diff options
Diffstat (limited to '60xx/libsensors_iio/software/core/mllite/data_builder.h')
| -rw-r--r-- | 60xx/libsensors_iio/software/core/mllite/data_builder.h | 7 |
1 files changed, 7 insertions, 0 deletions
diff --git a/60xx/libsensors_iio/software/core/mllite/data_builder.h b/60xx/libsensors_iio/software/core/mllite/data_builder.h index 9aa46e6..c8c18cf 100644 --- a/60xx/libsensors_iio/software/core/mllite/data_builder.h +++ b/60xx/libsensors_iio/software/core/mllite/data_builder.h @@ -26,6 +26,10 @@ extern "C" { #define INV_TEMP_NEW 8 /** This is a new sample of quaternion data */ #define INV_QUAT_NEW 16 +/** Set if quaternion is 6-axis from DMP */ +#define INV_QUAT_6AXIS 1024 +/** Set if quaternion is 3-axis from DMP */ +#define INV_QUAT_3AXIS 4096 /** Set if the data is contiguous. Typically not set if a sample was skipped */ #define INV_CONTIGUOUS 16 @@ -98,6 +102,7 @@ struct inv_quat_sensor_t { * INV_CALIBRATED_SET if calibrated data has been solved for */ int status; inv_time_t timestamp; + inv_time_t timestamp_prev; long sample_rate_us; long sample_rate_ms; }; @@ -225,6 +230,8 @@ int inv_get_compass_disturbance(void); inv_error_t inv_get_gyro_orient(int *orient); inv_error_t inv_get_accel_orient(int *orient); +// internal +int inv_get_6_axis_gyro_accel_timestamp(long sample_rate_us, inv_time_t *ts); #ifdef __cplusplus } |