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Diffstat (limited to 'libsensors/mlsdk/mllite/mlcontrol.h')
| -rw-r--r-- | libsensors/mlsdk/mllite/mlcontrol.h | 217 |
1 files changed, 217 insertions, 0 deletions
diff --git a/libsensors/mlsdk/mllite/mlcontrol.h b/libsensors/mlsdk/mllite/mlcontrol.h new file mode 100644 index 0000000..abdefa3 --- /dev/null +++ b/libsensors/mlsdk/mllite/mlcontrol.h @@ -0,0 +1,217 @@ +/* + $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. + $ + */ +/******************************************************************************* + * + * $RCSfile: mlcontrol.h,v $ + * + * $Date: 2011-06-10 20:13:08 -0700 (Fri, 10 Jun 2011) $ + * + * $Revision: 5629 $ + * + *******************************************************************************/ + +/*******************************************************************************/ +/** @defgroup INV_CONTROL + + The Control processes gyroscopes and accelerometers to provide control + signals that can be used in user interfaces to manipulate objects such as + documents, images, cursors, menus, etc. + + @{ + @file mlcontrol.h + @brief Header file for the Control Library. +*/ +/******************************************************************************/ +#ifndef MLCONTROL_H +#define MLCONTROL_H + +#ifdef __cplusplus +extern "C" { +#endif + +#include "mltypes.h" +#include "ml.h" +#ifdef INV_INCLUDE_LEGACY_HEADERS +#include "mlcontrol_legacy.h" +#endif + + /* ------------ */ + /* - Defines. - */ + /* ------------ */ + + /*******************************************************************************/ + /* Control Signals. */ + /*******************************************************************************/ + +#define INV_CONTROL_1 0x0001 +#define INV_CONTROL_2 0x0002 +#define INV_CONTROL_3 0x0004 +#define INV_CONTROL_4 0x0008 + + /*******************************************************************************/ + /* Control Functions. */ + /*******************************************************************************/ + +#define INV_GRID 0x0001 // Indicates that the user will be controlling a system that + // has discrete steps, such as icons, menu entries, pixels, etc. +#define INV_SMOOTH 0x0002 // Indicates that noise from unintentional motion should be filtered out. +#define INV_DEAD_ZONE 0x0004 // Indicates that a dead zone should be used, below which sensor data is set to zero. +#define INV_HYSTERESIS 0x0008 // Indicates that, when INV_GRID is selected, hysteresis should be used to prevent + // the control signal from switching rapidly across elements of the grid.</dd> + + /*******************************************************************************/ + /* Integral reset options. */ + /*******************************************************************************/ + +#define INV_NO_RESET 0x0000 +#define INV_RESET 0x0001 + + /*******************************************************************************/ + /* Data select options. */ + /*******************************************************************************/ + +#define INV_CTRL_SIGNAL 0x0000 +#define INV_CTRL_GRID_NUM 0x0001 + + /*******************************************************************************/ + /* Control Axis. */ + /*******************************************************************************/ +#define INV_CTRL_PITCH 0x0000 // (INV_PITCH >> 1) +#define INV_CTRL_ROLL 0x0001 // (INV_ROLL >> 1) +#define INV_CTRL_YAW 0x0002 // (INV_YAW >> 1) + + /*******************************************************************************/ + /* control_params structure default values. */ + /*******************************************************************************/ + +#define MLCTRL_SENSITIVITY_0_DEFAULT 128 +#define MLCTRL_SENSITIVITY_1_DEFAULT 128 +#define MLCTRL_SENSITIVITY_2_DEFAULT 128 +#define MLCTRL_SENSITIVITY_3_DEFAULT 128 +#define MLCTRL_FUNCTIONS_DEFAULT 0 +#define MLCTRL_CONTROL_SIGNALS_DEFAULT 0 +#define MLCTRL_PARAMETER_ARRAY_0_DEFAULT 0 +#define MLCTRL_PARAMETER_ARRAY_1_DEFAULT 0 +#define MLCTRL_PARAMETER_ARRAY_2_DEFAULT 0 +#define MLCTRL_PARAMETER_ARRAY_3_DEFAULT 