/*
 $License:
    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
 $
 */

/* WARNING: autogenerated code, do not modify */
/**
 * @defgroup DMPDEFAULT 
 * @brief  
 *
 * @{
 * @file     inv_setup_dmpMantis.c
 * @brief    
 *
 *
 */

#include "mltypes.h"
#include "dmpDefault.h"
#include "dmpKey.h"
#include "dmpmap.h"
#include "mldl.h"

#include "dmp_memory.h"

#define CFG_25  1789
#define CFG_24  1785
#define CFG_26  1793
#define CFG_21  1905
#define CFG_20  1731
#define CFG_23  1917
#define CFG_TAP4  1911
#define CFG_TAP5  1912
#define CFG_TAP6  1913
#define CFG_1  1868
#define CFG_TAP0  1905
#define CFG_TAP1  1907
#define CFG_TAP2  1908
#define CFG_TAP_SAVE_ACCB  1773
#define CFG_ORIENT_IRQ_1  1801
#define CFG_ORIENT_IRQ_2  1824
#define CFG_ORIENT_IRQ_3  1829
#define FCFG_MAG_VAL  774
#define CFG_TAP_QUANTIZE  1733
#define FCFG_3  939
#define FCFG_1  891
#define CFG_ACCEL_FILTER  1079
#define FCFG_2  895
#define CFG_3D  1632
#define FCFG_7  905
#define CFG_3C  1630
#define FCFG_5  1033
#define FCFG_4  880
#define CFG_3B  1628
#define CFG_TAP_JERK  1725
#define FCFG_6  957
#define CFG_12  1900
#define CFG_TAP7  1914
#define CFG_14  1874
#define CFG_15  1879
#define CFG_16  1918
#define CFG_TAP_CLEAR_STICKY  1920
#define CFG_6  1926
#define CFG_7  1017
#define CFG_4  1637
#define CFG_5  1834
#define CFG_3  1626
#define CFG_GYRO_SOURCE  1862
#define CFG_TAP3  1909
#define CFG_EXTERNAL  1890
#define CFG_8  1857
#define CFG_9  1863
#define CFG_ORIENT_2  1819
#define CFG_ORIENT_1  1799
#define CFG_MOTION_BIAS  1026
#define FCFG_MAG_MOV  791
#define TEMPLABEL  1494
#define FCFG_ACCEL_INIT  847


#define D_0_22  (22+512)
#define D_0_24  (24+512)

#define D_0_36  (36)
#define D_0_52  (52)
#define D_0_96  (96)
#define D_0_104 (104)
#define D_0_108 (108)
#define D_0_163 (163)
#define D_0_188 (188)
#define D_0_192 (192)
#define D_0_224 (224)
#define D_0_228 (228)
#define D_0_232 (232)
#define D_0_236 (236)

#define D_1_2 (256 + 2)
#define D_1_4 (256 + 4)
#define D_1_8 (256 + 8)
#define D_1_10 (256 + 10)
#define D_1_24 (256 + 24)
#define D_1_28 (256 + 28)
#define D_1_92 (256 + 92)
#define D_1_96 (256 + 96)
#define D_1_98 (256 + 98)
#define D_1_106 (256 + 106)
#define D_1_108 (256 + 108)
#define D_1_112 (256 + 112)
#define D_1_128 (256 + 144)
#define D_1_152 (256 + 12)
#define D_1_168 (256 + 168)
#define D_1_175 (256 + 175)
#define D_1_178 (256 + 178)
#define D_1_236 (256 + 236)
#define D_1_244 (256 + 244)
#define D_2_12  (512+12)
#define D_2_96  (512+96)
#define D_2_108 (512+108)
#define D_2_244 (512+244)
#define D_2_248 (512+248)
#define D_2_252 (512+252)

