1 /* 2 $License: 3 Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved. 4 See included License.txt for License information. 5 $ 6 */ 7 8 #ifndef MLDMP_MAGDISTURB_H__ 9 #define MLDMP_MAGDISTURB_H__ 10 11 #include "mltypes.h" 12 13 #ifdef __cplusplus 14 extern "C" { 15 #endif 16 17 // #define WIN_8 18 19 int inv_check_magnetic_disturbance(unsigned long delta_time, const long *quat, 20 const long *compass, const long *gravity); 21 22 void inv_track_world_yaw_angle_angle(int mode, float currdip); 23 24 inv_error_t inv_enable_magnetic_disturbance(void); 25 inv_error_t inv_disable_magnetic_disturbance(void); 26 int inv_get_magnetic_disturbance_state(); 27 28 inv_error_t inv_set_magnetic_disturbance(int time_ms); 29 inv_error_t inv_init_magnetic_disturbance(void); 30 31 void inv_enable_magnetic_disturbance_logging(void); 32 void inv_disable_magnetic_disturbance_logging(void); 33 34 float Mag3ofNormalizedLong(const long *x); 35 float Mag2ofNormalizedLong(const long *x); 36 float Mag2ofNormalizedFloat(const float *x); 37 38 int inv_mag_disturb_get_detect_status_3D(void); 39 void inv_mag_disturb_set_detect_status_3D(int status); 40 41 int inv_mag_disturb_get_drop_heading_accuracy_status(void); 42 void inv_mag_disturb_set_drop_heading_accuracy_status(int status); 43 44 int inv_mag_disturb_get_detect_weak_status_3D(void); 45 void inv_mag_disturb_set_detect_weak_status_3D(int status); 46 47 int inv_mag_disturb_get_detect_world_yaw_angle_status(void); 48 void inv_mag_disturb_set_detect_world_yaw_angle_status(int status); 49 50 int inv_mag_disturb_get_detect_world_yaw_angle_confirm_status(void); 51 void inv_mag_disturb_set_detect_world_yaw_angle_confirm_status(int status); 52 53 float inv_mag_disturb_get_vector_radius_3D(void); 54 void inv_mag_disturb_set_vector_radius_3D(float radius); 55 56 void inv_mag_disturb_world_yaw_angle_init(void); 57 void inv_mag_disturb_world_yaw_angle_process(struct inv_sensor_cal_t *obj); 58 //enum mag_distub_state_e inv_mag_disturb_get_mar_world_yaw_angle_state(void); 59 60 char inv_mag_disturb_get_mar_world_yaw_angle_detection_status(void); 61 62 float inv_mag_disturb_world_yaw_angle_distortion_from_gyro_bias(struct inv_sensor_cal_t *obj); 63 int inv_mag_disturb_get_dip_compassNgravity(struct inv_sensor_cal_t *data); 64 65 float inv_mag_disturb_9x_quat_confidence_interval(struct inv_sensor_cal_t *obj); 66 float inv_mag_disturb_geo_mag_confidence_interval(struct inv_sensor_cal_t *obj); 67 68 float inv_mag_disturb_world_yaw_angle_distortion_from_accel_compass_bias(float accel_bias_error, float compass_bias_error); 69 float inv_mag_disturb_world_yaw_angle_distortion_from_accel_compass_only(float accel_bias_error, float compass_bias_error); 70 71 void inv_mag_disturb_all_confidence_interval_init(void); 72 73 /************************/ 74 /* external API */ 75 /************************/ 76 float inv_mag_disturb_get_magnitude_threshold(void); 77 void inv_mag_disturb_set_magnitude_threshold(float radius); 78 79 float inv_mag_disturb_get_time_threshold_detect(void); 80 void inv_mag_disturb_set_time_threshold_detect(float time_seconds); 81 82 float inv_mag_disturb_get_local_field_radius(void); 83 void inv_mag_disturb_set_local_field_radius(float radius); 84 85 float inv_mag_disturb_get_local_field_dip(void); 86 void inv_mag_disturb_set_local_field_dip(float dip); 87 88 #ifdef __cplusplus 89 } 90 #endif 91 92 93 #endif // MLDMP_MAGDISTURB_H__ 94
