diff options
Diffstat (limited to 'invensense/mlsdk/mllite/mlFIFO.h')
| -rw-r--r-- | invensense/mlsdk/mllite/mlFIFO.h | 150 |
1 files changed, 150 insertions, 0 deletions
diff --git a/invensense/mlsdk/mllite/mlFIFO.h b/invensense/mlsdk/mllite/mlFIFO.h new file mode 100644 index 0000000..2114eb3 --- /dev/null +++ b/invensense/mlsdk/mllite/mlFIFO.h @@ -0,0 +1,150 @@ +/* + $License: + Copyright 2011 InvenSense, Inc. + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + $ + */ + +#ifndef INVENSENSE_INV_FIFO_H__ +#define INVENSENSE_INV_FIFO_H__ + +#include "mltypes.h" +#include "mlinclude.h" +#include "ml.h" +#ifdef INV_INCLUDE_LEGACY_HEADERS +#include "mlFIFO_legacy.h" +#endif + +#ifdef __cplusplus +extern "C" { +#endif + + /**************************************************************************/ + /* Elements */ + /**************************************************************************/ + +#define INV_ELEMENT_1 (0x0001) +#define INV_ELEMENT_2 (0x0002) +#define INV_ELEMENT_3 (0x0004) +#define INV_ELEMENT_4 (0x0008) +#define INV_ELEMENT_5 (0x0010) +#define INV_ELEMENT_6 (0x0020) +#define INV_ELEMENT_7 (0x0040) +#define INV_ELEMENT_8 (0x0080) + +#define INV_ALL (0xFFFF) +#define INV_ELEMENT_MASK (0x00FF) + + /**************************************************************************/ + /* Accuracy */ + /**************************************************************************/ + +#define INV_16_BIT (0x0100) +#define INV_32_BIT (0x0200) +#define INV_ACCURACY_MASK (0x0300) + + /**************************************************************************/ + /* Accuracy */ + /**************************************************************************/ + +#define INV_GYRO_FROM_RAW (0x00) +#define INV_GYRO_FROM_QUATERNION (0x01) + + /**************************************************************************/ + /* High Rate Proceses */ + /**************************************************************************/ + +#define MAX_HIGH_RATE_PROCESSES 16 + + /**************************************************************************/ + /* Prototypes */ + /**************************************************************************/ + + inv_error_t inv_set_fifo_rate(unsigned short fifoRate); + unsigned short inv_get_fifo_rate(void); + int_fast16_t inv_get_sample_step_size_ms(void); + int_fast16_t inv_get_sample_frequency(void); + long inv_decode_temperature(short tempReg); + + // Register callbacks after a packet of FIFO data is processed + inv_error_t inv_register_fifo_rate_process(inv_obj_func func, int priority); + inv_error_t inv_unregister_fifo_rate_process(inv_obj_func func); + inv_error_t inv_run_fifo_rate_processes(void); + + // Setup FIFO for various output + inv_error_t inv_send_quaternion(uint_fast16_t accuracy); + inv_error_t inv_send_gyro(uint_fast16_t elements, uint_fast16_t accuracy); + inv_error_t inv_send_accel(uint_fast16_t elements, uint_fast16_t accuracy); + inv_error_t inv_send_linear_accel(uint_fast16_t elements, + uint_fast16_t accuracy); + inv_error_t inv_send_linear_accel_in_world(uint_fast16_t elements, + uint_fast16_t accuracy); + inv_error_t inv_send_cntrl_data(uint_fast16_t elements, + uint_fast16_t accuracy); + inv_error_t inv_send_sensor_data(uint_fast16_t elements, + uint_fast16_t accuracy); + inv_error_t inv_send_external_sensor_data(uint_fast16_t elements, + uint_fast16_t accuracy); + inv_error_t inv_send_gravity(uint_fast16_t elements, + uint_fast16_t accuracy); + inv_error_t inv_send_packet_number(uint_fast16_t accuracy); + inv_error_t inv_send_quantized_accel(uint_fast16_t elements, + uint_fast16_t accuracy); + inv_error_t inv_send_eis(uint_fast16_t elements, uint_fast16_t accuracy); + + // Get Fixed Point data from FIFO + inv_error_t inv_get_accel(long *data); + inv_error_t inv_get_quaternion(long *data); + inv_error_t inv_get_6axis_quaternion(long *data); + inv_error_t inv_get_relative_quaternion(long *data); + inv_error_t inv_get_gyro(long *data); + inv_error_t inv_set_linear_accel_filter_coef(float coef); + inv_error_t inv_get_linear_accel(long *data); + inv_error_t inv_get_linear_accel_in_world(long *data); + inv_error_t inv_get_gyro_and_accel_sensor(long *data); + inv_error_t inv_get_gyro_sensor(long *data); + inv_error_t inv_get_cntrl_data(long *data); + inv_error_t inv_get_temperature(long *data); + inv_error_t inv_get_gravity(long *data); + inv_error_t inv_get_unquantized_accel(long *data); + inv_error_t inv_get_quantized_accel(long *data); + inv_error_t inv_get_external_sensor_data(long *data, int size); + inv_error_t inv_get_eis(long *data); + + // Get Floating Point data from FIFO + inv_error_t inv_get_accel_float(float *data); + inv_error_t inv_get_quaternion_float(float *data); + + inv_error_t inv_process_fifo_packet(const unsigned char *dmpData); + inv_error_t inv_read_and_process_fifo(int_fast8_t numPackets, + int_fast8_t * processed); + + inv_error_t inv_set_fifo_processed_callback(void (*func) (void)); + + inv_error_t inv_init_fifo_param(void); + inv_error_t inv_close_fifo(void); + inv_error_t inv_set_gyro_data_source(uint_fast8_t source); + inv_error_t inv_decode_quantized_accel(void); + unsigned long inv_get_gyro_sum_of_sqr(void); + unsigned long inv_accel_sum_of_sqr(void); + void inv_override_quaternion(float *q); +#ifdef UMPL + bool isUmplDataInFIFO(void); + void setUmplDataInFIFOFlag(bool flag); +#endif + uint_fast16_t inv_get_fifo_packet_size(void); +#ifdef __cplusplus +} +#endif +#endif // INVENSENSE_INV_FIFO_H__ |