#define CPASS_BIAS_X (35*16+4)
#define CPASS_BIAS_Y (35*16+8)
#define CPASS_BIAS_Z (35*16+12)
#define CPASS_MTX_00 (36*16)
#define CPASS_MTX_01 (36*16+4)
#define CPASS_MTX_02 (36*16+8)
#define CPASS_MTX_10 (36*16+12)
#define CPASS_MTX_11 (37*16)
#define CPASS_MTX_12 (37*16+4)
#define CPASS_MTX_20 (37*16+8)
#define CPASS_MTX_21 (37*16+12)
#define CPASS_MTX_22 (43*16+12)
#define D_ACT0    (40*16)
#define D_ACSX   (40*16+4)
#define D_ACSY   (40*16+8)
#define D_ACSZ   (40*16+12)

static const tKeyLabel dmpTConfig[] = {
    {KEY_CFG_25, CFG_25},
    {KEY_CFG_24, CFG_24},
    {KEY_CFG_26, CFG_26},
    {KEY_CFG_21, CFG_21},
    {KEY_CFG_20, CFG_20},
    {KEY_CFG_23, CFG_23},
    {KEY_CFG_TAP4, CFG_TAP4},
    {KEY_CFG_TAP5, CFG_TAP5},
    {KEY_CFG_TAP6, CFG_TAP6},
    {KEY_CFG_1, CFG_1},
    {KEY_CFG_TAP0, CFG_TAP0},
    {KEY_CFG_TAP1, CFG_TAP1},
    {KEY_CFG_TAP2, CFG_TAP2},
    {KEY_CFG_TAP_SAVE_ACCB, CFG_TAP_SAVE_ACCB},
    {KEY_CFG_ORIENT_IRQ_1, CFG_ORIENT_IRQ_1},
    {KEY_CFG_ORIENT_IRQ_2, CFG_ORIENT_IRQ_2},
    {KEY_CFG_ORIENT_IRQ_3, CFG_ORIENT_IRQ_3},
    {KEY_FCFG_MAG_VAL, FCFG_MAG_VAL},
    {KEY_CFG_TAP_QUANTIZE, CFG_TAP_QUANTIZE},
    {KEY_FCFG_3, FCFG_3},
    {KEY_FCFG_1, FCFG_1},
//    {KEY_CFG_ACCEL_FILTER, CFG_ACCEL_FILTER},
    {KEY_FCFG_2, FCFG_2},
    {KEY_CFG_3D, CFG_3D},
    {KEY_FCFG_7, FCFG_7},
    {KEY_CFG_3C, CFG_3C},
    {KEY_FCFG_5, FCFG_5},
    {KEY_FCFG_4, FCFG_4},
    {KEY_CFG_3B, CFG_3B},
    {KEY_CFG_TAP_JERK, CFG_TAP_JERK},
    {KEY_FCFG_6, FCFG_6},
    {KEY_CFG_12, CFG_12},
    {KEY_CFG_TAP7, CFG_TAP7},
    {KEY_CFG_14, CFG_14},
    {KEY_CFG_15, CFG_15},
    {KEY_CFG_16, CFG_16},
    {KEY_CFG_TAP_CLEAR_STICKY, CFG_TAP_CLEAR_STICKY},
    {KEY_CFG_6, CFG_6},
    {KEY_CFG_7, CFG_7},
    {KEY_CFG_4, CFG_4},
    {KEY_CFG_5, CFG_5},
    {KEY_CFG_3, CFG_3},
    {KEY_CFG_GYRO_SOURCE, CFG_GYRO_SOURCE},
    {KEY_CFG_TAP3, CFG_TAP3},
    {KEY_CFG_EXTERNAL, CFG_EXTERNAL},
    {KEY_CFG_8, CFG_8},
    {KEY_CFG_9, CFG_9},
    {KEY_CFG_ORIENT_2, CFG_ORIENT_2},
    {KEY_CFG_ORIENT_1, CFG_ORIENT_1},
    {KEY_CFG_MOTION_BIAS, CFG_MOTION_BIAS},
    {KEY_FCFG_MAG_MOV, FCFG_MAG_MOV},
//    {KEY_TEMPLABEL, TEMPLABEL},
    {KEY_FCFG_ACCEL_INIT, FCFG_ACCEL_INIT},
    {KEY_D_0_22, D_0_22},
    {KEY_D_0_24, D_0_24},
    {KEY_D_0_36, D_0_36},
    {KEY_D_0_52, D_0_52},
    {KEY_D_0_96, D_0_96},
    {KEY_D_0_104, D_0_104},
    {KEY_D_0_108, D_0_108},
    {KEY_D_0_163, D_0_163},
    {KEY_D_0_188, D_0_188},
    {KEY_D_0_192, D_0_192},
    {KEY_D_0_224, D_0_224},
    {KEY_D_0_228, D_0_228},
    {KEY_D_0_232, D_0_232},
    {KEY_D_0_236, D_0_236},

