1895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall/* 2895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall $License: 3895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall Copyright 2011 InvenSense, Inc. 4895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall 5895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall Licensed under the Apache License, Version 2.0 (the "License"); 6895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall you may not use this file except in compliance with the License. 7895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall You may obtain a copy of the License at 8895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall 9895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall http://www.apache.org/licenses/LICENSE-2.0 10895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall 11895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall Unless required by applicable law or agreed to in writing, software 12895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall distributed under the License is distributed on an "AS IS" BASIS, 13895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall See the License for the specific language governing permissions and 15895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall limitations under the License. 16895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall $ 17895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall */ 18895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall 19895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall/****************************************************************************** 20895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall * 21895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall * $Id$ 22895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall * 23895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall *****************************************************************************/ 24895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall 25895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#ifndef INV_SET_GYRO_BIAS__H__ 26895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define INV_SET_GYRO_BIAS__H__ 27895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall 28895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#include "mltypes.h" 29895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall 30895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#ifdef __cplusplus 31895401859313187f15a800e62d43e6bcbf48fadaJP Abgrallextern "C" { 32895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#endif 33895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall 34895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define INV_SGB_NO_MOTION 4 35895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define INV_SGB_FAST_NO_MOTION 5 36895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#define INV_SGB_TEMP_COMP 6 37895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall 38895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall inv_error_t inv_enable_set_bias(void); 39895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall inv_error_t inv_disable_set_bias(void); 40895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall inv_error_t inv_set_gyro_bias_in_hw_unit(const short *bias, int mode); 41895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall inv_error_t inv_set_gyro_bias_in_dps(const long *bias, int mode); 42895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall inv_error_t inv_set_gyro_bias_in_dps_float(const float *bias, int mode); 43895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall void inv_convert_bias(const unsigned char *regs, short *bias); 44895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall void inv_set_motion_state(int motion); 45895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall 46895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#ifdef __cplusplus 47895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall} 48895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#endif 49895401859313187f15a800e62d43e6bcbf48fadaJP Abgrall#endif // INV_SET_GYRO_BIAS__H__ 50