1 /* 2 $License: 3 Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved. 4 See included License.txt for License information. 5 $ 6 */ 7 #include "mltypes.h" 8 9 #ifndef INV_DATA_BUILDER_H__ 10 #define INV_DATA_BUILDER_H__ 11 12 #ifdef __cplusplus 13 extern "C" { 14 #endif 15 16 // Uncomment this flag to enable playback debug and record or playback scenarios 17 //#define INV_PLAYBACK_DBG 18 19 /** This is a new sample of accel data */ 20 #define INV_ACCEL_NEW 1 21 /** This is a new sample of gyro data */ 22 #define INV_GYRO_NEW 2 23 /** This is a new sample of compass data */ 24 #define INV_MAG_NEW 4 25 /** This is a new sample of temperature data */ 26 #define INV_TEMP_NEW 8 27 /** This is a new sample of quaternion data */ 28 #define INV_QUAT_NEW 16 29 30 /** Set if the data is contiguous. Typically not set if a sample was skipped */ 31 #define INV_CONTIGUOUS 16 32 /** Set if the calibrated data has been solved for */ 33 #define INV_CALIBRATED 32 34 /* INV_NEW_DATA set for a new set of data, cleared if not available. */ 35 #define INV_NEW_DATA 64 36 /* Set if raw data exists */ 37 #define INV_RAW_DATA 128 38 /* Set if the sensor is on */ 39 #define INV_SENSOR_ON 256 40 /* Set if quaternion has bias correction applied */ 41 #define INV_BIAS_APPLIED 512 42 43 #define INV_PRIORITY_MOTION_NO_MOTION 100 44 #define INV_PRIORITY_GYRO_TC 150 45 #define INV_PRIORITY_QUATERNION_GYRO_ACCEL 200 46 #define INV_PRIORITY_QUATERNION_NO_GYRO 250 47 #define INV_PRIORITY_MAGNETIC_DISTURBANCE 300 48 #define INV_PRIORITY_HEADING_FROM_GYRO 350 49 #define INV_PRIORITY_COMPASS_BIAS_W_GYRO 375 50 #define INV_PRIORITY_COMPASS_VECTOR_CAL 400 51 #define INV_PRIORITY_COMPASS_ADV_BIAS 500 52 #define INV_PRIORITY_9_AXIS_FUSION 600 53 #define INV_PRIORITY_QUATERNION_ADJUST_9_AXIS 700 54 #define INV_PRIORITY_QUATERNION_ACCURACY 750 55 #define INV_PRIORITY_RESULTS_HOLDER 800 56 #define INV_PRIORITY_INUSE_AUTO_CALIBRATION 850 57 #define INV_PRIORITY_HAL_OUTPUTS 900 58 #define INV_PRIORITY_GLYPH 950 59 #define INV_PRIORITY_SHAKE 975 60 #define INV_PRIORITY_SM 1000 61 62 struct inv_single_sensor_t { 63 /** Orientation Descriptor. Describes how to go from the mounting frame to the body frame when 64 * the rotation matrix could be thought of only having elements of 0,1,-1. 65 * 2 bits are used to describe the column of the 1 or -1 and the 3rd bit is used for the sign. 66 * Bit 8 is sign of +/- 1 in third row. Bit 6-7 is column of +/-1 in third row. 67 * Bit 5 is sign of +/- 1 in second row. Bit 3-4 is column of +/-1 in second row. 68 * Bit 2 is sign of +/- 1 in first row. Bit 0-1 is column of +/-1 in first row. 69 */ 70 int orientation; 71 /** The raw data in raw data units in the mounting frame */ 72 short raw[3]; 73 /** Raw data in body frame */ 74 long raw_scaled[3]; 75 /** Calibrated data */ 76 long calibrated[3]; 77 long sensitivity; 78 /** Sample rate in microseconds */ 79 long sample_rate_us; 80 long sample_rate_ms; 81 /** INV_CONTIGUOUS is set for contiguous data. Will not be set if there was a sample 82 * skipped due to power savings turning off this sensor. 83 * INV_NEW_DATA set for a new set of data, cleared if not available. 84 * INV_CALIBRATED_SET if calibrated data has been solved for */ 85 int status; 86 /** 0 to 3 for how well sensor data and biases are known. 3 is most accurate. */ 87 int accuracy; 88 inv_time_t timestamp; 89 inv_time_t timestamp_prev; 90 /** Bandwidth in Hz */ 91 int bandwidth; 92 }; 93 struct inv_quat_sensor_t { 94 long raw[4]; 95 /** INV_CONTIGUOUS is set for contiguous data. Will not be set if there was a sample 96 * skipped due to power savings turning off this sensor. 97 * INV_NEW_DATA set for a new set of data, cleared if not available. 98 * INV_CALIBRATED_SET if calibrated data has been solved for */ 99 int status; 100 inv_time_t timestamp; 101 long sample_rate_us; 102 long sample_rate_ms; 103 }; 104 105 struct inv_sensor_cal_t { 106 struct inv_single_sensor_t gyro; 107 struct inv_single_sensor_t accel; 108 struct inv_single_sensor_t compass; 109 struct inv_single_sensor_t temp; 110 struct inv_quat_sensor_t quat; 111 /** Combinations of INV_GYRO_NEW, INV_ACCEL_NEW, INV_MAG_NEW to indicate 112 * which data is a new sample as these data points may have different sample rates. 