    {KEY_DMP_PREVPTAT, DMP_PREVPTAT},
    {KEY_D_1_2, D_1_2},
    {KEY_D_1_4, D_1_4},
    {KEY_D_1_8, D_1_8},
    {KEY_D_1_10, D_1_10},
    {KEY_D_1_24, D_1_24},
    {KEY_D_1_28, D_1_28},
    {KEY_D_1_92, D_1_92},
    {KEY_D_1_96, D_1_96},
    {KEY_D_1_98, D_1_98},
    {KEY_D_1_106, D_1_106},
    {KEY_D_1_108, D_1_108},
    {KEY_D_1_112, D_1_112},
    {KEY_D_1_128, D_1_128},
    {KEY_D_1_152, D_1_152},
    {KEY_D_1_168, D_1_168},
    {KEY_D_1_175, D_1_175},
    {KEY_D_1_178, D_1_178},
    {KEY_D_1_236, D_1_236},
    {KEY_D_1_244, D_1_244},

    {KEY_D_2_12,  D_2_12},
    {KEY_D_2_96,  D_2_96},
    {KEY_D_2_108, D_2_108},
    {KEY_D_2_244, D_2_244},
    {KEY_D_2_248, D_2_248},
    {KEY_D_2_252, D_2_252},

    {KEY_DMP_TAPW_MIN, DMP_TAPW_MIN},
    {KEY_DMP_TAP_THR_X, DMP_TAP_THX},
    {KEY_DMP_TAP_THR_Y, DMP_TAP_THY},
    {KEY_DMP_TAP_THR_Z, DMP_TAP_THZ},
    {KEY_DMP_SH_TH_Y, DMP_SH_TH_Y},
    {KEY_DMP_SH_TH_X, DMP_SH_TH_X},
    {KEY_DMP_SH_TH_Z, DMP_SH_TH_Z},
    {KEY_DMP_ORIENT, DMP_ORIENT},

    {KEY_CPASS_BIAS_X, CPASS_BIAS_X},
    {KEY_CPASS_BIAS_Y, CPASS_BIAS_Y},
    {KEY_CPASS_BIAS_Z, CPASS_BIAS_Z},
    {KEY_CPASS_MTX_00, CPASS_MTX_00},
    {KEY_CPASS_MTX_01, CPASS_MTX_01},
    {KEY_CPASS_MTX_02, CPASS_MTX_02},
    {KEY_CPASS_MTX_10, CPASS_MTX_10},
    {KEY_CPASS_MTX_11, CPASS_MTX_11},
    {KEY_CPASS_MTX_12, CPASS_MTX_12},
    {KEY_CPASS_MTX_20, CPASS_MTX_20},
    {KEY_CPASS_MTX_21, CPASS_MTX_21},
    {KEY_CPASS_MTX_22, CPASS_MTX_22},
    {KEY_D_ACT0, D_ACT0},
    {KEY_D_ACSX, D_ACSX},
    {KEY_D_ACSY, D_ACSY},
    {KEY_D_ACSZ, D_ACSZ}
};
#define NUM_LOCAL_KEYS (sizeof(dmpTConfig)/sizeof(dmpTConfig[0]))

