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Diffstat (limited to 'libsensors/mlsdk/mllite/mlarray_legacy.c')
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diff --git a/libsensors/mlsdk/mllite/mlarray_legacy.c b/libsensors/mlsdk/mllite/mlarray_legacy.c new file mode 100644 index 0000000..20d9116 --- /dev/null +++ b/libsensors/mlsdk/mllite/mlarray_legacy.c @@ -0,0 +1,587 @@ +/* + $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. + $ + */ +/****************************************************************************** + * + * $Id: mlarray_legacy.c $ + * + *****************************************************************************/ + +/** + * @defgroup MLArray_Legacy + * @brief Legacy Motion Library Array APIs. + * The Motion Library Array APIs provide the user access to the + * Motion Library state. These Legacy APIs provide access to + * individual state arrays using a data set name as the first + * argument to the API. This format has been replaced by unique + * named APIs for each data set, found in the MLArray group. + * + * @{ + * @file mlarray_legacy.c + * @brief The Legacy Motion Library Array APIs. + */ + +#include "ml.h" +#include "mltypes.h" +#include "mlinclude.h" +#include "mlFIFO.h" +#include "mldl_cfg.h" + +/** + * @brief inv_get_array is used to get an array of processed motion sensor data. + * inv_get_array can be used to retrieve various data sets. Certain data + * sets require functions to be enabled using MLEnable in order to be + * valid. + * + * The available data sets are: + * + * - INV_ROTATION_MATRIX + * - INV_QUATERNION + * - INV_EULER_ANGLES_X + * - INV_EULER_ANGLES_Y + * - INV_EULER_ANGLES_Z + * - INV_EULER_ANGLES + * - INV_LINEAR_ACCELERATION + * - INV_LINEAR_ACCELERATION_WORLD + * - INV_GRAVITY + * - INV_ANGULAR_VELOCITY + * - INV_RAW_DATA + * - INV_GYROS + * - INV_ACCELS + * - INV_MAGNETOMETER + * - INV_GYRO_BIAS + * - INV_ACCEL_BIAS + * - INV_MAG_BIAS + * - INV_HEADING + * - INV_MAG_BIAS_ERROR + * - INV_PRESSURE + * + * Please refer to the documentation of inv_get_float_array() for a + * description of these data sets. + * + * @pre MLDmpOpen() or MLDmpPedometerStandAloneOpen() + * must have been called. + * + * @param dataSet + * A constant specifying an array of data processed by the + * motion processor. + * @param data + * A pointer to an array to be passed back to the user. + * <b>Must be 9 cells long at least</b>. + * + * @return Zero if the command is successful; an ML error code otherwise. + */ +inv_error_t inv_get_array(int dataSet, long *data) +{ + inv_error_t result; + switch (dataSet) { + case INV_GYROS: + result = inv_get_gyro(data); + break; + case INV_ACCELS: + result = inv_get_accel(data); + break; + case INV_TEMPERATURE: + result = inv_get_temperature(data); + break; + case INV_ROTATION_MATRIX: + result = inv_get_rot_mat(data); + break; + case INV_QUATERNION: + result = inv_get_quaternion(data); + break; + case INV_LINEAR_ACCELERATION: + result = inv_get_linear_accel(data); + break; + case INV_LINEAR_ACCELERATION_WORLD: + result = inv_get_linear_accel_in_world(data); + break; + case INV_GRAVITY: + result = inv_get_gravity(data); + break; + case INV_ANGULAR_VELOCITY: + result = inv_get_angular_velocity(data); + break; + case INV_EULER_ANGLES: + result = inv_get_euler_angles(data); + break; + case INV_EULER_ANGLES_X: + result = inv_get_euler_angles_x(data); + break; + case INV_EULER_ANGLES_Y: + result = inv_get_euler_angles_y(data); + break; + case INV_EULER_ANGLES_Z: + result = inv_get_euler_angles_z(data); + break; + case INV_GYRO_TEMP_SLOPE: + result = inv_get_gyro_temp_slope(data); + break; + case INV_GYRO_BIAS: + result = inv_get_gyro_bias(data); + break; + case