */
    res = mpu9250_info(&info);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: get info failed.\n");
       
        return 1;
    }
    else
    {
        /* print chip info */
        mpu9250_interface_debug_print("mpu9250: chip is %s.\n", info.chip_name);
        mpu9250_interface_debug_print("mpu9250: manufacturer is %s.\n", info.manufacturer_name);
        mpu9250_interface_debug_print("mpu9250: interface is %s.\n", info.interface);
        mpu9250_interface_debug_print("mpu9250: driver version is %d.%d.\n", info.driver_version / 1000, (info.driver_version % 1000) / 100);
        mpu9250_interface_debug_print("mpu9250: min supply voltage is %0.1fV.\n", info.supply_voltage_min_v);
        mpu9250_interface_debug_print("mpu9250: max supply voltage is %0.1fV.\n", info.supply_voltage_max_v);
        mpu9250_interface_debug_print("mpu9250: max current is %0.2fmA.\n", info.max_current_ma);
        mpu9250_interface_debug_print("mpu9250: max temperature is %0.1fC.\n", info.temperature_max);
        mpu9250_interface_debug_print("mpu9250: min temperature is %0.1fC.\n", info.temperature_min);
    }
    
    /* start dmp read test */
    mpu9250_interface_debug_print("mpu9250: start dmp read test.\n");
    
    /* 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);
    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;
    }
    
    /* 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;
    }
    
    /* 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;
    }
    
    /* 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 pll */
    res = mpu9250_set_clock_source(&gs_handle, MPU9250_CLOCK_SOURCE_PLL);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set clock source failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set 50Hz */
    res = mpu9250_set_sample_rate_divider(&gs_handle, (1000 / 50) - 1);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set sample rate divider failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* ±2g */
    res = mpu9250_set_accelerometer_range(&gs_handle, MPU9250_ACCELEROMETER_RANGE_2G);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set accelerometer range failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* ±2000dps */
    res = mpu9250_set_gyroscope_range(&gs_handle, MPU9250_GYROSCOPE_RANGE_2000DPS);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set gyroscope range failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set low pass filter 3 */
    res = mpu9250_set_low_pass_filter(&gs_handle, MPU9250_LOW_PASS_FILTER_3);
    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;
    }
    
    /* disable cycle wake up */
    res = mpu9250_set_cycle_wake_up(&gs_handle, MPU9250_BOOL_FALSE);
    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 interrupt level low */
    res = mpu9250_set_interrupt_level(&gs_handle, MPU9250_PIN_LEVEL_LOW);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt level failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* push-pull */
    res = mpu9250_set_interrupt_pin_type(&gs_handle, MPU9250_PIN_TYPE_PUSH_PULL);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt pin type failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable motion */
    res = mpu9250_set_interrupt(&gs_handle, MPU9250_INTERRUPT_MOTION, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable fifo overflow */
    res = mpu9250_set_interrupt(&gs_handle, MPU9250_INTERRUPT_FIFO_OVERFLOW, MPU9250_BOOL_TRUE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable dmp interrupt */
    res = mpu9250_set_interrupt(&gs_handle, MPU9250_INTERRUPT_DMP, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable fsync int */
    res = mpu9250_set_interrupt(&gs_handle, MPU9250_INTERRUPT_FSYNC_INT, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable data ready */
    res = mpu9250_set_interrupt(&gs_handle, MPU9250_INTERRUPT_DATA_READY, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable latch */
    res = mpu9250_set_interrupt_latch(&gs_handle, MPU9250_BOOL_TRUE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt latch failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable interrupt read clear */
    res = mpu9250_set_interrupt_read_clear(&gs_handle, MPU9250_BOOL_TRUE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt read clear failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable sync input */
    res = mpu9250_set_extern_sync(&gs_handle, MPU9250_EXTERN_SYNC_INPUT_DISABLED);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set extern sync failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable fsync interrupt */
    res = mpu9250_set_fsync_interrupt(&gs_handle, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set fsync interrupt failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* fsync interrupt level low */
    res = mpu9250_set_fsync_interrupt_level(&gs_handle, MPU9250_PIN_LEVEL_LOW);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set fsync interrupt level failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable iic master */
    res = mpu9250_set_iic_master(&gs_handle, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set iic master failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable iic bypass */
    res = mpu9250_set_iic_bypass(&gs_handle, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set iic bypass failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable gyro standby */
    res = mpu9250_set_gyro_standby(&gs_handle, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set gyro standby failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the fifo normal mode */
    res = mpu9250_set_fifo_mode(&gs_handle, MPU9250_FIFO_MODE_NORMAL);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set fifo mode failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set gyroscope choice 0 */
    res = mpu9250_set_gyroscope_choice(&gs_handle, 0);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set gyroscope choice failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set low pass filter 3 */
    res = mpu9250_set_low_pass_filter(&gs_handle, MPU9250_LOW_PASS_FILTER_3);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set low pass filter failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set accelerometer choice 0 */
    res = mpu9250_set_accelerometer_choice(&gs_handle, 0);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set accelerometer choice failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set accelerometer low pass filter 3 */
    res = mpu9250_set_accelerometer_low_pass_filter(&gs_handle, MPU9250_ACCELEROMETER_LOW_PASS_FILTER_3);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set accelerometer low pass filter failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set low power accel output rate 62.5Hz */
    res = mpu9250_set_low_power_accel_output_rate(&gs_handle, MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_62P50);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set low power accel output rate failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable wake on motion */
    res = mpu9250_set_wake_on_motion(&gs_handle, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set wake on motion failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable accel compare with previous sample */
    res = mpu9250_set_accel_compare_with_previous_sample(&gs_handle, MPU9250_BOOL_TRUE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set accel compare with previous sample failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* load dmp firmware */
    mpu9250_interface_debug_print("mpu9250: load dmp firmware.\n");
    
