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 //#define RECORD_DATA_4_ANALYSIS 19 20 int inv_check_magnetic_disturbance(unsigned long delta_time, const long *quat, 21 const long *compass, const long *gravity); 22 23 void inv_track_world_yaw_angle_angle(int mode, float currdip); 24 25 inv_error_t inv_enable_magnetic_disturbance(void); 26 inv_error_t inv_disable_magnetic_disturbance(void); 27 int inv_get_magnetic_disturbance_state(); 28 29 inv_error_t inv_set_magnetic_disturbance(int time_ms); 30 inv_error_t inv_init_magnetic_disturbance(void); 31 32 void inv_enable_magnetic_disturbance_logging(void); 33 void inv_disable_magnetic_disturbance_logging(void); 34 35 float Mag3ofNormalizedLong(const long *x); 36 float Mag2ofNormalizedLong(const long *x); 37 float Mag2ofNormalizedFloat(const float *x); 38 39 int inv_mag_disturb_get_detect_status_3D(void); 40 void inv_mag_disturb_set_detect_status_3D(int status); 41 42 int inv_mag_disturb_get_drop_heading_accuracy_status(void); 43 void inv_mag_disturb_set_drop_heading_accuracy_status(int status); 44 45 int inv_mag_disturb_get_detect_weak_status_3D(void); 46 void inv_mag_disturb_set_detect_weak_status_3D(int status); 47 48 int inv_mag_disturb_get_detect_world_yaw_angle_status(void); 49 void inv_mag_disturb_set_detect_world_yaw_angle_status(int status); 50 51 int inv_mag_disturb_get_detect_world_yaw_angle_confirm_status(void); 52 void inv_mag_disturb_set_detect_world_yaw_angle_confirm_status(int status); 53 54 float inv_mag_disturb_get_vector_radius_3D(void); 55 void inv_mag_disturb_set_vector_radius_3D(float radius); 56 57 void inv_mag_disturb_world_yaw_angle_init(void); 58 void inv_mag_disturb_world_yaw_angle_process(struct inv_sensor_cal_t *obj); 59 //enum mag_distub_state_e inv_mag_disturb_get_mar_world_yaw_angle_state(void); 60 61 char inv_mag_disturb_get_mar_world_yaw_angle_detection_status(void); 62 63 float inv_mag_disturb_world_yaw_angle_distortion_from_gyro_bias(struct inv_sensor_cal_t *obj); 64 int inv_mag_disturb_get_dip_compassNgravity(struct inv_sensor_cal_t *data); 65 66 float inv_mag_disturb_9x_quat_confidence_interval(struct inv_sensor_cal_t *obj); 67 float inv_mag_disturb_geo_mag_confidence_interval(struct inv_sensor_cal_t *obj); 68 69 float inv_mag_disturb_world_yaw_angle_distortion_from_accel_compass_bias(float accel_bias_error, float compass_bias_error); 70 float inv_mag_disturb_world_yaw_angle_distortion_from_accel_compass_only(float accel_bias_error, float compass_bias_error); 71 72 void inv_mag_disturb_all_confidence_interval_init(void); 73 void inv_mag_disturb_recover_compass_accuracy_to_3(void); 74 75 #ifdef RECORD_DATA_4_ANALYSIS 76 void debug_file_init(void); 77 void debug_file_record(struct inv_sensor_cal_t *obj); 78 void debug_file_exit(void); 79 #endif 80 81 /************************/ 82 /* external API */ 83 /************************/ 84 float inv_mag_disturb_get_magnitude_threshold(void); 85 void inv_mag_disturb_set_magnitude_threshold(float radius); 86 87 float inv_mag_disturb_get_magnitude_recover_normal_threshold(void); 88 void inv_mag_disturb_set_magnitude_recover_normal_threshold(float radius); 89 90 /* These API get/set the yaw angle based magnetic anomaly detection*/ 91 float inv_mag_disturb_get_yaw_angle_weak_threshold(void); 92 void inv_mag_disturb_set_yaw_angle_weak_threshold(float angle); 93 94 /* These API get/set the yaw angle based strong magnetic anomaly detection*/ 95 /* The strong magnetic anomaly detection will drop heading accuracy if gyro is not trustable */ 96 float inv_mag_disturb_get_yaw_angle_strong_threshold(void); 97 void inv_mag_disturb_set_yaw_angle_strong_threshold(float angle); 98 99 float inv_mag_disturb_get_time_threshold_detect(void); 100 void inv_mag_disturb_set_time_threshold_detect(float time_seconds); 101 102 float inv_mag_disturb_get_local_field_radius(void); 103 void inv_mag_disturb_set_local_field_radius(float radius); 104 105 float inv_mag_disturb_get_local_field_dip(void); 106 void inv_mag_disturb_set_local_field_dip(float dip); 107 108 #ifdef __cplusplus 109 } 110 #endif 111 112 113 #endif // MLDMP_MAGDISTURB_H__ 114
