1 /* 2 $License: 3 Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved. 4 See included License.txt for License information. 5 $ 6 */ 7 #ifndef INV_DATA_BUILDER_H__ 8 #define INV_DATA_BUILDER_H__ 9 10 #include <stdio.h> 11 #include "mltypes.h" 12 13 #ifdef __cplusplus 14 extern "C" { 15 #endif 16 17 // Uncomment this flag to enable playback debug and record or playback scenarios 18 //#define INV_PLAYBACK_DBG 19 20 /** This is a new sample of accel data */ 21 #define INV_ACCEL_NEW 1 22 /** This is a new sample of gyro data */ 23 #define INV_GYRO_NEW 2 24 /** This is a new sample of compass data */ 25 #define INV_MAG_NEW 4 26 /** This is a new sample of temperature data */ 27 #define INV_TEMP_NEW 8 28 /** This is a new sample of quaternion data */ 29 #define INV_QUAT_NEW 16 30 31 /** Set if the data is contiguous. Typically not set if a sample was skipped */ 32 #define INV_CONTIGUOUS 16 33 /** Set if the calibrated data has been solved for */ 34 #define INV_CALIBRATED 32 35 /** INV_NEW_DATA set for a new set of data, cleared if not available. */ 36 #define INV_NEW_DATA 64 37 /** Set if raw data exists */ 38 #define INV_RAW_DATA 128 39 /** Set if the sensor is on */ 40 #define INV_SENSOR_ON 256 41 /** Set if quaternion has bias correction applied */ 42 #define INV_BIAS_APPLIED 512 43 /** Set if quaternion is 6-axis */ 44 #define INV_QUAT_6AXIS 1024 45 /** Set if quaternion is 9 axis */ 46 #define INV_QUAT_9AXIS 2048 47 /** Set if quaternion is 3-axis, 3 elements (android only) */ 48 #define INV_QUAT_3AXIS 4096 49 /** Set if DMP has applied bias */ 50 #define INV_DMP_BIAS_APPLIED 8192 51 52 #define INV_PRIORITY_MOTION_NO_MOTION 100 53 #define INV_PRIORITY_GYRO_TC 150 54 #define INV_PRIORITY_QUATERNION_GYRO_ACCEL 200 55 #define INV_PRIORITY_QUATERNION_NO_GYRO 250 56 #define INV_PRIORITY_MAGNETIC_DISTURBANCE 300 57 #define INV_PRIORITY_HEADING_FROM_GYRO 350 58 #define INV_PRIORITY_COMPASS_BIAS_W_GYRO 375 59 #define INV_PRIORITY_COMPASS_VECTOR_CAL 400 60 #define INV_PRIORITY_COMPASS_ADV_BIAS 500 61 #define INV_PRIORITY_9_AXIS_FUSION 600 62 #define INV_PRIORITY_9_AXIS_FUSION_LIGHT 650 63 #define INV_PRIORITY_QUATERNION_ADJUST_9_AXIS 700 64 #define INV_PRIORITY_QUATERNION_ACCURACY 750 65 #define INV_PRIORITY_RESULTS_HOLDER 800 66 #define INV_PRIORITY_INUSE_AUTO_CALIBRATION 850 67 #define INV_PRIORITY_HAL_OUTPUTS 900 68 #define INV_PRIORITY_GLYPH 950 69 #define INV_PRIORITY_SHAKE 975 70 #define INV_PRIORITY_SM 1000 71 72 struct inv_single_sensor_t { 73 /** Orientation Descriptor. Describes how to go from the mounting frame to the body frame when 74 * the rotation matrix could be thought of only having elements of 0,1,-1. 75 * 2 bits are used to describe the column of the 1 or -1 and the 3rd bit is used for the sign. 76 * Bit 8 is sign of +/- 1 in third row. Bit 6-7 is column of +/-1 in third row. 77 * Bit 5 is sign of +/- 1 in second row. Bit 3-4 is column of +/-1 in second row. 78 * Bit 2 is sign of +/- 1 in first row. Bit 0-1 is column of +/-1 in first row. 79 */ 80 int orientation; 81 /** The raw data in raw data units in the mounting frame */ 82 short raw[3]; 83 /** Raw data in body frame */ 84 long raw_scaled[3]; 85 /** Calibrated data */ 86 long calibrated[3]; 87 long sensitivity; 88 /** Sample rate in microseconds */ 89 long sample_rate_us; 90 long sample_rate_ms; 91 /** INV_CONTIGUOUS is set for contiguous data. Will not be set if there was a sample 92 * skipped due to power savings turning off this sensor. 93 * INV_NEW_DATA set for a new set of data, cleared if not available. 94 * INV_CALIBRATED_SET if calibrated data has been solved for */ 95 int status; 96 /** 0 to 3 for how well sensor data and biases are known. 