    /* 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;
    }
    
    /* load dmp firmware successful */
    mpu9250_interface_debug_print("mpu9250: load dmp firmware successful .\n");
    
    /* mpu9250_dmp_set_pedometer_walk_time/mpu9250_dmp_get_pedometer_walk_time test */
    mpu9250_interface_debug_print("mpu9250: mpu9250_dmp_set_pedometer_walk_time/mpu9250_dmp_get_pedometer_walk_time test.\n");
    
    ms = 200;
    res = mpu9250_dmp_set_pedometer_walk_time(&gs_handle, ms);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set pedometer walk time failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: dmp set pedometer walk time %d ms.\n", ms);
    res = mpu9250_dmp_get_pedometer_walk_time(&gs_handle, &ms_check);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp get pedometer walk time failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: check pedometer walk time %s.\n", ms_check == ms ? "ok" : "error");
    
    /* mpu9250_dmp_set_pedometer_step_count/mpu9250_dmp_get_pedometer_step_count test */
    mpu9250_interface_debug_print("mpu9250: mpu9250_dmp_set_pedometer_step_count/mpu9250_dmp_get_pedometer_step_count test.\n");
    
    cnt = rand() % 1000;
    res = mpu9250_dmp_set_pedometer_step_count(&gs_handle, cnt);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set pedometer step count failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: dmp set pedometer step count %d.\n", cnt);
    res = mpu9250_dmp_get_pedometer_step_count(&gs_handle, &cnt_check);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp get pedometer step count failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: check pedometer step count %s.\n", cnt_check == cnt ? "ok" : "error");
    
    /* mpu9250_dmp_set_shake_reject_timeout/mpu9250_dmp_get_shake_reject_timeout test */
    mpu9250_interface_debug_print("mpu9250: mpu9250_dmp_set_shake_reject_timeout/mpu9250_dmp_get_shake_reject_timeout test.\n");
    
    m = 10;
    res = mpu9250_dmp_set_shake_reject_timeout(&gs_handle, m);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set shake reject timeout failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: dmp set shake reject timeout %d ms.\n", m);
    res = mpu9250_dmp_get_shake_reject_timeout(&gs_handle, &m_check);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp get shake reject timeout failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: check shake reject timeout %s.\n", m_check == m ? "ok" : "error");
    
    /* mpu9250_dmp_set_shake_reject_time/mpu9250_dmp_get_shake_reject_time test */
    mpu9250_interface_debug_print("mpu9250: mpu9250_dmp_set_shake_reject_time/mpu9250_dmp_get_shake_reject_time test.\n");
    
    m = 40;
    res = mpu9250_dmp_set_shake_reject_time(&gs_handle, m);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set shake reject time failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: dmp set shake reject time %d ms.\n", m);
    res = mpu9250_dmp_get_shake_reject_time(&gs_handle, &m_check);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp get shake reject time failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: check shake reject time %s.\n", m_check == m ? "ok" : "error");
    