const unsigned char dmpMemory[DMP_CODE_SIZE] = {
    0xfb, 0x00, 0x00, 0x3e, 0x00, 0x0b, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00, 
    0x00, 0x65, 0x00, 0x54, 0xff, 0xef, 0x00, 0x00, 0xfa, 0x80, 0x00, 0x0b, 0x12, 0x82, 0x00, 0x01, 
    0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x28, 0x00, 0x00, 0xff, 0xff, 0x45, 0x81, 0xff, 0xff, 0xfa, 0x72, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x03, 0xe8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7f, 0xff, 0xff, 0xfe, 0x80, 0x01, 
    0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x3e, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xca, 0xe3, 0x09, 0x3e, 0x80, 0x00, 0x00, 
    0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, 
    0x41, 0xff, 0x00, 0x00, 0x00, 0x00, 0x0b, 0x2a, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82, 
    0xfd, 0x87, 0x26, 0x50, 0xfd, 0x80, 0x00, 0x00, 0x00, 0x1f, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 
    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6f, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5e, 0xc0, 
    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0xfb, 0x8c, 0x6f, 0x5d, 0xfd, 0x5d, 0x08, 0xd9, 0x00, 0x7c, 0x73, 0x3b, 0x00, 0x6c, 0x12, 0xcc, 
    0x32, 0x00, 0x13, 0x9d, 0x32, 0x00, 0xd0, 0xd6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xf4, 
    0xff, 0xe6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xd0, 0xd6, 0x00, 0x00, 0x27, 0x10, 
    0xfb, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0xfa, 0x36, 0xff, 0xbc, 0x30, 0x8e, 0x00, 0x05, 0xfb, 0xf0, 0xff, 0xd9, 0x5b, 0xc8, 
    0xff, 0xd0, 0x9a, 0xbe, 0x00, 0x00, 0x10, 0xa9, 0xff, 0xf4, 0x1e, 0xb2, 0x00, 0xce, 0xbb, 0xf7, 
    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0c, 
    0xff, 0xc2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xcf, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x03, 0x3f, 0x68, 0xb6, 0x79, 0x35, 0x28, 0xbc, 0xc6, 0x7e, 0xd1, 0x6c, 
    0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xb2, 0x6a, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3f, 0xf0, 0x00, 0x00, 0x00, 0x30, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x25, 0x4d, 0x00, 0x2f, 0x70, 0x6d, 0x00, 0x00, 0x05, 0xae, 0x00, 0x0c, 0x02, 0xd0, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xff, 0xef, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x01, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xff, 0xef, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 
    0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 

