/* $License: Copyright (C) 2011 InvenSense Corporation, All Rights Reserved. $ */ /****************************************************************************** * * $Id: ml.h 5776 2011-07-15 00:16:52Z jcalizo $ * *****************************************************************************/ /** * @defgroup ML * @brief The Motion Library processes gyroscopes and accelerometers to * provide a physical model of the movement of the sensors. * The results of this processing may be used to control objects * within a user interface environment, detect gestures, track 3D * movement for gaming applications, and analyze the blur created * due to hand movement while taking a picture. * * @{ * @file ml.h * @brief Header file for the Motion Library. **/ #ifndef INV_H #define INV_H #ifdef __cplusplus extern "C" { #endif #include "mltypes.h" #include "ml_features.h" #include "mldmp.h" #include "mlsl.h" #include "mpu.h" #ifdef INV_INCLUDE_LEGACY_HEADERS #include "ml_legacy.h" #endif /* ------------ */ /* - Defines. - */ /* ------------ */ /* - Module defines. - */ /*************************************************************************/ /* Motion Library Vesion */ /*************************************************************************/ #define INV_VERSION_MAJOR 4 #define INV_VERSION_MINOR 0 #define INV_VERSION_SUB_MINOR 0 #define INV_VERSION_MAJOR_STR "4" #define INV_VERSION_MINOR_STR "0" #define INV_VERSION_SUB_MINOR_STR "0" #define INV_VERSION_NONE "" #define INV_VERSION_PROTOTYPE "ProtoA " #define INV_VERSION_ENGINEERING "EngA " #define INV_VERSION_PRE_ALPHA "Pre-Alpha " #define INV_VERSION_ALPHA "Alpha " #define INV_VERSION_BETA "Beta " #define INV_VERSION_PRODUCTION "Production " #ifndef INV_VERSION_TYPE #define INV_VERSION_TYPE INV_VERSION_NONE #endif #define INV_VERSION "InvenSense MPL" " " \ "v" INV_VERSION_MAJOR_STR "." INV_VERSION_MINOR_STR "." INV_VERSION_SUB_MINOR_STR " " \ INV_VERSION_TYPE \ __DATE__ " " __TIME__ /*************************************************************************/ /* Motion processing engines */ /*************************************************************************/ #define INV_MOTION_DETECT (0x0004) #define INV_BIAS_UPDATE (0x0008) #define INV_GESTURE (0x0020) #define INV_CONTROL (0x0040) #define INV_ORIENTATION (0x0100) #define INV_PEDOMETER (0x0200) #define INV_BASIC (INV_MOTION_DETECT | INV_BIAS_UPDATE) /*************************************************************************/ /* Data Source - Obsolete */ /*************************************************************************/ #define INV_DATA_FIFO (0x1) #define INV_DATA_POLL (0x2) /*************************************************************************/ /* Interrupt Source */ /*************************************************************************/ #define INV_INT_MOTION (0x01) #define INV_INT_FIFO (0x02) #define INV_INT_TAP (0x04) #define INV_INT_ORIENTATION (0x08) #define INV_INT_SHAKE_PITCH (0x10) #define INV_INT_SHAKE_ROLL (0x20) #define INV_INT_SHAKE_YAW (0x40) /*************************************************************************/ /* Bias update functions */ /*************************************************************************/ #define INV_BIAS_FROM_NO_MOTION 0x0001 #define INV_BIAS_FROM_GRAVITY 0x0002 #define INV_BIAS_FROM_TEMPERATURE 0x0004 #define INV_BIAS_FROM_LPF 0x0008 #define INV_MAG_BIAS_FROM_MOTION 0x0010 #define INV_MAG_BIAS_FROM_GYRO 0x0020 #define INV_LEARN_BIAS_FROM_TEMPERATURE 0x0040 #define INV_AUTO_RESET_MAG_BIAS 0x0080 #define INV_REJECT_MAG_DISTURBANCE 0x0100 #define INV_PROGRESSIVE_NO_MOTION 0x0200 #define INV_BIAS_FROM_FAST_NO_MOTION 0x0400 /*************************************************************************/ /* Euler angles and axis names */ /*************************************************************************/ #define INV_X_AXIS (0x01) #define INV_Y_AXIS (0x02) #define INV_Z_AXIS (0x04) #define INV_PITCH (INV_X_AXIS) #define INV_ROLL (INV_Y_AXIS) #define INV_YAW (INV_Z_AXIS) /*************************************************************************/ /* Sensor types */ /*************************************************************************/ #define INV_GYROS 0x0001 #define INV_ACCELS 0x0002 /*************************************************************************/ /* Motion arrays */ /*************************************************************************/ #define INV_ROTATION_MATRIX 0x0003 #define INV_QUATERNION 0x0004 #define INV_EULER_ANGLES 0x0005 #define INV_LINEAR_ACCELERATION 0x0006 #define INV_LINEAR_ACCELERATION_WORLD 0x0007 #define