Changes Notes- MD6.1 to 6.12 - Fixed Hardware Calibration Offset register accel format Previous implementation was saving the offsets in the accel offset registers in a scalre range of+-8G. After clarification the format should be saved in scale range of+-16G - Fixed sometimes for 9-axis sensor fusion new data flag is not updated In hal_outputs.c, there is a flag which indicates when there is new 9-axis data to be pushed into the MPL library to be built. Flag was looking into the wrong settings to be set. - added gravity vector data output Gravity vector will give on which axis the gravity is effecting on the accel. This way you can always see where the gravity is on the device - Added ARM precompiled MPL libaries for IAR, Keil, and GCC 4.9.3 Precompiled MPL libraries using IAR and Keil compiler for M0, M0+,M3, M4, M4F. GCC libraries updated to GCC 4.9.3 and there are M0, M3, and M4 with no FP, softFP, and hardFP. GCC compiler settings are based on

motion_driver_6.12
..................\arm
..................\...\STM32F4_MD6
..................\...\...........\Projects
..................\...\...........\........\eMD6
..................\...\...........\........\....\Binary
..................\...\...........\........\....\......\STM32L-Discovery.hex
..................\...\...........\........\....\core
..................\...\...........\........\....\....\driver
..................\...\...........\........\....\....\......\eMPL
..................\...\...........\........\....\....\......\....\dmpKey.h
..................\...\...........\........\....\....\......\....\dmpmap.h
..................\...\...........\........\....\....\......\....\inv_mpu.c
..................\...\...........\........\....\....\......\....\inv_mpu.h
..................\...\...........\........\....\....\......\....\inv_mpu_dmp_motion_driver.c
..................\...\...........\........\....\....\......\....\inv_mpu_dmp_motion_driver.h
..................\...\...........\........\....\....\......\include
..................\...\...........\........\....\....\......\.......\log.h
..................\...\...........\........\....\....\......\.......\mlinclude.h
..................\...\...........\........\....\....\......\.......\mlmath.h
..................\...\...........\........\....\....\......\.......\mlos.h
..................\...\...........\........\....\....\......\.......\mltypes.h
..................\...\...........\........\....\....\......\.......\mpu.h
..................\...\...........\........\....\....\......\.......\stdint_invensense.h
..................\...\...........\........\....\....\......\stm32L
..................\...\...........\........\....\....\......\......\log_stm32.c
..................\...\...........\........\....\....\......\......\packet.h
..................\...\...........\........\....\....\eMPL-hal
..................\...\...........\........\....\....\........\eMPL_outputs.c
..................\...\...........\........\....\....\........\eMPL_outputs.h
..................\...\...........\........\....\....\mllite
..................\...\...........\........\....\....\......\data_builder.c
..................\...\...........\........\....\....\......\data_builder.h
..................\...\...........\........\....\....\......\hal_outputs.c
..................\...\...........\........\....\....\......\hal_outputs.h
..................\...\...........\........\....\....\......\invensense.h
..................\...\...........\........\....\....\......\message_layer.c
..................\...\...........\........\....\....\......\message_layer.h
..................\...\...........\........\....\....\......\mlmath.c
..................\...\...........\........\....\....\......\ml_math_func.c
..................\...\...........\........\....\....\......\ml_math_func.h
..................\...\...........\........\....\....\......\mpl.c
..................\...\...........\........\....\....\......\mpl.h
..................\...\...........\........\....\....\......\results_holder.c
..................\...\...........\........\....\....\......\results_holder.h
..................\...\...........\........\....\....\......\start_manager.c
..................\...\...........\........\....\....\......\start_manager.h
..................\...\...........\........\....\....\......\storage_manager.c
..................\...\...........\........\....\....\......\storage_manager.h
..................\...\...........\........\....\....\mpl
..................\...\...........\........\....\....\...\accel_auto_cal.h
..................\...\...........\........\....\....\...\compass_vec_cal.h
..................\...\...........\........\....\....\...\fast_no_motion.h
..................\...\...........\........\....\....\...\fusion_9axis.h
..................\...\...........\........\....\....\...\gyro_tc.h
..................\...\...........\........\....\....\...\heading_from_gyro.h
..................\...\...........\........\....\....\...\invensense_adv.h
..................\...\...........\........\....\....\...\i

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