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_RESULTS_HOLDER_H__ 10 #define INV_RESULTS_HOLDER_H__ 11 12 #ifdef __cplusplus 13 extern "C" { 14 #endif 15 16 #define INV_MOTION 0x0001 17 #define INV_NO_MOTION 0x0002 18 19 20 21 /**************************************************************************/ 22 /* The value of inv_get_gyro_sum_of_sqr is scaled such the (1 dps)^2 = */ 23 /* 2^GYRO_MAG_SQR_SHIFT. This number must be >=0 and even. */ 24 /* The value of inv_accel_sum_of_sqr is scaled such that (1g)^2 = */ 25 /* 2^ACC_MAG_SQR_SHIFT */ 26 /**************************************************************************/ 27 #define ACC_MAG_SQR_SHIFT 16 28 29 enum compass_local_field_e { 30 // status for user input earth magnetic local field 31 LOCAL_FILED_NOT_SET_BY_USER = 0, 32 LOCAL_FILED_SET_BY_USER = 1, 33 34 // status for mpl calibrated based magnetical field 35 LOCAL_FILED_NOT_SET_BY_USER_BUT_SET_BY_MPL = 2, 36 LOCAL_FIELD_SET_BUT_NOT_MATCH_WITH_MPL = 3, 37 LOCAL_FIELD_SET_MATCH_WITH_MPL = 4, 38 }; 39 40 struct local_field_t { 41 float intensity; // radius 42 float inclination; // dip angle angle degree 43 float declination; // yaw deviation angle from true north, eastward as positive 44 enum compass_local_field_e mpl_match_status; 45 }; 46 47 // earth magnetic field access API 48 enum compass_local_field_e inv_get_local_field_status(void); 49 void inv_set_local_field_status(enum compass_local_field_e status); 50 51 void inv_set_earth_magnetic_local_field_parameter(struct local_field_t *parameters); 52 void inv_get_earth_magnetic_local_field_parameter(struct local_field_t *parameters); 53 54 // mpl calibrated magnetic field access API 55 enum compass_local_field_e inv_get_mpl_mag_field_status(void); 56 void inv_set_mpl_mag_field_status(enum compass_local_field_e status); 57 58 inv_error_t inv_set_mpl_magnetic_local_field_parameter(struct local_field_t *parameters); 59 void inv_get_mpl_magnetic_local_field_parameter(struct local_field_t *parameters); 60 61 // quaternion store API 62 void inv_store_gaming_quaternion(const long *quat, inv_time_t timestamp); 63 void inv_store_accel_quaternion(const long *quat, inv_time_t timestamp); 64 void inv_store_nav_quaternion(const float *quat, inv_time_t timestamp); 65 void inv_store_game_quaternion(const float *quat, inv_time_t timestamp); 66 void inv_store_geomag_quaternion(const float *quat, inv_time_t timestamp); 67 68 // States 69 #define SF_NORMAL 0 70 #define SF_UNCALIBRATED 1 71 #define SF_STARTUP_SETTLE 2 72 #define SF_FAST_SETTLE 3 73 #define SF_DISTURBANCE 4 74 #define SF_SLOW_SETTLE 5 75 76 // These 2 status bits are used to control when the 9 axis quaternion is updated 77 #define INV_COMPASS_CORRECTION_SET 1 78 #define INV_6_AXIS_QUAT_SET 2 79 #define INV_GEOMAGNETIC_CORRECTION_SET 4 80 81 int inv_get_acc_state(); 82 void inv_set_acc_state(int state); 83 int inv_get_motion_state(unsigned int *cntr); 84 void inv_set_motion_state(unsigned char state); 85 inv_error_t inv_get_gravity(long *data); 86 inv_error_t inv_get_gravity_6x(long *data); 87 inv_error_t inv_get_6axis_quaternion(long *data, inv_time_t *timestamp); 88 inv_error_t inv_get_quaternion(long *data); 89 inv_error_t inv_get_quaternion_float(float *data); 90 inv_error_t inv_get_6axis_quaternion_float(float *data, inv_time_t *timestamp); 91 inv_error_t inv_get_geomagnetic_quaternion_float(float *data, inv_time_t *timestamp); 92 #ifdef WIN32 93 inv_error_t inv_get_last_quaternion(long *data); 94 inv_error_t inv_set_last_quaternion(long *data); 95 #endif 96 void inv_get_quaternion_set(long *data, int *accuracy, inv_time_t *timestamp); 97 inv_error_t inv_get_accel_quaternion(long *data); 98 inv_error_t inv_get_geomagnetic_quaternion(long *data, inv_time_t *timestamp); 99 void inv_set_geomagnetic_compass_correction(const long *data, inv_time_t timestamp); 100 void inv_get_geomagnetic_compass_correction(long *data, inv_time_t *timestamp); 101 inv_error_t inv_get_result_holder_status(long *rh_status); 102 inv_error_t inv_set_result_holder_status(long rh_status); 103 inv_error_t inv_get_quaternion_validity(int *value); 104 inv_error_t inv_set_quaternion_validity(int value); 105 106 // set magnetic field by location 107 inv_error_t inv_set_local_magnetic_field(float intensity, float inclination, float declination); 108 109 inv_error_t inv_enable_results_holder(); 110 inv_error_t inv_init_results_holder(void); 111 112 /* Magnetic Field Parameters*/ 113 void inv_set_mag_scale(const long *data); 114 void inv_get_mag_scale(long *data); 115 void inv_set_compass_correction(const long *data, inv_time_t timestamp); 116 void inv_get_compass_correction(long *data, inv_time_t *timestamp); 117 int inv_got_compass_bias(); 118 void inv_set_compass_bias_found(int state); 119 int inv_get_large_mag_field(); 120 void inv_set_large_mag_field(int state); 121 void inv_set_compass_state(int state); 122 int inv_get_compass_state(); 123 void inv_set_compass_bias_error(const long *bias_error); 124 void inv_get_compass_bias_error(long *bias_error); 125 inv_error_t inv_get_linear_accel(long *data); 126 inv_error_t inv_get_accel(long *data); 127 inv_error_t inv_get_accel_float(float *data); 128 inv_error_t inv_get_gyro_float(float *data); 129 inv_error_t inv_get_linear_accel_float(float *data); 130 void inv_set_heading_confidence_interval(float ci); 131 float inv_get_heading_confidence_interval(void); 132 133 void inv_set_accel_compass_confidence_interval(float ci); 134 float inv_get_accel_compass_confidence_interval(void); 135 136 int inv_got_accel_bias(); 137 void inv_set_accel_bias_found(int state); 138 139 140 #ifdef __cplusplus 141 } 142 #endif 143 144 #endif // INV_RESULTS_HOLDER_H__ 145
