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 13extern "C" { 14#endif 15 16#define INV_MOTION 0x0001 17#define INV_NO_MOTION 0x0002 18 19 /**************************************************************************/ 20 /* The value of inv_get_gyro_sum_of_sqr is scaled such the (1 dps)^2 = */ 21 /* 2^GYRO_MAG_SQR_SHIFT. This number must be >=0 and even. */ 22 /* The value of inv_accel_sum_of_sqr is scaled such that (1g)^2 = */ 23 /* 2^ACC_MAG_SQR_SHIFT */ 24 /**************************************************************************/ 25#define ACC_MAG_SQR_SHIFT 16 26 27void inv_store_gaming_quaternion(const long *quat, inv_time_t timestamp); 28 29// States 30#define SF_NORMAL 0 31#define SF_UNCALIBRATED 1 32#define SF_STARTUP_SETTLE 2 33#define SF_FAST_SETTLE 3 34#define SF_DISTURBANCE 4 35#define SF_SLOW_SETTLE 5 36 37int inv_get_acc_state(); 38void inv_set_acc_state(int state); 39int inv_get_motion_state(unsigned int *cntr); 40void inv_set_motion_state(unsigned char state); 41inv_error_t inv_get_gravity(long *data); 42inv_error_t inv_get_6axis_quaternion(long *data); 43inv_error_t inv_get_quaternion(long *data); 44inv_error_t inv_get_quaternion_float(float *data); 45void inv_get_quaternion_set(long *data, int *accuracy, inv_time_t *timestamp); 46 47inv_error_t inv_enable_results_holder(); 48inv_error_t inv_init_results_holder(void); 49 50/* Magnetic Field Parameters*/ 51void inv_set_local_field(const long *data); 52void inv_get_local_field(long *data); 53void inv_set_mag_scale(const long *data); 54void inv_get_mag_scale(long *data); 55void inv_set_compass_correction(const long *data, inv_time_t timestamp); 56void inv_get_compass_correction(long *data, inv_time_t *timestamp); 57int inv_got_compass_bias(); 58void inv_set_compass_bias_found(int state); 59int inv_get_large_mag_field(); 60void inv_set_large_mag_field(int state); 61void inv_set_compass_state(int state); 62int inv_get_compass_state(); 63void inv_set_compass_bias_error(const long *bias_error); 64void inv_get_compass_bias_error(long *bias_error); 65inv_error_t inv_get_linear_accel(long *data); 66inv_error_t inv_get_accel(long *data); 67inv_error_t inv_get_accel_float(float *data); 68inv_error_t inv_get_gyro_float(float *data); 69inv_error_t inv_get_linear_accel_float(float *data); 70void inv_set_heading_confidence_interval(float ci); 71float inv_get_heading_confidence_interval(void); 72 73#ifdef __cplusplus 74} 75#endif 76 77#endif // INV_RESULTS_HOLDER_H__ 78