55     int i;  in inv_convert_bias()  local
64     for (i = 0; i < 3; i++) {  in inv_convert_bias()
65         biasTmp2[i] = inv_big8_to_int32(&regs[i * 4]);  in inv_convert_bias()
68     for (i = 0; i < 3; ++i) {  in inv_convert_bias()
69         biasTmp[i] = inv_q30_mult(biasTmp2[0], inv_obj.gyro_orient[i]) +  in inv_convert_bias()
70             inv_q30_mult(biasTmp2[1], inv_obj.gyro_orient[i + 3]) +  in inv_convert_bias()
71             inv_q30_mult(biasTmp2[2], inv_obj.gyro_orient[i + 6]);  in inv_convert_bias()
74     for (i = 0; i < GYRO_NUM_AXES; i++) {  in inv_convert_bias()
75         biasTmp[i] = (long)(biasTmp[i] * 1.39882274201861f / sf);  in inv_convert_bias()
76         biasPrev[i] = (long)mldl_cfg->offset[i];  in inv_convert_bias()
77         if (biasPrev[i] > 32767)  in inv_convert_bias()
78             biasPrev[i] -= 65536L;  in inv_convert_bias()
81     for (i = 0; i < GYRO_NUM_AXES; i++) {  in inv_convert_bias()
82         bias[i] = (short)(biasPrev[i] - biasTmp[i]);  in inv_convert_bias()
110     int sf, i;  in inv_set_gyro_bias_in_dps()  local
121     for (i = 0; i < GYRO_NUM_AXES; i++) {  in inv_set_gyro_bias_in_dps()
122         biasTmp = -bias[i] / sf;  in inv_set_gyro_bias_in_dps()
125         offset[i] = (short)biasTmp;  in inv_set_gyro_bias_in_dps()