3 is most accurate. */ 97 int accuracy; 98 inv_time_t timestamp; 99 inv_time_t timestamp_prev; 100 /** Bandwidth in Hz */ 101 int bandwidth; 102 }; 103 104 struct inv_quat_sensor_t { 105 long raw[4]; 106 /** INV_CONTIGUOUS is set for contiguous data. Will not be set if there was a sample 107 * skipped due to power savings turning off this sensor. 108 * INV_NEW_DATA set for a new set of data, cleared if not available. 109 * INV_CALIBRATED_SET if calibrated data has been solved for */ 110 int status; 111 inv_time_t timestamp; 112 long sample_rate_us; 113 long sample_rate_ms; 114 }; 115 116 struct inv_soft_iron_t { 117 long raw[3]; 118 long trans[3]; 119 long matrix_d[9]; // Q30 format fixed point. The dynamic range is (-2.0 to 2.0); 120 float matrix_f[9]; 121 122 int enable; 123 }; 124 125 struct inv_sensor_cal_t { 126 struct inv_single_sensor_t gyro; 127 struct inv_single_sensor_t accel; 128 struct inv_single_sensor_t compass; 129 struct inv_single_sensor_t temp; 130 struct inv_quat_sensor_t quat; 131 struct inv_soft_iron_t soft_iron; 132 /** Combinations of INV_GYRO_NEW, INV_ACCEL_NEW, INV_MAG_NEW to indicate 133 * which data is a new sample as these data points may have different sample rates. 134 */ 135 int status; 136 }; 137 138 // Useful for debug record and playback 139 typedef enum { 140 RD_NO_DEBUG, 141 RD_RECORD, 142 RD_PLAYBACK 143 } rd_dbg_mode; 144 145 typedef enum { 146 PLAYBACK_DBG_TYPE_GYRO, 147 PLAYBACK_DBG_TYPE_ACCEL, 148 PLAYBACK_DBG_TYPE_COMPASS, 149 PLAYBACK_DBG_TYPE_TEMPERATURE, 150 PLAYBACK_DBG_TYPE_EXECUTE, 151 PLAYBACK_DBG_TYPE_A_ORIENT, 152 PLAYBACK_DBG_TYPE_G_ORIENT, 153 PLAYBACK_DBG_TYPE_C_ORIENT, 154 PLAYBACK_DBG_TYPE_A_SAMPLE_RATE, 155 PLAYBACK_DBG_TYPE_C_SAMPLE_RATE, 156 PLAYBACK_DBG_TYPE_G_SAMPLE_RATE, 157 PLAYBACK_DBG_TYPE_GYRO_OFF, 158 PLAYBACK_DBG_TYPE_ACCEL_OFF, 159 PLAYBACK_DBG_TYPE_COMPASS_OFF, 160 PLAYBACK_DBG_TYPE_Q_SAMPLE_RATE, 161 PLAYBACK_DBG_TYPE_QUAT, 162 PLAYBACK_DBG_TYPE_QUAT_OFF 163 } inv_rd_dbg_states; 164 165 /** Change this key if the definition of the struct inv_db_save_t changes. 166 Previous keys: 53394, 53395 */ 167 #define INV_DB_SAVE_KEY (53396) 168 169 #define INV_DB_SAVE_MPL_KEY (50001) 170 171 struct inv_db_save_t { 172 /** compass Bias in chip frame, hardware units scaled by 2^16. */ 173 long compass_bias[3]; 174 /** gyro factory bias in chip frame, hardware units scaled by 2^16, 175 +/- 2000 dps full scale. */ 176 long factory_gyro_bias[3]; 177 /** temperature when factory_gyro_bias was stored. */ 178 long gyro_temp; 179 /** flag to indicate temperature compensation that biases where stored. */ 180 int gyro_bias_tc_set; 181 /** accel bias in chip frame, hardware units scaled by 2^16, 182 +/- 2 gee full scale. */ 183 long accel_bias[3]; 184 /** temperature when accel bias was stored. */ 185 long accel_temp; 186 long gyro_temp_slope[3]; 187 /** sensor accuracies */ 188 int gyro_accuracy; 189 int accel_accuracy; 190 int compass_accuracy; 191 }; 192 193 struct inv_db_save_mpl_t { 194 /** gyro bias in chip frame, hardware units scaled by 2^16, +/- 2000 dps 195 full scale */ 196 long gyro_bias[3]; 197 }; 198 199 /** Maximum number of data callbacks that are supported. Safe to increase if needed.*/ 200 #define INV_MAX_DATA_CB 20 201 202 #ifdef INV_PLAYBACK_DBG 203 void inv_turn_on_data_logging(FILE *file); 204 void inv_turn_off_data_logging(); 205 #endif 206 207 void inv_set_gyro_orientation_and_scale(int orientation, long sensitivity); 208 void inv_set_accel_orientation_and_scale(int orientation, 209 long sensitivity); 210 void inv_set_compass_orientation_and_scale(int orientation, 211 long sensitivity); 212 void inv_set_gyro_sample_rate(long sample_rate_us); 213 void inv_set_compass_sample_rate(long sample_rate_us); 214 void inv_set_quat_sample_rate(long sample_rate_us); 215 void inv_set_accel_sample_rate(long