INV_ACCEL_BIAS: + result = inv_get_accel_bias(data); + break; + case INV_MAG_BIAS: + result = inv_get_mag_bias(data); + break; + case INV_RAW_DATA: + result = inv_get_gyro_and_accel_sensor(data); + break; + case INV_MAG_RAW_DATA: + result = inv_get_mag_raw_data(data); + break; + case INV_MAGNETOMETER: + result = inv_get_magnetometer(data); + break; + case INV_PRESSURE: + result = inv_get_pressure(data); + break; + case INV_HEADING: + result = inv_get_heading(data); + break; + case INV_GYRO_CALIBRATION_MATRIX: + result = inv_get_gyro_cal_matrix(data); + break; + case INV_ACCEL_CALIBRATION_MATRIX: + result = inv_get_accel_cal_matrix(data); + break; + case INV_MAG_CALIBRATION_MATRIX: + result = inv_get_mag_cal_matrix(data); + break; + case INV_MAG_BIAS_ERROR: + result = inv_get_mag_bias_error(data); + break; + case INV_MAG_SCALE: + result = inv_get_mag_scale(data); + break; + case INV_LOCAL_FIELD: + result = inv_get_local_field(data); + break; + case INV_RELATIVE_QUATERNION: + result = inv_get_relative_quaternion(data); + break; + default: + return INV_ERROR_INVALID_PARAMETER; + break; + } + return result; +} + +/** + * @brief inv_get_float_array is used to get an array of processed motion sensor + * data. inv_get_array can be used to retrieve various data sets. + * Certain data sets require functions to be enabled using MLEnable + * in order to be valid. + * + * The available data sets are: + * + * - INV_ROTATION_MATRIX : + * Returns an array of nine data points representing the rotation + * matrix generated from all available sensors. + * This requires that ML_SENSOR_FUSION be enabled. + * The array format will be R11, R12, R13, R21, R22, R23, R31, R32, + * R33, representing the matrix: + * <center>R11 R12 R13</center> + * <center>R21 R22 R23</center> + * <center>R31 R32 R33</center> + * <b>Please refer to the "9-Axis Sensor Fusion Application Note" document, + * section 7 "Sensor Fusion Output", for details regarding rotation + * matrix output</b>. + * + * - INV_QUATERNION : + * Returns an array of four data points representing the quaternion + * generated from all available sensors. + * This requires that ML_SENSOR_FUSION be enabled. + * + * - INV_EULER_ANGLES_X : + * Returns an array of three data points representing roll, pitch, and + * yaw using the X axis of the gyroscope, accelerometer, and compass as + * reference axis. + * This is typically the convention used for mobile devices where the X + * axis is the width of the screen, Y axis is the height, and Z the + * depth. In this case roll is defined as the rotation around the X + * axis of the device. + * The euler angles convention for this output is the following: + * <TABLE> + * <TR><TD><b>EULER ANGLE</b></TD><TD><b>ROTATION AROUND</b></TD></TR> + * <TR><TD>roll </TD><TD>X axis </TD></TR> + * <TR><TD>pitch </TD><TD>Y axis </TD></TR> + * <TR><TD>yaw </TD><TD>Z axis </TD></TR> + * </TABLE> + * INV_EULER_ANGLES_X corresponds to the INV_EULER_ANGLES output and is + * therefore the default convention. + * + * - INV_EULER_ANGLES_Y : + * Returns an array of three data points representing roll, pitch, and + * yaw using the Y axis of the gyroscope, accelerometer, and compass as + * reference axis. + * This convention is typically used in augmented reality applications, + * where roll is defined as the rotation around the axis along the + * height of the screen of a mobile device, namely the Y axis. + * The euler angles convention for this output is the following: + * <TABLE> + * <TR><TD><b>EULER ANGLE</b></TD><TD><b>ROTATION AROUND</b></TD></TR> + * <TR><TD>roll </TD><TD>Y axis </TD></TR> + * <TR><TD>pitch </TD><TD>X axis </TD></TR> + * <TR><TD>yaw </TD><TD>Z axis </TD></TR> + * </TABLE> + * + * - INV_EULER_ANGLES_Z : + * Returns an array of three data points representing roll, pitch, and + * yaw using the Z axis of the gyroscope, accelerometer, and compass as + * reference axis. + * This convention is mostly used in application involving the use + * of a camera, typically placed on the back of a mobile device, that + * is along the Z axis. In this convention roll is defined as the + * rotation around the Z axis. + * The euler angles convention for this output is the following: + * <TABLE> + * <TR><TD><b>EULER ANGLE</b></TD><TD><b>ROTATION AROUND</b></TD></TR> + * <TR><TD>roll </TD><TD>Z axis </TD></TR> + * <TR><TD>pitch </TD><TD>X axis </TD></TR> + * <TR><TD>yaw </TD><TD>Y axis </TD></TR> + * </TABLE> + * + * - INV_EULER_ANGLES : + * Returns an array of three data points representing roll, pitch, and + * yaw corresponding to the INV_EULER_ANGLES_X output and it is + * therefore the default convention for Euler angles. + * Please refer to the INV_EULER_ANGLES_X for a detailed description. + * + * - INV_LINEAR_ACCELERATION : + * Returns an array of three data points representing the linear + * acceleration as derived from both gyroscopes and accelerometers. + * This requires that ML_SENSOR_FUSION be enabled. + * + * - INV_LINEAR_ACCELERATION_WORLD : + * Returns an array of three data points representing the linear + * acceleration in world coordinates, as derived from both gyroscopes + * and accelerometers. + * This requires that ML_SENSOR_FUSION be enabled. + * + * - INV_GRAVITY : + * Returns an array of three data points representing the direction + * of gravity in body coordinates, as derived from both gyroscopes + * and accelerometers. + * This requires that ML_SENSOR_FUSION be enabled. + * + * - INV_ANGULAR_VELOCITY : + * Returns an array of three data points representing the angular + * velocity as derived from <b>both</b> gyroscopes and accelerometers. + * This requires that ML_SENSOR_FUSION be enabled, to fuse data from + * the gyroscope and accelerometer device, appropriately scaled and + * oriented according to the respective mounting matrices. + * + * - INV_RAW_DATA : + * Returns an array of nine data points representing raw sensor data + * of the gyroscope X, Y, Z, accelerometer X, Y, Z, and + * compass X, Y, Z values. + * These values are not scaled and come out directly from the devices' + * sensor data output. In case of accelerometers with lower output + * resolution, e.g 8-bit, the sensor data is scaled up to match the + * 2^14 = 1 gee typical representation for a +/- 2 gee full scale + * range. + * + * - INV_GYROS : + * Returns an array of three data points representing the X gyroscope, + * Y gyroscope, and Z gyroscope values. + * The values are not sensor fused with other sensor types data but + * reflect the orientation from the mounting matrices in use. + * The INV_GYROS values are scaled to ensure 1 dps corresponds to 2^16 + * codes. + * + * - INV_ACCELS : + * Returns an array of three data points representing the X + * accelerometer, Y accelerometer, and Z accelerometer values. + * The values are not sensor fused with other sensor types data but + * reflect the orientation from the mounting matrices in use. + * The INV_ACCELS values are scaled to ensure 1 gee corresponds to 2^16 + * codes. + * + * - INV_MAGNETOMETER : + * Returns an array of three data points representing the compass + * X, Y, and Z values. + * The values are not sensor fused with other sensor types data but + * reflect the orientation from the mounting matrices in use. + * The INV_MAGNETOMETER values are scaled to ensure 1 micro Tesla (uT) + * corresponds to 2^16 