    0xd8, 0xdc, 0xba, 0xa2, 0xf1, 0xde, 0xb2, 0xb8, 0xb4, 0xa8, 0x81, 0x91, 0xf7, 0x4a, 0x90, 0x7f, 
    0x91, 0x6a, 0xf3, 0xf9, 0xdb, 0xa8, 0xf9, 0xb0, 0xba, 0xa0, 0x80, 0xf2, 0xce, 0x81, 0xf3, 0xc2, 
    0xf1, 0xc1, 0xf2, 0xc3, 0xf3, 0xcc, 0xa2, 0xb2, 0x80, 0xf1, 0xc6, 0xd8, 0x80, 0xba, 0xa7, 0xdf, 
    0xdf, 0xdf, 0xf2, 0xa7, 0xc3, 0xcb, 0xc5, 0xb6, 0xf0, 0x87, 0xa2, 0x94, 0x24, 0x48, 0x70, 0x3c, 
    0x95, 0x40, 0x68, 0x34, 0x58, 0x9b, 0x78, 0xa2, 0xf1, 0x83, 0x92, 0x2d, 0x55, 0x7d, 0xd8, 0xb1, 
    0xb4, 0xb8, 0xa1, 0xd0, 0x91, 0x80, 0xf2, 0x70, 0xf3, 0x70, 0xf2, 0x7c, 0x80, 0xa8, 0xf1, 0x01, 
    0xb0, 0x98, 0x87, 0xd9, 0x43, 0xd8, 0x86, 0xc9, 0x88, 0xba, 0xa1, 0xf2, 0x0e, 0xb8, 0x97, 0x80, 
    0xf1, 0xa9, 0xdf, 0xdf, 0xdf, 0xaa, 0xdf, 0xdf, 0xdf, 0xf2, 0xaa, 0xc5, 0xcd, 0xc7, 0xa9, 0x0c, 
    0xc9, 0x2c, 0x97, 0x97, 0x97, 0x97, 0xf1, 0xa9, 0x89, 0x26, 0x46, 0x66, 0xb0, 0xb4, 0xba, 0x80, 
    0xac, 0xde, 0xf2, 0xca, 0xf1, 0xb2, 0x8c, 0x02, 0xa9, 0xb6, 0x98, 0x00, 0x89, 0x0e, 0x16, 0x1e, 
    0xb8, 0xa9, 0xb4, 0x99, 0x2c, 0x54, 0x7c, 0xb0, 0x8a, 0xa8, 0x96, 0x36, 0x56, 0x76, 0xf1, 0xb9, 
    0xaf, 0xb4, 0xb0, 0x83, 0xc0, 0xb8, 0xa8, 0x97, 0x11, 0xb1, 0x8f, 0x98, 0xb9, 0xaf, 0xf0, 0x24, 
    0x08, 0x44, 0x10, 0x64, 0x18, 0xf1, 0xa3, 0x29, 0x55, 0x7d, 0xaf, 0x83, 0xb5, 0x93, 0xaf, 0xf0, 
    0x00, 0x28, 0x50, 0xf1, 0xa3, 0x86, 0x9f, 0x61, 0xa6, 0xda, 0xde, 0xdf, 0xd9, 0xfa, 0xa3, 0x86, 
    0x96, 0xdb, 0x31, 0xa6, 0xd9, 0xf8, 0xdf, 0xba, 0xa6, 0x8f, 0xc2, 0xc5, 0xc7, 0xb2, 0x8c, 0xc1, 
    0xb8, 0xa2, 0xdf, 0xdf, 0xdf, 0xa3, 0xdf, 0xdf, 0xdf, 0xd8, 0xd8, 0xf1, 0xb8, 0xa8, 0xb2, 0x86, 
    0xb4, 0x98, 0x0d, 0x35, 0x5d, 0xb8, 0xaa, 0x98, 0xb0, 0x87, 0x2d, 0x35, 0x3d, 0xb2, 0xb6, 0xba, 
    0xaf, 0x8c, 0x96, 0x19, 0x8f, 0x9f, 0xa7, 0x0e, 0x16, 0x1e, 0xb4, 0x9a, 0xb8, 0xaa, 0x87, 0x2c, 
    0x54, 0x7c, 0xb9, 0xa3, 0xde, 0xdf, 0xdf, 0xa3, 0xb1, 0x80, 0xf2, 0xc4, 0xcd, 0xc9, 0xf1, 0xb8, 
    0xa9, 0xb4, 0x99, 0x83, 0x0d, 0x35, 0x5d, 0x89, 0xb9, 0xa3, 0x2d, 0x55, 0x7d, 0xb5, 0x93, 0xa3, 
    0x0e, 0x16, 0x1e, 0xa9, 0x2c, 0x54, 0x7c, 0xb8, 0xb4, 0xb0, 0xf1, 0x97, 0x83, 0xa8, 0x11, 0x84, 
    0xa5, 0x09, 0x98, 0xa3, 0x83, 0xf0, 0xda, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xd8, 0xf1, 0xa5, 
    0x29, 0x55, 0x7d, 0xa5, 0x85, 0x95, 0x02, 0x1a, 0x2e, 0x3a, 0x56, 0x5a, 0x40, 0x48, 0xf9, 0xf3, 
    0xa3, 0xd9, 0xf8, 0xf0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xa8, 0xf1, 
    0x11, 0xf0, 0x98, 0xa2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xda, 0xf3, 0xde, 0xd8, 0x83, 0xa5, 