    /* mpu9250_dmp_set_shake_reject_thresh/mpu9250_dmp_get_shake_reject_thresh test */
    mpu9250_interface_debug_print("mpu9250: mpu9250_dmp_set_shake_reject_thresh/mpu9250_dmp_get_shake_reject_thresh test.\n");
    
    m = 0;
    res = mpu9250_dmp_set_shake_reject_thresh(&gs_handle, m);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set shake reject thresh failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: set shake reject thresh %d dps.\n", m);
    res = mpu9250_dmp_get_shake_reject_thresh(&gs_handle, &m_check);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp get shake reject thresh failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: check shake reject thresh %s.\n", m_check == m ? "ok" : "error");
    
    /* mpu9250_dmp_set_tap_time_multi/mpu9250_dmp_get_tap_time_multi test */
    mpu9250_interface_debug_print("mpu9250: mpu9250_dmp_set_tap_time_multi/mpu9250_dmp_get_tap_time_multi test.\n");
    
    m = 500;
    res = mpu9250_dmp_set_tap_time_multi(&gs_handle, m);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set tap time multi failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: dmp set tap time multi %d ms.\n", m);
    res = mpu9250_dmp_get_tap_time_multi(&gs_handle, &m_check);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp get tap time multi failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: check tap time multi %s.\n", m_check == m ? "ok" : "error");
    
    /* mpu9250_dmp_set_tap_time/mpu9250_dmp_get_tap_time test */
    mpu9250_interface_debug_print("mpu9250: mpu9250_dmp_set_tap_time/mpu9250_dmp_get_tap_time test.\n");
    
    m = 100;
    res = mpu9250_dmp_set_tap_time(&gs_handle, m);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set tap time failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: dmp set tap time %d ms.\n", m);
    res = mpu9250_dmp_get_tap_time(&gs_handle, &m_check);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp get tap time failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: check tap time %s.\n", m_check == m ? "ok" : "error");
    
    /* mpu9250_dmp_set_min_tap_count/mpu9250_dmp_get_min_tap_count test */
    mpu9250_interface_debug_print("mpu9250: mpu9250_dmp_set_min_tap_count/mpu9250_dmp_get_min_tap_count test.\n");
    
    c = 1;
    res = mpu9250_dmp_set_min_tap_count(&gs_handle, c);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set min tap count failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: dmp set min tap count %d.\n", c);
    res = mpu9250_dmp_get_min_tap_count(&gs_handle, &c_check);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp get min tap count failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: check min tap count %s.\n", c_check == c ? "ok" : "error");
    
    /* mpu9250_dmp_set_tap_axes/mpu9250_dmp_get_tap_axes test */
    mpu9250_interface_debug_print("mpu9250: mpu9250_dmp_set_tap_axes/mpu9250_dmp_get_tap_axes test.\n");
    
    /* disable axis x */
    res = mpu9250_dmp_set_tap_axes(&gs_handle, MPU9250_AXIS_X, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set tap axes failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: disable tap axes x.\n");
    res = mpu9250_dmp_get_tap_axes(&gs_handle, MPU9250_AXIS_X, &enable);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp get tap axes failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: check tap axes %s.\n", enable == MPU9250_BOOL_FALSE ? "ok" : "error");
    
    /* 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;
    }
    mpu9250_interface_debug_print("mpu9250: enable tap axes x.\n");
    res = mpu9250_dmp_get_tap_axes(&gs_handle, MPU9250_AXIS_X, &enable);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp get tap axes failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: check tap axes %s.\n", enable == MPU9250_BOOL_TRUE ? "ok" : "error");
    
    /* disable axis y */
    res = mpu9250_dmp_set_tap_axes(&gs_handle, MPU9250_AXIS_Y, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set tap axes failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: disable tap axes y.\n");
    res = mpu9250_dmp_get_tap_axes(&gs_handle, MPU9250_AXIS_Y, &enable);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp get tap axes failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: check tap axes %s.\n", enable == MPU9250_BOOL_FALSE ? "ok" : "error");
    
    /* 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;
    }
    mpu9250_interface_debug_print("mpu9250: enable tap axes y.\n");
    res = mpu9250_dmp_get_tap_axes(&gs_handle, MPU9250_AXIS_Y, &enable);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp get tap axes failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: check tap axes %s.\n", enable == MPU9250_BOOL_TRUE ? "ok" : "error");
    
