BRIX5

  switch (_mode) {

  case OPERATION_MODE_ACCONLY:

    return (accel == 3);

  case OPERATION_MODE_MAGONLY:

    return (mag == 3);

  case OPERATION_MODE_GYRONLY:

  case OPERATION_MODE_M4G: /* No magnetometer calibration required. */

    return (gyro == 3);

  case OPERATION_MODE_ACCMAG:

  case OPERATION_MODE_COMPASS:

    return (accel == 3 && mag == 3);

  case OPERATION_MODE_ACCGYRO:

  case OPERATION_MODE_IMUPLUS:

    return (accel == 3 && gyro == 3);

  case OPERATION_MODE_MAGGYRO:

    return (mag == 3 && gyro == 3);

  default:

    return (system == 3 && gyro == 3 && accel == 3 && mag == 3);

  }