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
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
29enum 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
40struct 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
48enum compass_local_field_e inv_get_local_field_status(void);
49void inv_set_local_field_status(enum compass_local_field_e status);
50
51void inv_set_earth_magnetic_local_field_parameter(struct local_field_t *parameters);
52void inv_get_earth_magnetic_local_field_parameter(struct local_field_t *parameters);
53
54// mpl calibrated magnetic field access API
55enum compass_local_field_e inv_get_mpl_mag_field_status(void);
56void inv_set_mpl_mag_field_status(enum compass_local_field_e status);
57
58inv_error_t inv_set_mpl_magnetic_local_field_parameter(struct local_field_t *parameters);
59void inv_get_mpl_magnetic_local_field_parameter(struct local_field_t *parameters);
60
61// quaternion store API
62void inv_store_gaming_quaternion(const long *quat, inv_time_t timestamp);
63void inv_store_accel_quaternion(const long *quat, inv_time_t timestamp);
64void inv_store_nav_quaternion(const float *quat, inv_time_t timestamp);
65void inv_store_game_quaternion(const float *quat, inv_time_t timestamp);
66void 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
81int inv_get_acc_state();
82void inv_set_acc_state(int state);
83int inv_get_motion_state(unsigned int *cntr);
84void inv_set_motion_state(unsigned char state);
85inv_error_t inv_get_gravity(long *data);
86inv_error_t inv_get_gravity_6x(long *data);
87inv_error_t inv_get_6axis_quaternion(long *data, inv_time_t *timestamp);
88inv_error_t inv_get_quaternion(long *data);
89inv_error_t inv_get_quaternion_float(float *data);
90inv_error_t inv_get_6axis_quaternion_float(float *data, inv_time_t *timestamp);
91inv_error_t inv_get_geomagnetic_quaternion_float(float *data, inv_time_t *timestamp);
92#ifdef WIN32
93inv_error_t inv_get_last_quaternion(long *data);
94inv_error_t inv_set_last_quaternion(long *data);
95#endif
96void inv_get_quaternion_set(long *data, int *accuracy, inv_time_t *timestamp);
97inv_error_t inv_get_accel_quaternion(long *data);
98inv_error_t inv_get_geomagnetic_quaternion(long *data, inv_time_t *timestamp);
99void inv_set_geomagnetic_compass_correction(const long *data, inv_time_t timestamp);
100void inv_get_geomagnetic_compass_correction(long *data, inv_time_t *timestamp);
101inv_error_t inv_get_result_holder_status(long *rh_status);
102inv_error_t inv_set_result_holder_status(long rh_status);
103inv_error_t inv_get_quaternion_validity(int *value);
104inv_error_t inv_set_quaternion_validity(int value);
105
106// set magnetic field by location
107inv_error_t inv_set_local_magnetic_field(float intensity, float inclination, float declination);
108
109inv_error_t inv_enable_results_holder();
110inv_error_t inv_init_results_holder(void);
111
112/* Magnetic Field Parameters*/
113void inv_set_mag_scale(const long *data);
114void inv_get_mag_scale(long *data);
115void inv_set_compass_correction(const long *data, inv_time_t timestamp);
116void inv_get_compass_correction(long *data, inv_time_t *timestamp);
117int inv_got_compass_bias();
118void inv_set_compass_bias_found(int state);
119int inv_get_large_mag_field();
120void inv_set_large_mag_field(int state);
121void inv_set_compass_state(int state);
122int inv_get_compass_state();
123void inv_set_compass_bias_error(const long *bias_error);
124void inv_get_compass_bias_error(long *bias_error);
125inv_error_t inv_get_linear_accel(long *data);
126inv_error_t inv_get_accel(long *data);
127inv_error_t inv_get_accel_float(float *data);
128inv_error_t inv_get_gyro_float(float *data);
129inv_error_t inv_get_linear_accel_float(float *data);
130void inv_set_heading_confidence_interval(float ci);
131float inv_get_heading_confidence_interval(void);
132
133void inv_set_accel_compass_confidence_interval(float ci);
134float inv_get_accel_compass_confidence_interval(void);
135
136int inv_got_accel_bias();
137void inv_set_accel_bias_found(int state);
138
139
140#ifdef __cplusplus
141}
142#endif
143
144#endif // INV_RESULTS_HOLDER_H__
145