sample_rate_us); 216 void inv_set_gyro_bandwidth(int bandwidth_hz); 217 void inv_set_accel_bandwidth(int bandwidth_hz); 218 void inv_set_compass_bandwidth(int bandwidth_hz); 219 220 void inv_get_gyro_sample_rate_ms(long *sample_rate_ms); 221 void inv_get_accel_sample_rate_ms(long *sample_rate_ms); 222 void inv_get_compass_sample_rate_ms(long *sample_rate_ms); 223 224 inv_error_t inv_register_data_cb(inv_error_t (*func) 225 (struct inv_sensor_cal_t * data), int priority, 226 int sensor_type); 227 inv_error_t inv_unregister_data_cb(inv_error_t (*func) 228 (struct inv_sensor_cal_t * data)); 229 230 inv_error_t inv_build_gyro(const short *gyro, inv_time_t timestamp); 231 inv_error_t inv_build_compass(const long *compass, int status, 232 inv_time_t timestamp); 233 inv_error_t inv_build_accel(const long *accel, int status, 234 inv_time_t timestamp); 235 inv_error_t inv_build_temp(const long temp, inv_time_t timestamp); 236 inv_error_t inv_build_quat(const long *quat, int status, inv_time_t timestamp); 237 inv_error_t inv_execute_on_data(void); 238 239 void inv_get_compass_bias(long *bias); 240 241 void inv_set_compass_bias(const long *bias, int accuracy); 242 void inv_set_compass_disturbance(int dist); 243 void inv_set_gyro_bias(const long *bias); 244 void inv_set_mpl_gyro_bias(const long *bias, int accuracy); 245 void inv_set_accel_bias(const long *bias, int accuracy); 246 void inv_set_accel_accuracy(int accuracy); 247 void inv_set_accel_bias_mask(const long *bias, int accuracy, int mask); 248 249 void inv_get_compass_soft_iron_matrix_d(long *matrix); 250 void inv_set_compass_soft_iron_matrix_d(long *matrix); 251 252 void inv_get_compass_soft_iron_matrix_f(float *matrix); 253 void inv_set_compass_soft_iron_matrix_f(float *matrix); 254 255 void inv_get_compass_soft_iron_output_data(long *data); 256 void inv_get_compass_soft_iron_input_data(long *data); 257 void inv_set_compass_soft_iron_input_data(const long *data); 258 259 void inv_reset_compass_soft_iron_matrix(void); 260 void inv_enable_compass_soft_iron_matrix(void); 261 void inv_disable_compass_soft_iron_matrix(void); 262 263 void inv_get_mpl_gyro_bias(long *bias, long *temp); 264 void inv_get_gyro_bias(long *bias); 265 void inv_get_gyro_bias_dmp_units(long *bias); 266 void inv_get_accel_bias(long *bias, long *temp); 267 268 void inv_gyro_was_turned_off(void); 269 void inv_accel_was_turned_off(void); 270 void inv_compass_was_turned_off(void); 271 void inv_quaternion_sensor_was_turned_off(void); 272 inv_error_t inv_init_data_builder(void); 273 long inv_get_gyro_sensitivity(void); 274 long inv_get_accel_sensitivity(void); 275 long inv_get_compass_sensitivity(void); 276 277 void inv_get_accel_set(long *data, int8_t *accuracy, inv_time_t * timestamp); 278 void inv_get_gyro_set(long *data, int8_t *accuracy, inv_time_t * timestamp); 279 void inv_get_gyro_set_raw(long *data, int8_t *accuracy, inv_time_t * timestamp); 280 void inv_get_compass_set(long *data, int8_t *accuracy, inv_time_t * timestamp); 281 void inv_get_compass_set_raw(long *data, int8_t *accuracy, inv_time_t * timestamp); 282 283 void inv_get_gyro(long *gyro); 284 285 int inv_get_gyro_accuracy(void); 286 int inv_get_accel_accuracy(void); 287 int inv_get_mag_accuracy(void); 288 void inv_get_raw_compass(short *raw); 289 290 int inv_get_compass_on(void); 291 int inv_get_gyro_on(void); 292 int inv_get_accel_on(void); 293 294 inv_time_t inv_get_last_timestamp(void); 295 int inv_get_compass_disturbance(void); 296 297 // new DMP cal functions 298 inv_error_t inv_get_gyro_orient(int *orient); 299 inv_error_t inv_get_accel_orient(int *orient); 300 301 // internal 302 int inv_get_gyro_bias_tc_set(void); 303 304 #ifdef __cplusplus 305 } 306 #endif 307 308 #endif /* INV_DATA_BUILDER_H__ */ 309
