/* $License: Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved. See included License.txt for License information. $ */ #ifndef INV_DATA_BUILDER_H__ #define INV_DATA_BUILDER_H__ #include #include "mltypes.h" #ifdef __cplusplus extern "C" { #endif // Uncomment this flag to enable playback debug and record or playback scenarios //#define INV_PLAYBACK_DBG /** This is a new sample of accel data */ #define INV_ACCEL_NEW 1 /** This is a new sample of gyro data */ #define INV_GYRO_NEW 2 /** This is a new sample of compass data */ #define INV_MAG_NEW 4 /** This is a new sample of temperature data */ #define INV_TEMP_NEW 8 /** This is a new sample of quaternion data */ #define INV_QUAT_NEW 16 /** This is a new sample of pressure data */ #define INV_PRESSURE_NEW 32 /** Set if the data is contiguous. Typically not set if a sample was skipped */ #define INV_CONTIGUOUS 16 /** Set if the calibrated data has been solved for */ #define INV_CALIBRATED 32 /** INV_NEW_DATA set for a new set of data, cleared if not available. */ #define INV_NEW_DATA 64 /** Set if raw data exists */ #define INV_RAW_DATA 128 /** Set if the sensor is on */ #define INV_SENSOR_ON 256 /** Set if quaternion has bias correction applied */ #define INV_BIAS_APPLIED 512 /** Set if quaternion is 6-axis */ #define INV_QUAT_6AXIS 1024 /** Set if quaternion is 9 axis */ #define INV_QUAT_9AXIS 2048 /** Set if quaternion is 3-axis, 3 elements (android only) */ #define INV_QUAT_3AXIS 4096 /** Set if DMP has applied bias */ #define INV_DMP_BIAS_APPLIED 8192 #define INV_PRIORITY_MOTION_NO_MOTION 100 #define INV_PRIORITY_GYRO_TC 150 #define INV_PRIORITY_QUATERNION_GYRO_ACCEL 200 #define INV_PRIORITY_QUATERNION_NO_GYRO 250 #define INV_PRIORITY_MAGNETIC_DISTURBANCE 300 #define INV_PRIORITY_HEADING_FROM_GYRO 350 #define INV_PRIORITY_COMPASS_BIAS_W_GYRO 375 #define INV_PRIORITY_COMPASS_VECTOR_CAL 400 #define INV_PRIORITY_COMPASS_ADV_BIAS 500 #define INV_PRIORITY_9_AXIS_FUSION 600 #define INV_PRIORITY_9_AXIS_FUSION_LIGHT 650 #define INV_PRIORITY_QUATERNION_ADJUST_9_AXIS 700 #define INV_PRIORITY_QUATERNION_ACCURACY 750 #define INV_PRIORITY_RESULTS_HOLDER 800 #define INV_PRIORITY_INUSE_AUTO_CALIBRATION 850 #define INV_PRIORITY_HAL_OUTPUTS 900 #define INV_PRIORITY_GLYPH 950 #define INV_PRIORITY_SHAKE 975 #define INV_PRIORITY_SM 1000 struct inv_single_sensor_t { /** Orientation Descriptor. Describes how to go from the mounting frame to the body frame when * the rotation matrix could be thought of only having elements of 0,1,-1. * 2 bits are used to describe the column of the 1 or -1 and the 3rd bit is used for the sign. * Bit 8 is sign of +/- 1 in third row. Bit 6-7 is column of +/-1 in third row. * Bit 5 is sign of +/- 1 in second row. Bit 3-4 is column of +/-1 in second row. * Bit 2 is sign of +/- 1 in first row. Bit 0-1 is column of +/-1 in first row. */ int orientation; /** The raw data in raw data units in the mounting frame */ short raw[3]; /** Raw data in body frame */ long raw_scaled[3]; /** Calibrated data */ long calibrated[3]; long sensitivity; /** Sample rate in microseconds */ long sample_rate_us; long sample_rate_ms; /** INV_CONTIGUOUS is set for contiguous data. Will not be set if there was a sample * skipped due to power savings turning off this sensor. * INV_NEW_DATA set for a new set of data, cleared if not available. * INV_CALIBRATED_SET if calibrated data has been solved for */ int status; /** 0 to 3 for how well sensor data and biases are known. 