    /* disable axis z */
    res = mpu9250_dmp_set_tap_axes(&gs_handle, MPU9250_AXIS_Z, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set tap axes failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: disable tap axes z.\n");
    res = mpu9250_dmp_get_tap_axes(&gs_handle, MPU9250_AXIS_Z, &enable);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp get tap axes failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: check tap axes %s.\n", enable == MPU9250_BOOL_FALSE ? "ok" : "error");
    
    /* 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;
    }
    mpu9250_interface_debug_print("mpu9250: enable tap axes z.\n");
    res = mpu9250_dmp_get_tap_axes(&gs_handle, MPU9250_AXIS_Z, &enable);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp get tap axes failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: check tap axes %s.\n", enable == MPU9250_BOOL_TRUE ? "ok" : "error");
    
    /* mpu9250_dmp_set_tap_thresh/mpu9250_dmp_get_tap_thresh test */
    mpu9250_interface_debug_print("mpu9250: mpu9250_dmp_set_tap_thresh/mpu9250_dmp_get_tap_thresh test.\n");
    
    /* set tap thresh x */
    m = 250;
    res = mpu9250_dmp_set_tap_thresh(&gs_handle, MPU9250_AXIS_X, m);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set tap thresh failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: dmp set tap thresh x %d mg/ms.\n", m);
    res = mpu9250_dmp_get_tap_thresh(&gs_handle, MPU9250_AXIS_X, &m_check);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp get tap thresh failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: check tap thresh %s.\n", m_check == m ? "ok" : "error");
    
    /* set tap thresh y */
    m = 250;
    res = mpu9250_dmp_set_tap_thresh(&gs_handle, MPU9250_AXIS_Y, m);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set tap thresh failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: dmp set tap thresh y %d mg/ms.\n", m);
    res = mpu9250_dmp_get_tap_thresh(&gs_handle, MPU9250_AXIS_Y, &m_check);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp get tap thresh failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: check tap thresh %s.\n", m_check == m ? "ok" : "error");
    
    /* set tap thresh z */
    m = 250;
    res = mpu9250_dmp_set_tap_thresh(&gs_handle, MPU9250_AXIS_Z, m);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set tap thresh failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: dmp set tap thresh z %d mg/ms.\n", m);
    res = mpu9250_dmp_get_tap_thresh(&gs_handle, MPU9250_AXIS_Z, &m_check);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp get tap thresh failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: check tap thresh %s.\n", m_check == m ? "ok" : "error");
    
    /* mpu9250_dmp_set_fifo_rate/mpu9250_dmp_get_fifo_rate test */
    mpu9250_interface_debug_print("mpu9250: mpu9250_dmp_set_fifo_rate/mpu9250_dmp_get_fifo_rate test.\n");
    
    m = 200;
    res = mpu9250_dmp_set_fifo_rate(&gs_handle, m);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set fifo rate failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: dmp set fifo rate %dHz.\n", m);
    res = mpu9250_dmp_get_fifo_rate(&gs_handle, &m_check);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp get fifo rate failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: check fifo rate %s.\n", m_check == m ? "ok" : "error");
    
    /* mpu9250_dmp_set_gyro_calibrate test */
    mpu9250_interface_debug_print("mpu9250: mpu9250_dmp_set_gyro_calibrate test.\n");
    
    /* enable gyro calibrate */
    res = mpu9250_dmp_set_gyro_calibrate(&gs_handle, MPU9250_BOOL_TRUE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set gyro calibrate failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: enable gyro calibrate.\n");
    
    /* disable gyro calibrate */
    res = mpu9250_dmp_set_gyro_calibrate(&gs_handle, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set gyro calibrate failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: disable gyro calibrate.\n");
    
    /* mpu9250_dmp_set_3x_quaternion test */
    mpu9250_interface_debug_print("mpu9250: mpu9250_dmp_set_3x_quaternion test.\n");
    
    /* enable 3x quaternion */
    res = mpu9250_dmp_set_3x_quaternion(&gs_handle, MPU9250_BOOL_TRUE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set 3x quaternion failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: enable 3x quaternion.\n");
    
    /* disable 3x quaternion */
    res = mpu9250_dmp_set_3x_quaternion(&gs_handle, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set 3x quaternion failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: disable 3x quaternion.\n");
    
    /* mpu9250_dmp_set_6x_quaternion test */
    mpu9250_interface_debug_print("mpu9250: mpu9250_dmp_set_6x_quaternion test.\n");
    