codes. + * + * - INV_GYRO_BIAS : + * Returns an array of three data points representing the gyroscope + * biases. + * + * - INV_ACCEL_BIAS : + * Returns an array of three data points representing the + * accelerometer biases. + * + * - INV_MAG_BIAS : + * Returns an array of three data points representing the compass + * biases. + * + * - INV_GYRO_CALIBRATION_MATRIX : + * Returns an array of nine data points representing the calibration + * matrix for the gyroscopes: + * <center>C11 C12 C13</center> + * <center>C21 C22 C23</center> + * <center>C31 C32 C33</center> + * + * - INV_ACCEL_CALIBRATION_MATRIX : + * Returns an array of nine data points representing the calibration + * matrix for the accelerometers: + * <center>C11 C12 C13</center> + * <center>C21 C22 C23</center> + * <center>C31 C32 C33</center> + * + * - INV_MAG_CALIBRATION_MATRIX : + * Returns an array of nine data points representing the calibration + * matrix for the compass: + * <center>C11 C12 C13</center> + * <center>C21 C22 C23</center> + * <center>C31 C32 C33</center> + * + * - INV_PRESSURE : + * Returns a single value representing the pressure in Pascal + * + * - INV_HEADING : + * Returns a single number representing the heading of the device + * relative to the Earth, in which 0 represents North, 90 degrees + * represents East, and so on. + * The heading is defined as the direction of the +Y axis if the Y + * axis is horizontal, and otherwise the direction of the -Z axis. + * + * - INV_MAG_BIAS_ERROR : + * Returns an array of three numbers representing the current estimated + * error in the compass biases. These numbers are unitless and serve + * as rough estimates in which numbers less than 100 typically represent + * reasonably well calibrated compass axes. + * + * @pre MLDmpOpen() or MLDmpPedometerStandAloneOpen() + * must have been called. + * + * @param dataSet + * A constant specifying an array of data processed by + * the motion processor. + * @param data + * A pointer to an array to be passed back to the user. + * <b>Must be 9 cells long at least</b>. + * + * @return INV_SUCCESS if the command is successful; an error code otherwise. + */ +inv_error_t inv_get_float_array(int dataSet, float *data) +{ + inv_error_t result; + switch (dataSet) { + case INV_GYROS: + result = inv_get_gyro_float(data); + break; + case INV_ACCELS: + result = inv_get_accel_float(data); + break; + case INV_TEMPERATURE: + result = inv_get_temperature_float(data); + break; + case INV_ROTATION_MATRIX: + result = inv_get_rot_mat_float(data); + break; + case INV_QUATERNION: + result = inv_get_quaternion_float(data); + break; + case INV_LINEAR_ACCELERATION: + result = inv_get_linear_accel_float(data); + break; + case INV_LINEAR_ACCELERATION_WORLD: + result = inv_get_linear_accel_in_world_float(data); + break; + case INV_GRAVITY: + result = inv_get_gravity_float(data); + break; + case INV_ANGULAR_VELOCITY: + result = inv_get_angular_velocity_float(data); + break; + case INV_EULER_ANGLES: + result = inv_get_euler_angles_float(data); + break; + case INV_EULER_ANGLES_X: + result = inv_get_euler_angles_x_float(data); + break; + case INV_EULER_ANGLES_Y: + result = inv_get_euler_angles_y_float(data); + break; + case INV_EULER_ANGLES_Z: + result = inv_get_euler_angles_z_float(data); + break; + case INV_GYRO_TEMP_SLOPE: + result = inv_get_gyro_temp_slope_float(data); + break; + case INV_GYRO_BIAS: + result = inv_get_gyro_bias_float(data); + break; + case INV_ACCEL_BIAS: + result = inv_get_accel_bias_float(data); + break; + case INV_MAG_BIAS: + result = inv_get_mag_bias_float(data); + break; + case INV_RAW_DATA: + result = inv_get_gyro_and_accel_sensor_float(data); + break; + case INV_MAG_RAW_DATA: + result = inv_get_mag_raw_data_float(data); + break; + case INV_MAGNETOMETER: + result = inv_get_magnetometer_float(data); + break; + case INV_PRESSURE: + result = inv_get_pressure_float(data); + break; + case INV_HEADING: + result = inv_get_heading_float(data); + break; + case INV_GYRO_CALIBRATION_MATRIX: + result = inv_get_gyro_cal_matrix_float(data); + break; + case INV_ACCEL_CALIBRATION_MATRIX: + result = inv_get_accel_cal_matrix_float(data); + break; + case INV_MAG_CALIBRATION_MATRIX: + result = inv_get_mag_cal_matrix_float(data); + break; + case INV_MAG_BIAS_ERROR: + result = inv_get_mag_bias_error_float(data); + break; + case INV_MAG_SCALE: + result = inv_get_mag_scale_float(data); + break; + case INV_LOCAL_FIELD: + result = inv_get_local_field_float(data); + break; + case INV_RELATIVE_QUATERNION: + result = inv_get_relative_quaternion_float(data); + break; + default: + return INV_ERROR_INVALID_PARAMETER; + break; + } + return result; +} + +/** + * @brief used to set an array of motion sensor data. + * Handles the following data sets: + * - INV_GYRO_BIAS + * - INV_ACCEL_BIAS + * - INV_MAG_BIAS + * - INV_GYRO_TEMP_SLOPE + * + * For more details about the use of the data sets + * please refer to the documentation of inv_set_float_array(). + * + * Please also refer to the provided "9-Axis Sensor Fusion + * Application Note" document provided. + * + * @pre MLDmpOpen() or + * MLDmpPedometerStandAloneOpen() + * @pre MLDmpStart() must <b>NOT</b> have been called. + * + * @param dataSet A constant specifying an array of data. + * @param data A pointer to an array to be copied from the user. + * + * @return INV_SUCCESS if successful; a non-zero error code otherwise. + */ +inv_error_t inv_set_array(int dataSet, long *data) +{ + INVENSENSE_FUNC_START; + inv_error_t result; + switch (dataSet) { + case INV_GYRO_BIAS: + result = inv_set_gyro_bias(data); + break; + case INV_ACCEL_BIAS: + result = inv_set_accel_bias(data); + break; + case INV_MAG_BIAS: + result = inv_set_mag_bias(data); + break; + case INV_GYRO_TEMP_SLOPE: + result = inv_set_gyro_temp_slope(data); + break; + case INV_LOCAL_FIELD: + result = inv_set_local_field(data); + break; + case INV_MAG_SCALE: + result = inv_set_mag_scale(data); + break; + default: + return INV_ERROR_INVALID_PARAMETER; + break; + } + return result; +} + +/** + * @brief used to set an array of motion sensor data. + * Handles various data sets: + * - INV_GYRO_BIAS + * - INV_ACCEL_BIAS + * - INV_MAG_BIAS + * - INV_GYRO_TEMP_SLOPE + * + * Please refer to the provided "9-Axis Sensor Fusion Application + * Note" document provided. + * + * @pre MLDmpOpen() or + * MLDmpPedometerStandAloneOpen() + * @pre MLDmpStart() must <b>NOT</b> have been called. + * + * @param dataSet A constant specifying an array of data. + * @param data A pointer to an array to be copied from the user. + * + * @return INV_SUCCESS if successful; a non-zero error code otherwise. + */ +inv_error_t inv_set_float_array(int dataSet, float *data) +{ + INVENSENSE_FUNC_START; + inv_error_t result; + + switch (dataSet) { + case INV_GYRO_TEMP_SLOPE: // internal + result = inv_set_gyro_temp_slope_float(data); + break; + case INV_GYRO_BIAS: // internal + result = inv_set_gyro_bias_float(data); + break; + case INV_ACCEL_BIAS: // internal + result = inv_set_accel_bias_float(data); + break; + case INV_MAG_BIAS: // internal + result = inv_set_mag_bias_float(data); + break; + case INV_LOCAL_FIELD: // internal + result = inv_set_local_field_float(data); + break; + case INV_MAG_SCALE: // internal + result = inv_set_mag_scale_float(data); + break; + default: + result = INV_ERROR_INVALID_PARAMETER; + break; + } + + return result; +} |