3 is most accurate. */ int accuracy; inv_time_t timestamp; inv_time_t timestamp_prev; /** Bandwidth in Hz */ int bandwidth; }; struct inv_quat_sensor_t { long raw[4]; /** INV_CONTIGUOUS is set for contiguous data. Will not be set if there was a sample * skipped due to power savings turning off this sensor. * INV_NEW_DATA set for a new set of data, cleared if not available. * INV_CALIBRATED_SET if calibrated data has been solved for */ int status; inv_time_t timestamp; long sample_rate_us; long sample_rate_ms; }; struct inv_soft_iron_t { long raw[3]; long trans[3]; long matrix_d[9]; // Q30 format fixed point. The dynamic range is (-2.0 to 2.0); float matrix_f[9]; int enable; }; struct inv_sensor_cal_t { struct inv_single_sensor_t gyro; struct inv_single_sensor_t accel; struct inv_single_sensor_t compass; struct inv_single_sensor_t temp; struct inv_quat_sensor_t quat; struct inv_single_sensor_t pressure; struct inv_soft_iron_t soft_iron; /** Combinations of INV_GYRO_NEW, INV_ACCEL_NEW, INV_MAG_NEW to indicate * which data is a new sample as these data points may have different sample rates. */ int status; }; // Useful for debug record and playback typedef enum { RD_NO_DEBUG, RD_RECORD, RD_PLAYBACK } rd_dbg_mode; typedef enum { PLAYBACK_DBG_TYPE_GYRO, PLAYBACK_DBG_TYPE_ACCEL, PLAYBACK_DBG_TYPE_COMPASS, PLAYBACK_DBG_TYPE_TEMPERATURE, PLAYBACK_DBG_TYPE_EXECUTE, PLAYBACK_DBG_TYPE_A_ORIENT, PLAYBACK_DBG_TYPE_G_ORIENT, PLAYBACK_DBG_TYPE_C_ORIENT, PLAYBACK_DBG_TYPE_A_SAMPLE_RATE, PLAYBACK_DBG_TYPE_C_SAMPLE_RATE, PLAYBACK_DBG_TYPE_G_SAMPLE_RATE, PLAYBACK_DBG_TYPE_GYRO_OFF, PLAYBACK_DBG_TYPE_ACCEL_OFF, PLAYBACK_DBG_TYPE_COMPASS_OFF, PLAYBACK_DBG_TYPE_Q_SAMPLE_RATE, PLAYBACK_DBG_TYPE_QUAT, PLAYBACK_DBG_TYPE_QUAT_OFF } inv_rd_dbg_states; /** Change this key if the definition of the struct inv_db_save_t changes. Previous keys: 53394, 53395, 53396 */ #define INV_DB_SAVE_KEY (53397) #define INV_DB_SAVE_MPL_KEY (50001) #define INV_DB_SAVE_ACCEL_MPL_KEY (50002) struct inv_db_save_t { /** compass Bias in chip frame, hardware units scaled by 2^16. */ long compass_bias[3]; /** gyro factory bias in chip frame, hardware units scaled by 2^16, +/- 2000 dps full scale. */ long factory_gyro_bias[3]; /** accel factory bias in chip frame, hardware units scaled by 2^16, +/- 2 gee full scale. */ long factory_accel_bias[3]; /** temperature when factory_gyro_bias was stored. */ long gyro_temp; /** flag to indicate temperature compensation that biases where stored. */ int gyro_bias_tc_set; /** temperature when accel bias was stored. */ long accel_temp; long gyro_temp_slope[3]; /** sensor accuracies */ int gyro_accuracy; int accel_accuracy; int compass_accuracy; }; struct inv_db_save_mpl_t { /** gyro bias in chip frame, hardware units scaled by 2^16, +/- 2000 dps full scale */ long gyro_bias[3]; }; struct inv_db_save_accel_mpl_t { /** accel bias in chip frame, hardware units scaled by 2^16, +/- 2 gee full scale */ long accel_bias[3]; }; /** Maximum number of data callbacks that are supported. Safe to increase if needed.*/ #define INV_MAX_DATA_CB 20 #ifdef INV_PLAYBACK_DBG void inv_turn_on_data_logging(FILE *file); void inv_turn_off_data_logging(); #endif void inv_set_gyro_orientation_and_scale(int orientation, long sensitivity); void inv_set_accel_orientation_and_scale(int orientation, long sensitivity); void inv_set_compass_orientation_and_scale(int orientation, long sensitivity); void inv_set_gyro_sample_rate(long sample_rate_us); void inv_set_compass_sample_rate(long sample_rate_us); void inv_set_quat_sample_rate(long sample_rate_us); void inv_set_accel_sample_rate(long sample_rate_us); void inv_set_gyro_bandwidth(int