1/*
2 $License:
3   Copyright 2011 InvenSense, Inc.
4
5 Licensed under the Apache License, Version 2.0 (the "License");
6 you may not use this file except in compliance with the License.
7 You may obtain a copy of the License at
8
9 http://www.apache.org/licenses/LICENSE-2.0
10
11 Unless required by applicable law or agreed to in writing, software
12 distributed under the License is distributed on an "AS IS" BASIS,
13 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
14 See the License for the specific language governing permissions and
15 limitations under the License.
16  $
17 */
18
19/******************************************************************************
20 *
21 * $Id: mlsupervisor.h 5629 2011-06-11 03:13:08Z mcaramello $
22 *
23 *****************************************************************************/
24
25#ifndef __INV_SUPERVISOR_H__
26#define __INV_SUPERVISOR_H__
27
28#include "mltypes.h"
29#ifdef INV_INCLUDE_LEGACY_HEADERS
30#include "mlsupervisor_legacy.h"
31#endif
32
33// The value of inv_get_gyro_sum_of_sqr is scaled such the (1 dps)^2 = 2^this_number
34// this number must be >=0 and even.
35#define GYRO_MAG_SQR_SHIFT 6
36// The value of inv_accel_sum_of_sqr is scaled such that (1g)^2 = 2^this_number
37#define ACC_MAG_SQR_SHIFT 16
38
39#define CAL_RUN             0
40#define CAL_RESET           1
41#define CAL_CHANGED_DATA    2
42#define CAL_RESET_TIME      3
43#define CAL_ADD_DATA        4
44#define CAL_COMBINE         5
45
46#define P_INIT  100000
47
48#define SF_NORMAL           0
49#define SF_DISTURBANCE      1
50#define SF_FAST_SETTLE      2
51#define SF_SLOW_SETTLE      3
52#define SF_STARTUP_SETTLE   4
53#define SF_UNCALIBRATED     5
54
55struct inv_supervisor_cb_obj {
56    void (*accel_compass_fusion_func) (double magFB);
57     inv_error_t(*progressive_no_motion_supervisor_func) (unsigned long
58                                                          deltaTime);
59     inv_error_t(*sensor_fusion_advanced_func) (double *magFB,
60                                                unsigned long deltaTime);
61    void (*reset_advanced_compass_func) (void);
62    void (*supervisor_reset_func) (void);
63};
64
65inv_error_t inv_reset_compass_calibration(void);
66void inv_init_sensor_fusion_supervisor(void);
67inv_error_t inv_accel_compass_supervisor(void);
68inv_error_t inv_pressure_supervisor(void);
69
70#endif // __INV_SUPERVISOR_H__
71
72