    0x94, 0x01, 0xd9, 0xa3, 0x02, 0xf1, 0xa2, 0xc3, 0xc5, 0xc7, 0xd8, 0xf1, 0x84, 0x92, 0xa2, 0x4d, 
    0xda, 0x2a, 0xd8, 0x48, 0x69, 0xd9, 0x2a, 0xd8, 0x68, 0x55, 0xda, 0x32, 0xd8, 0x50, 0x71, 0xd9, 
    0x32, 0xd8, 0x70, 0x5d, 0xda, 0x3a, 0xd8, 0x58, 0x79, 0xd9, 0x3a, 0xd8, 0x78, 0x93, 0xa3, 0x4d, 
    0xda, 0x2a, 0xd8, 0x48, 0x69, 0xd9, 0x2a, 0xd8, 0x68, 0x55, 0xda, 0x32, 0xd8, 0x50, 0x71, 0xd9, 
    0x32, 0xd8, 0x70, 0x5d, 0xda, 0x3a, 0xd8, 0x58, 0x79, 0xd9, 0x3a, 0xd8, 0x78, 0xa8, 0x8a, 0x9a, 
    0xf0, 0x28, 0x50, 0x78, 0x9e, 0xf3, 0x88, 0x18, 0xf1, 0x9f, 0x1d, 0x98, 0xa8, 0xd9, 0x08, 0xd8, 
    0xc8, 0x9f, 0x12, 0x9e, 0xf3, 0x15, 0xa8, 0xda, 0x12, 0x10, 0xd8, 0xf1, 0xaf, 0xc8, 0x97, 0x87, 
    0x34, 0xb5, 0xb9, 0x94, 0xa4, 0x21, 0xf3, 0xd9, 0x22, 0xd8, 0xf2, 0x2d, 0xf3, 0xd9, 0x2a, 0xd8, 
    0xf2, 0x35, 0xf3, 0xd9, 0x32, 0xd8, 0x81, 0xa4, 0x60, 0x60, 0x61, 0xd9, 0x61, 0xd8, 0x6c, 0x68, 
    0x69, 0xd9, 0x69, 0xd8, 0x74, 0x70, 0x71, 0xd9, 0x71, 0xd8, 0xb1, 0xa3, 0x84, 0x19, 0x3d, 0x5d, 
    0xa3, 0x83, 0x1a, 0x3e, 0x5e, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xb8, 0xb0, 0xaf, 0x8f, 0x94, 
    0xf2, 0xda, 0x3e, 0xd8, 0xb4, 0x9a, 0xa8, 0x87, 0x29, 0xda, 0xf8, 0xd8, 0x87, 0x9a, 0x35, 0xda, 
    0xf8, 0xd8, 0x87, 0x9a, 0x3d, 0xda, 0xf8, 0xd8, 0xb1, 0xb9, 0xa4, 0x98, 0x85, 0x02, 0x2e, 0x56, 
    0xa5, 0x81, 0x00, 0x0c, 0x14, 0xa3, 0x97, 0xb0, 0x8a, 0xf1, 0x2d, 0xd9, 0x28, 0xd8, 0x4d, 0xd9, 
    0x48, 0xd8, 0x6d, 0xd9, 0x68, 0xd8, 0xb1, 0x84, 0x0d, 0xda, 0x0e, 0xd8, 0xa3, 0x29, 0x83, 0xda, 
    0x2c, 0x0e, 0xd8, 0xa3, 0x84, 0x49, 0x83, 0xda, 0x2c, 0x4c, 0x0e, 0xd8, 0xb8, 0xb0, 0xa8, 0x8a, 
    0x9a, 0xf5, 0x20, 0xaa, 0xda, 0xdf, 0xd8, 0xa8, 0x40, 0xaa, 0xd0, 0xda, 0xde, 0xd8, 0xa8, 0x60, 
    0xaa, 0xda, 0xd0, 0xdf, 0xd8, 0xf1, 0x97, 0x86, 0xa8, 0x31, 0x9b, 0x06, 0x99, 0x07, 0xab, 0x97, 
    0x28, 0x88, 0x9b, 0xf0, 0x0c, 0x20, 0x14, 0x40, 0xb8, 0xb0, 0xb4, 0xa8, 0x8c, 0x9c, 0xf0, 0x04, 
    0x28, 0x51, 0x79, 0x1d, 0x30, 0x14, 0x38, 0xb2, 0x82, 0xab, 0xd0, 0x98, 0x2c, 0x50, 0x50, 0x78, 
    0x78, 0x9b, 0xf1, 0x1a, 0xb0, 0xf0, 0x8a, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x8b, 0x29, 0x51, 0x79, 
    0x8a, 0x24, 0x70, 0x59, 0x8b, 0x20, 0x58, 0x71, 0x8a, 0x44, 0x69, 0x38, 0x8b, 0x39, 0x40, 0x68, 
    0x8a, 0x64, 0x48, 0x31, 0x8b, 0x30, 0x49, 0x60, 0xa5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68, 
    0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xf1, 0xac, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0x8c, 0xa8, 0x04, 
