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-/*
- $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 This format has been replaced by unique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;
-}
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