113 */ 114 int status; 115 }; 116 117 // Useful for debug record and playback 118 typedef enum { 119 RD_NO_DEBUG, 120 RD_RECORD, 121 RD_PLAYBACK 122 } rd_dbg_mode; 123 124 typedef enum { 125 PLAYBACK_DBG_TYPE_GYRO, 126 PLAYBACK_DBG_TYPE_ACCEL, 127 PLAYBACK_DBG_TYPE_COMPASS, 128 PLAYBACK_DBG_TYPE_TEMPERATURE, 129 PLAYBACK_DBG_TYPE_EXECUTE, 130 PLAYBACK_DBG_TYPE_A_ORIENT, 131 PLAYBACK_DBG_TYPE_G_ORIENT, 132 PLAYBACK_DBG_TYPE_C_ORIENT, 133 PLAYBACK_DBG_TYPE_A_SAMPLE_RATE, 134 PLAYBACK_DBG_TYPE_C_SAMPLE_RATE, 135 PLAYBACK_DBG_TYPE_G_SAMPLE_RATE, 136 PLAYBACK_DBG_TYPE_GYRO_OFF, 137 PLAYBACK_DBG_TYPE_ACCEL_OFF, 138 PLAYBACK_DBG_TYPE_COMPASS_OFF, 139 PLAYBACK_DBG_TYPE_Q_SAMPLE_RATE, 140 PLAYBACK_DBG_TYPE_QUAT 141 142 } inv_rd_dbg_states; 143 144 /** Maximum number of data callbacks that are supported. Safe to increase if needed.*/ 145 #define INV_MAX_DATA_CB 20 146 147 #ifdef INV_PLAYBACK_DBG 148 #include <stdio.h> 149 void inv_turn_on_data_logging(FILE *file); 150 void inv_turn_off_data_logging(); 151 #endif 152 153 void inv_set_gyro_orientation_and_scale(int orientation, long sensitivity); 154 void inv_set_accel_orientation_and_scale(int orientation, 155 long sensitivity); 156 void inv_set_compass_orientation_and_scale(int orientation, 157 long sensitivity); 158 void inv_set_gyro_sample_rate(long sample_rate_us); 159 void inv_set_compass_sample_rate(long sample_rate_us); 160 void inv_set_quat_sample_rate(long sample_rate_us); 161 void inv_set_accel_sample_rate(long sample_rate_us); 162 void inv_set_gyro_bandwidth(int bandwidth_hz); 163 void inv_set_accel_bandwidth(int bandwidth_hz); 164 void inv_set_compass_bandwidth(int bandwidth_hz); 165 166 void inv_get_gyro_sample_rate_ms(long *sample_rate_ms); 167 void inv_get_accel_sample_rate_ms(long *sample_rate_ms); 168 void inv_get_compass_sample_rate_ms(long *sample_rate_ms); 169 170 inv_error_t inv_register_data_cb(inv_error_t (*func) 171 (struct inv_sensor_cal_t * data), int priority, 172 int sensor_type); 173 inv_error_t inv_unregister_data_cb(inv_error_t (*func) 174 (struct inv_sensor_cal_t * data)); 175 176 inv_error_t inv_build_gyro(const short *gyro, inv_time_t timestamp); 177 inv_error_t inv_build_compass(const long *compass, int status, 178 inv_time_t timestamp); 179 inv_error_t inv_build_accel(const long *accel, int status, 180 inv_time_t timestamp); 181 inv_error_t inv_build_temp(const long temp, inv_time_t timestamp); 182 inv_error_t inv_build_quat(const long *quat, int status, inv_time_t timestamp); 183 inv_error_t inv_execute_on_data(void); 184 185 void inv_get_compass_bias(long *bias); 186 187 void inv_set_compass_bias(const long *bias, int accuracy); 188 void inv_set_compass_disturbance(int dist); 189 void inv_set_gyro_bias(const long *bias, int accuracy); 190 void inv_set_accel_bias(const long *bias, int accuracy); 191 void inv_set_accel_accuracy(int accuracy); 192 void inv_set_accel_bias_mask(const long *bias, int accuracy, int mask); 193 194 void inv_get_gyro_bias(long *bias, long *temp); 195 void inv_get_accel_bias(long *bias, long *temp); 196 197 void inv_gyro_was_turned_off(void); 198 void inv_accel_was_turned_off(void); 199 void inv_compass_was_turned_off(void); 200 void inv_quaternion_sensor_was_turned_off(void); 201 inv_error_t inv_init_data_builder(void); 202 long inv_get_gyro_sensitivity(void); 203 long inv_get_accel_sensitivity(void); 204 long inv_get_compass_sensitivity(void); 205 206 void inv_get_accel_set(long *data, int8_t *accuracy, inv_time_t * timestamp); 207 void inv_get_gyro_set(long *data, int8_t *accuracy, inv_time_t * timestamp); 208 void inv_get_gyro_set_raw(long *data, int8_t *accuracy, inv_time_t * timestamp); 209 void inv_get_compass_set(long *data, int8_t *accuracy, inv_time_t * timestamp); 210 211 void inv_get_gyro(long *gyro); 212 213 int inv_get_gyro_accuracy(void); 214 int inv_get_accel_accuracy(void); 215 int inv_get_mag_accuracy(void); 216 217 int inv_get_compass_on(void); 218 int inv_get_gyro_on(void); 219 int inv_get_accel_on(void); 220 221 inv_time_t inv_get_last_timestamp(void); 222 int inv_get_compass_disturbance(void); 223 224 //New DMP Cal Functions 225 inv_error_t inv_get_gyro_orient(int *orient); 226 inv_error_t inv_get_accel_orient(int *orient); 227 228 229 #ifdef __cplusplus 230 } 231 #endif 232 233 #endif /* INV_DATA_BUILDER_H__ */ 234