0 +#define MLCTRL_PARAMETER_AXIS_0_DEFAULT 0 +#define MLCTRL_PARAMETER_AXIS_1_DEFAULT 0 +#define MLCTRL_PARAMETER_AXIS_2_DEFAULT 0 +#define MLCTRL_PARAMETER_AXIS_3_DEFAULT 0 +#define MLCTRL_GRID_THRESHOLD_0_DEFAULT 1 +#define MLCTRL_GRID_THRESHOLD_1_DEFAULT 1 +#define MLCTRL_GRID_THRESHOLD_2_DEFAULT 1 +#define MLCTRL_GRID_THRESHOLD_3_DEFAULT 1 +#define MLCTRL_GRID_MAXIMUM_0_DEFAULT 0 +#define MLCTRL_GRID_MAXIMUM_1_DEFAULT 0 +#define MLCTRL_GRID_MAXIMUM_2_DEFAULT 0 +#define MLCTRL_GRID_MAXIMUM_3_DEFAULT 0 +#define MLCTRL_GRID_CALLBACK_DEFAULT 0 + + /* --------------- */ + /* - Structures. - */ + /* --------------- */ + + /**************************************************************************/ + /* Control Parameters Structure. */ + /**************************************************************************/ + + struct control_params { + // Sensitivity of control signal 1, 2, 3, and 4. + unsigned short sensitivity[4]; + // Indicates what functions will be used. Can be a bitwise OR of INV_GRID, + // ML_SMOOT, INV_DEAD_ZONE, and INV_HYSTERISIS. + unsigned short functions; + // Indicates which parameter array is being assigned to a control signal. + // Must be one of INV_GYROS, INV_ANGULAR_VELOCITY, or + // INV_ANGULAR_VELOCITY_WORLD. + unsigned short parameterArray[4]; + // Indicates which axis of the parameter array will be used. Must be + // INV_ROLL, INV_PITCH, or INV_YAW. + unsigned short parameterAxis[4]; + // Threshold of the control signal at which the grid number will be + // incremented or decremented. + long gridThreshold[4]; + // Maximum grid number for the control signal. + long gridMaximum[4]; + // User defined callback that will trigger when the grid location changes. + void (*gridCallback) ( + // Indicates which control signal crossed a grid threshold. Must be + // one of INV_CONTROL_1, INV_CONTROL_2, INV_CONTROL_3 or INV_CONTROL_4. + unsigned short controlSignal, + // An array of four numbers representing the grid number for each + // control signal. + long *gridNum, + // An array of four numbers representing the change in grid number + // for each control signal. + long *gridChange); + }; + + struct control_obj { + + long gridNum[4]; // Current grid number for each control signal. + long controlInt[4]; // Current data for each control signal. + long lastGridNum[4]; // Previous grid number + unsigned char controlDir[4]; // Direction of control signal + long gridChange[4]; // Change in grid number + + long mlGridNumDMP[4]; + long gridNumOffset[4]; + long prevDMPGridNum[4]; + + }; + + /* --------------------- */ + /* - Function p-types. - */ + /* --------------------- */ + + /**************************************************************************/ + /* ML Control Functions. */ + /**************************************************************************/ + + unsigned short inv_get_control_params(struct control_params *params); + unsigned short inv_set_control_params(struct control_params *params); + + /*API for handling control signals */ + inv_error_t inv_set_control_sensitivity(unsigned short controlSignal, + long sensitivity); + inv_error_t inv_set_control_func(unsigned short function); + inv_error_t inv_get_control_signal(unsigned short controlSignal, + unsigned short reset, long *data); + inv_error_t inv_get_grid_num(unsigned short controlSignal, + unsigned short reset, long *data); + inv_error_t inv_set_grid_thresh(unsigned short controlSignal, + long threshold); + inv_error_t inv_set_grid_max(unsigned short controlSignal, long maximum); + inv_error_t + inv_set_grid_callback(void (*func) + (unsigned short controlSignal, long *gridNum, + long *gridChange)); + inv_error_t inv_set_control_data(unsigned short controlSignal, + unsigned short parameterArray, + unsigned short parameterNum); + inv_error_t inv_get_control_data(long *controlSignal, long *gridNum, + long *gridChange); + inv_error_t inv_update_control(struct inv_obj_t *inv_obj); + inv_error_t inv_enable_control(void); + inv_error_t inv_disable_control(void); + +#ifdef __cplusplus +} +#endif +#endif /* MLCONTROL_H */ |