    /* enable 6x quaternion */
    res = mpu9250_dmp_set_6x_quaternion(&gs_handle, MPU9250_BOOL_TRUE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set 6x quaternion failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: enable 6x quaternion.\n");
    
    /* disable 6x quaternion */
    res = mpu9250_dmp_set_6x_quaternion(&gs_handle, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set 6x quaternion failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: disable 6x quaternion.\n");
    
    /* mpu9250_dmp_set_interrupt_mode test */
    mpu9250_interface_debug_print("mpu9250: mpu9250_dmp_set_interrupt_mode test.\n");
    
    /* gesture mode */
    res = mpu9250_dmp_set_interrupt_mode(&gs_handle, MPU9250_DMP_INTERRUPT_MODE_GESTURE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set interrupt mode failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: dmp set gesture interrupt mode.\n");
    
    /* continuous mode */
    res = mpu9250_dmp_set_interrupt_mode(&gs_handle, MPU9250_DMP_INTERRUPT_MODE_CONTINUOUS);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set interrupt mode failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    mpu9250_interface_debug_print("mpu9250: dmp set gesture continuous mode.\n");
    
    /* mpu9250_dmp_set_orientation test */
    mpu9250_interface_debug_print("mpu9250: mpu9250_dmp_set_orientation test.\n");
    
    /* set the 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;
    }
    mpu9250_interface_debug_print("mpu9250: set the dmp orientation.\n");
    
    /* mpu9250_dmp_set_feature test */
    mpu9250_interface_debug_print("mpu9250: mpu9250_dmp_set_feature test.\n");
    
    /* 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;
    }
    mpu9250_interface_debug_print("mpu9250: enable feature 6x quat.\n");
    mpu9250_interface_debug_print("mpu9250: enable feature tap.\n");
    mpu9250_interface_debug_print("mpu9250: enable feature pedometer.\n");
    mpu9250_interface_debug_print("mpu9250: enable feature orient.\n");
    mpu9250_interface_debug_print("mpu9250: enable feature send raw accel.\n");
    mpu9250_interface_debug_print("mpu9250: enable feature send cal gyro.\n");
    mpu9250_interface_debug_print("mpu9250: enable feature gyro cal.\n");
    
    /* dmp set tap callback */
    res = mpu9250_dmp_set_tap_callback(&gs_handle, mpu9250_interface_dmp_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, mpu9250_interface_dmp_orient_callback);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: dmp set orient callback 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 reset the fifo */
    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;
    }
    
    /* delay 50 ms */
    mpu9250_interface_delay_ms(50);
    
    for (i = 0; i < times; i++)
    {
        uint16_t l;
        
        /* read the data */
        l = 128;
        res = mpu9250_dmp_read(&gs_handle, 
                               gs_accel_raw, gs_accel_g,
                               gs_gyro_raw, gs_gyro_dps,
                               gs_quat,
                               gs_pitch, gs_roll, gs_yaw,
                               &l
                              );
        if (res == 0)
        {
            /* output data */
            mpu9250_interface_debug_print("mpu9250: fifo %d.\n", l);
            mpu9250_interface_debug_print("mpu9250: pitch[0] is %0.2fdeg.\n", gs_pitch[0]);
            mpu9250_interface_debug_print("mpu9250: roll[0] is %0.2fdeg.\n", gs_roll[0]);
            mpu9250_interface_debug_print("mpu9250: yaw[0] is %0.2fdeg.\n", gs_yaw[0]);
            mpu9250_interface_debug_print("mpu9250: acc x[0] is %0.2fg.\n", gs_accel_g[0][0]);
            mpu9250_interface_debug_print("mpu9250: acc y[0] is %0.2fg.\n", gs_accel_g[0][1]);
            mpu9250_interface_debug_print("mpu9250: acc z[0] is %0.2fg.\n", gs_accel_g[0][2]);
            mpu9250_interface_debug_print("mpu9250: gyro x[0] is %0.2fdps.\n", gs_gyro_dps[0][0]);
            mpu9250_interface_debug_print("mpu9250: gyro y[0] is %0.2fdps.\n", gs_gyro_dps[0][1]);
            mpu9250_interface_debug_print("mpu9250: gyro z[0] is %0.2fdps.\n", gs_gyro_dps[0][2]);
        }
        
        /* delay 50 ms */
        mpu9250_interface_delay_ms(50);
    }
    
    /* finish dmp read test */
    mpu9250_interface_debug_print("mpu9250: finish dmp read test.\n");
    (void)mpu9250_deinit(&gs_handle);
    
    return 0;
}