    0x28, 0x50, 0x78, 0xf1, 0x88, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xac, 0x8c, 0x02, 0x26, 0x46, 0x66, 
    0xf0, 0x89, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 
    0xa9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xab, 0x11, 0x38, 0x40, 0x69, 0xa8, 0x19, 0x31, 0x48, 0x60, 
    0x8c, 0xa8, 0x3c, 0x41, 0x5c, 0x20, 0x7c, 0x00, 0xf1, 0x87, 0x98, 0x19, 0x86, 0xa8, 0x6e, 0x76, 
    0x7e, 0xa9, 0x99, 0x88, 0x2d, 0x55, 0x7d, 0x9e, 0xb9, 0xa3, 0x8a, 0x22, 0x8a, 0x6e, 0x8a, 0x56, 
    0x8a, 0x5e, 0x9f, 0xb1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0e, 0x2e, 0x4e, 0x6e, 0x9d, 0xb8, 0xad, 
    0x00, 0x2c, 0x54, 0x7c, 0xf2, 0xb1, 0x8c, 0xb4, 0x99, 0xb9, 0xa3, 0x2d, 0x55, 0x7d, 0x81, 0x91, 
    0xac, 0x38, 0xad, 0x3a, 0xb5, 0x83, 0x91, 0xac, 0x2d, 0xd9, 0x28, 0xd8, 0x4d, 0xd9, 0x48, 0xd8, 
    0x6d, 0xd9, 0x68, 0xd8, 0x8c, 0x9d, 0xae, 0x29, 0xd9, 0x04, 0xae, 0xd8, 0x51, 0xd9, 0x04, 0xae, 
    0xd8, 0x79, 0xd9, 0x04, 0xd8, 0x81, 0xf3, 0x9d, 0xad, 0x00, 0x8d, 0xae, 0x19, 0x81, 0xad, 0xd9, 
    0x01, 0xd8, 0xf2, 0xae, 0xda, 0x26, 0xd8, 0x8e, 0x91, 0x29, 0x83, 0xa7, 0xd9, 0xad, 0xad, 0xad, 
    0xad, 0xf3, 0x2a, 0xd8, 0xd8, 0xf1, 0xb0, 0xac, 0x89, 0x91, 0x3e, 0x5e, 0x76, 0xf3, 0xac, 0x2e, 
    0x2e, 0xf1, 0xb1, 0x8c, 0x5a, 0x9c, 0xac, 0x2c, 0x28, 0x28, 0x28, 0x9c, 0xac, 0x30, 0x18, 0xa8, 
    0x98, 0x81, 0x28, 0x34, 0x3c, 0x97, 0x24, 0xa7, 0x28, 0x34, 0x3c, 0x9c, 0x24, 0xf2, 0xb0, 0x89, 
    0xac, 0x91, 0x2c, 0x4c, 0x6c, 0x8a, 0x9b, 0x2d, 0xd9, 0xd8, 0xd8, 0x51, 0xd9, 0xd8, 0xd8, 0x79, 
    0xd9, 0xd8, 0xd8, 0xf1, 0x9e, 0x88, 0xa3, 0x31, 0xda, 0xd8, 0xd8, 0x91, 0x2d, 0xd9, 0x28, 0xd8, 
    0x4d, 0xd9, 0x48, 0xd8, 0x6d, 0xd9, 0x68, 0xd8, 0xb1, 0x83, 0x93, 0x35, 0x3d, 0x80, 0x25, 0xda, 
    0xd8, 0xd8, 0x85, 0x69, 0xda, 0xd8, 0xd8, 0xb4, 0x93, 0x81, 0xa3, 0x28, 0x34, 0x3c, 0xf3, 0xab, 
    0x8b, 0xf8, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9, 0xab, 0xde, 0xfa, 0xb0, 0x87, 0x9c, 0xb9, 0xa3, 
    0xdd, 0xf1, 0xa3, 0xa3, 0xa3, 0xa3, 0x95, 0xf1, 0xa3, 0xa3, 0xa3, 0x9d, 0xf1, 0xa3, 0xa3, 0xa3, 
    0xa3, 0xf2, 0xa3, 0xb4, 0x90, 0x80, 0xf2, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 
    0xa3, 0xb2, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xb0, 0x87, 0xb5, 0x99, 0xf1, 0xa3, 0xa3, 0xa3, 
    0x98, 0xf1, 0xa3, 0xa3, 0xa3, 0xa3, 0x97, 0xa3, 0xa3, 0xa3, 0xa3, 0xf3, 0x9b, 0xa3, 0xa3, 0xdc, 
    0xb9, 0xa7, 0xf1, 0x26, 0x26, 0x26, 0xd8, 0xd8, 0xff