bandwidth_hz); void inv_set_accel_bandwidth(int bandwidth_hz); void inv_set_compass_bandwidth(int bandwidth_hz); void inv_get_gyro_sample_rate_ms(long *sample_rate_ms); void inv_get_accel_sample_rate_ms(long *sample_rate_ms); void inv_get_compass_sample_rate_ms(long *sample_rate_ms); inv_error_t inv_register_data_cb(inv_error_t (*func) (struct inv_sensor_cal_t * data), int priority, int sensor_type); inv_error_t inv_unregister_data_cb(inv_error_t (*func) (struct inv_sensor_cal_t * data)); inv_error_t inv_build_gyro(const short *gyro, inv_time_t timestamp); inv_error_t inv_build_compass(const long *compass, int status, inv_time_t timestamp); inv_error_t inv_build_accel(const long *accel, int status, inv_time_t timestamp); inv_error_t inv_build_temp(const long temp, inv_time_t timestamp); inv_error_t inv_build_quat(const long *quat, int status, inv_time_t timestamp); inv_error_t inv_build_pressure(const long pressure, int status, inv_time_t timestamp); inv_error_t inv_execute_on_data(void); void inv_get_compass_bias(long *bias); void inv_set_compass_bias(const long *bias, int accuracy); void inv_set_compass_disturbance(int dist); void inv_set_gyro_bias(const long *bias); void inv_set_mpl_gyro_bias(const long *bias, int accuracy); void inv_set_accel_bias(const long *bias); void inv_set_mpl_accel_bias(const long *bias, int accuracy); void inv_set_accel_accuracy(int accuracy); void inv_set_accel_bias_mask(const long *bias, int accuracy, int mask); void inv_get_compass_soft_iron_matrix_d(long *matrix); void inv_set_compass_soft_iron_matrix_d(long *matrix); void inv_get_compass_soft_iron_matrix_f(float *matrix); void inv_set_compass_soft_iron_matrix_f(float *matrix); void inv_get_compass_soft_iron_output_data(long *data); void inv_get_compass_soft_iron_input_data(long *data); void inv_set_compass_soft_iron_input_data(const long *data); void inv_reset_compass_soft_iron_matrix(void); void inv_enable_compass_soft_iron_matrix(void); void inv_disable_compass_soft_iron_matrix(void); void inv_get_mpl_gyro_bias(long *bias, long *temp); void inv_get_gyro_bias(long *bias); void inv_get_gyro_bias_dmp_units(long *bias); int inv_get_factory_accel_bias_mask(); void inv_get_mpl_accel_bias(long *bias, long *temp); void inv_get_accel_bias(long *bias); void inv_gyro_was_turned_off(void); void inv_accel_was_turned_off(void); void inv_compass_was_turned_off(void); void inv_quaternion_sensor_was_turned_off(void); inv_error_t inv_init_data_builder(void); long inv_get_gyro_sensitivity(void); long inv_get_accel_sensitivity(void); long inv_get_compass_sensitivity(void); void inv_get_accel_set(long *data, int8_t *accuracy, inv_time_t * timestamp); void inv_get_gyro_set(long *data, int8_t *accuracy, inv_time_t * timestamp); void inv_get_gyro_set_raw(long *data, int8_t *accuracy, inv_time_t * timestamp); void inv_get_compass_set(long *data, int8_t *accuracy, inv_time_t * timestamp); void inv_get_compass_set_raw(long *data, int8_t *accuracy, inv_time_t * timestamp); void inv_get_gyro(long *gyro); int inv_get_gyro_accuracy(void); int inv_get_accel_accuracy(void); int inv_get_mag_accuracy(void); void inv_get_raw_compass(short *raw); int inv_get_compass_on(void); int inv_get_gyro_on(void); int inv_get_accel_on(void); inv_time_t inv_get_last_timestamp(void); int inv_get_compass_disturbance(void); // new DMP cal functions inv_error_t inv_get_gyro_orient(int *orient); inv_error_t inv_get_accel_orient(int *orient); // internal int inv_get_gyro_bias_tc_set(void); #ifdef __cplusplus } #endif #endif /* INV_DATA_BUILDER_H__ */