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/*
$License:
Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
See included License.txt for License information.
$
*/
#include "mltypes.h"
#ifndef INV_RESULTS_HOLDER_H__
#define INV_RESULTS_HOLDER_H__
#ifdef __cplusplus
extern "C" {
#endif
#define INV_MOTION 0x0001
#define INV_NO_MOTION 0x0002
/**************************************************************************/
/* The value of inv_get_gyro_sum_of_sqr is scaled such the (1 dps)^2 = */
/* 2^GYRO_MAG_SQR_SHIFT. This number must be >=0 and even. */
/* The value of inv_accel_sum_of_sqr is scaled such that (1g)^2 = */
/* 2^ACC_MAG_SQR_SHIFT */
/**************************************************************************/
#define ACC_MAG_SQR_SHIFT 16
enum compass_local_field_e {
// status for user input earth magnetic local field
LOCAL_FILED_NOT_SET_BY_USER = 0,
LOCAL_FILED_SET_BY_USER = 1,
// status for mpl calibrated based magnetical field
LOCAL_FILED_NOT_SET_BY_USER_BUT_SET_BY_MPL = 2,
LOCAL_FIELD_SET_BUT_NOT_MATCH_WITH_MPL = 3,
LOCAL_FIELD_SET_MATCH_WITH_MPL = 4,
};
struct local_field_t {
float intensity; // radius
float inclination; // dip angle angle degree
float declination; // yaw deviation angle from true north, eastward as positive
enum compass_local_field_e mpl_match_status;
};
// earth magnetic field access API
enum compass_local_field_e inv_get_local_field_status(void);
void inv_set_local_field_status(enum compass_local_field_e status);
void inv_set_earth_magnetic_local_field_parameter(struct local_field_t *parameters);
void inv_get_earth_magnetic_local_field_parameter(struct local_field_t *parameters);
// mpl calibrated magnetic field access API
enum compass_local_field_e inv_get_mpl_mag_field_status(void);
void inv_set_mpl_mag_field_status(enum compass_local_field_e status);
inv_error_t inv_set_mpl_magnetic_local_field_parameter(struct local_field_t *parameters);
void inv_get_mpl_magnetic_local_field_parameter(struct local_field_t *parameters);
// quaternion store API
void inv_store_gaming_quaternion(const long *quat, inv_time_t timestamp);
void inv_store_accel_quaternion(const long *quat, inv_time_t timestamp);
void inv_store_nav_quaternion(const float *quat, inv_time_t timestamp);
void inv_store_game_quaternion(const float *quat, inv_time_t timestamp);
void inv_store_geomag_quaternion(const float *quat, inv_time_t timestamp);
// States
#define SF_NORMAL 0
#define SF_UNCALIBRATED 1
#define SF_STARTUP_SETTLE 2
#define SF_FAST_SETTLE 3
#define SF_DISTURBANCE 4
#define SF_SLOW_SETTLE 5
// These 2 status bits are used to control when the 9 axis quaternion is updated
#define INV_COMPASS_CORRECTION_SET 1
#define INV_6_AXIS_QUAT_SET 2
#define INV_GEOMAGNETIC_CORRECTION_SET 4
int inv_get_acc_state();
void inv_set_acc_state(int state);
int inv_get_motion_state(unsigned int *cntr);
void inv_set_motion_state(unsigned char state);
inv_error_t inv_get_gravity(long *data);
inv_error_t inv_get_gravity_6x(long *data);
inv_error_t inv_get_6axis_quaternion(long *data, inv_time_t *timestamp);
inv_error_t inv_get_quaternion(long *data);
inv_error_t inv_get_quaternion_float(float *data);
inv_error_t inv_get_6axis_quaternion_float(float *data, inv_time_t *timestamp);
inv_error_t inv_get_geomagnetic_quaternion_float(float *data, inv_time_t *timestamp);
#ifdef WIN32
inv_error_t inv_get_last_quaternion(long *data);
inv_error_t inv_set_last_quaternion(long *data);
#endif
void inv_get_quaternion_set(long *data, int *accuracy, inv_time_t *timestamp);
inv_error_t inv_get_accel_quaternion(long *data);
inv_error_t inv_get_geomagnetic_quaternion(long *data, inv_time_t *timestamp);
void inv_set_geomagnetic_compass_correction(const long *data, inv_time_t timestamp);
void inv_get_geomagnetic_compass_correction(long *data, inv_time_t *timestamp);
inv_error_t inv_get_result_holder_status(long *rh_status);
inv_error_t inv_set_result_holder_status(long rh_status);
inv_error_t inv_get_quaternion_validity(int *value);
inv_error_t inv_set_quaternion_validity(int value);
// set magnetic field by location
inv_error_t inv_set_local_magnetic_field(float intensity, float inclination, float declination);
inv_error_t inv_enable_results_holder();
inv_error_t inv_init_results_holder(void);
/* Magnetic Field Parameters*/
void inv_set_mag_scale(const long *data);
void inv_get_mag_scale(long *data);
void inv_set_compass_correction(const long *data, inv_time_t timestamp);
void inv_get_compass_correction(long *data, inv_time_t *timestamp);
int inv_got_compass_bias();
void inv_set_compass_bias_found(int state);
int inv_get_large_mag_field();
void inv_set_large_mag_field(int state);
void inv_set_compass_state(int state);
int inv_get_compass_state();
void inv_set_compass_bias_error(const long *bias_error);
void inv_get_compass_bias_error(long *bias_error);
inv_error_t inv_get_linear_accel(long *data);
inv_error_t inv_get_accel(long *data);
inv_error_t inv_get_accel_float(float *data);
inv_error_t inv_get_gyro_float(float *data);
inv_error_t inv_get_linear_accel_float(float *data);
void inv_set_heading_confidence_interval(float ci);
float inv_get_heading_confidence_interval(void);
void inv_set_accel_compass_confidence_interval(float ci);
float inv_get_accel_compass_confidence_interval(void);
int inv_got_accel_bias();
void inv_set_accel_bias_found(int state);
#ifdef __cplusplus
}
#endif
#endif // INV_RESULTS_HOLDER_H__
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