   };



static unsigned short sStartAddress = 0x0300;
#ifdef DMPDEFAULT_UNSORTEDKEYLOOKUP
/* DMPDEFAULT_UNSOTEDKEYLOOKUP uses O(n) looks up keys from unsorted list 
 * to avoid allocating ram for sorted list */
static unsigned short inv_setup_dmpGetAddress( unsigned short key )
{
    int kk;
    if ( key >= NUM_LOCAL_KEYS ) // Key not in range
        return 0xffff;

    for (kk = 0; kk < NUM_LOCAL_KEYS; ++kk){
        if (key == dmpTConfig[kk].key)
            return dmpTConfig[kk].addr; // Found key, return addr
    }

    return 0xfffe; // Key not found
	
}
#else
static tKeyLabel keys[NUM_KEYS];

static unsigned short inv_setup_dmpGetAddress( unsigned short key )
{
    static int isSorted = 0;
    if ( !isSorted ) {
        int kk;
        for (kk=0; kk<NUM_LOCAL_KEYS; ++kk) {
            keys[ kk ].addr = 0xffff;
            keys[ kk ].key = kk;
        }
        for (kk=0; kk<NUM_LOCAL_KEYS; ++kk) {
            keys[ dmpTConfig[kk].key ].addr = dmpTConfig[kk].addr;
        }
        isSorted = 1;
    }
    if ( key >= NUM_LOCAL_KEYS )
        return 0xffff;

	return keys[ key ].addr;
}
#endif

/**
 *  @brief
 *  @return INV_SUCCESS or a non-zero error code.
 */
inv_error_t inv_setup_dmp(void)

{
    inv_error_t result;

    inv_set_get_address(inv_setup_dmpGetAddress);
    result = inv_clock_source(MPU_CLK_SEL_PLLGYROZ);
    if (result) {
        LOG_RESULT_LOCATION(result);
        return result;
    }
    result = inv_dl_cfg_sampling(MPU_FILTER_42HZ, 4);
    if (result) {
        LOG_RESULT_LOCATION(result);
        return result;
    }
    result = inv_set_full_scale(2000.f);  
    if (result) {
        LOG_RESULT_LOCATION(result);
        return result;
    }
    result = inv_load_dmp(dmpMemory, DMP_CODE_SIZE, sStartAddress);
    if (result) {
        LOG_RESULT_LOCATION(result);
        return result;
    }
    result = inv_set_external_sync(MPU_EXT_SYNC_TEMP);
    if (result) {
        LOG_RESULT_LOCATION(result);
        return result;
    }

    return result;
}

/**
 *@}
 */