INV_GRAVITY 0x0008 #define INV_ANGULAR_VELOCITY 0x0009 #define INV_GYRO_CALIBRATION_MATRIX 0x000B #define INV_ACCEL_CALIBRATION_MATRIX 0x000C #define INV_GYRO_BIAS 0x000D #define INV_ACCEL_BIAS 0x000E #define INV_GYRO_TEMP_SLOPE 0x000F #define INV_RAW_DATA 0x0011 #define INV_DMP_TAP 0x0012 #define INV_DMP_TAP2 0x0021 #define INV_EULER_ANGLES_X 0x0013 #define INV_EULER_ANGLES_Y 0x0014 #define INV_EULER_ANGLES_Z 0x0015 #define INV_BIAS_UNCERTAINTY 0x0016 #define INV_DMP_PACKET_NUMBER 0x0017 #define INV_FOOTER 0x0018 #define INV_CONTROL_DATA 0x0019 #define INV_MAGNETOMETER 0x001A #define INV_PEDLBS 0x001B #define INV_MAG_RAW_DATA 0x001C #define INV_MAG_CALIBRATION_MATRIX 0x001D #define INV_MAG_BIAS 0x001E #define INV_HEADING 0x001F #define INV_MAG_BIAS_ERROR 0x0020 #define INV_PRESSURE 0x0021 #define INV_LOCAL_FIELD 0x0022 #define INV_MAG_SCALE 0x0023 #define INV_RELATIVE_QUATERNION 0x0024 #define SET_QUATERNION 0x0001 #define SET_GYROS 0x0002 #define SET_LINEAR_ACCELERATION 0x0004 #define SET_GRAVITY 0x0008 #define SET_ACCELS 0x0010 #define SET_TAP 0x0020 #define SET_PEDLBS 0x0040 #define SET_LINEAR_ACCELERATION_WORLD 0x0080 #define SET_CONTROL 0x0100 #define SET_PACKET_NUMBER 0x4000 #define SET_FOOTER 0x8000 /*************************************************************************/ /* Integral reset options */ /*************************************************************************/ #define INV_NO_RESET 0x0000 #define INV_RESET 0x0001 /*************************************************************************/ /* Motion states */ /*************************************************************************/ #define INV_MOTION 0x0001 #define INV_NO_MOTION 0x0002 /*************************************************************************/ /* Orientation and Gesture states */ /*************************************************************************/ #define INV_STATE_IDLE (0) #define INV_STATE_RUNNING (1) /*************************************************************************/ /* Gyroscope Temperature Compensation bins */ /*************************************************************************/ #define BINS (25) #define PTS_PER_BIN (5) #define MIN_TEMP (-40) #define MAX_TEMP (+85) #define TEMP_PER_BIN ((MAX_TEMP - MIN_TEMP) / BINS) /*************************************************************************/ /* Flags */ /*************************************************************************/ #define INV_RAW_DATA_READY 0x0001 #define INV_PROCESSED_DATA_READY 0x0002 #define INV_GOT_GESTURE 0x0004 #define INV_MOTION_STATE_CHANGE 0x0006 /*************************************************************************/ /* General */ /*************************************************************************/ #define INV_NONE (0x0000) #define INV_INVALID_FIFO_RATE (0xFFFF) /*************************************************************************/ /* ML Params Structure Default Values */ /*************************************************************************/ #define INV_BIAS_UPDATE_FUNC_DEFAULT (INV_BIAS_FROM_NO_MOTION | INV_BIAS_FROM_GRAVITY) #define INV_ORIENTATION_MASK_DEFAULT 0x3f #define INV_PROCESSED_DATA_CALLBACK_DEFAULT 0 #define INV_ORIENTATION_CALLBACK_DEFAULT 0 #define INV_MOTION_CALLBACK_DEFAULT 0 /* ------------ */ /* - Defines. - */ /* ------------ */ /* Priority for various features */ #define INV_PRIORITY_COMPASS_SUPERVISOR 50 #define INV_PRIORITY_APPLY_QUATERNION_ADJUSTMENT 75 #define INV_PRIORITY_KEY_0_96 90 #define INV_PRIORITY_BUS_ACCEL 100 #define INV_PRIORITY_EXTERNAL_SLAVE_MAG 110 #define INV_PRIORITY_FAST_NO_MOTION 120 #define INV_PRIORITY_BIAS_NO_MOTION 125 #define INV_PRIORITY_SET_GYRO_BIASES 150 #define INV_PRIORITY_TEMP_COMP 175 #define INV_PRIORITY_CONTROL 200 #define INV_PRIORITY_EIS 300 #define INV_PRIORITY_ORIENTATION 400 #define INV_PRIORITY_PEDOMETER_FULLPOWER 500 #define INV_PRIORITY_NAVIGATION_PEDOMETER 600 #define INV_PRIORITY_GESTURE 700 #define INV_PRIORITY_GLYPH 800 #define MAX_INTERRUPT_PROCESSES 5 /* Number of quantized accel samples */ #define INV_MAX_NUM_ACCEL_SAMPLES (8) #define PRECISION 10000.f #define RANGE_FLOAT_TO_FIXEDPOINT(range, x) { \ range.mantissa = (long)x; \ range.fraction = (long)((float)(x-(long)x)*PRECISION); \ } #define RANGE_FIXEDPOINT_TO_FLOAT(range, x) { \ x = (float)(range.mantissa); \ x += ((float)range.fraction/PRECISION); \ } /* --------------- */ /* - Structures. - */ /* --------------- */ /* Declare inv_obj_t name so it can be referenced in callbacks. */ struct inv_obj_t; struct inv_gyro_param { long bias[3]; long sens; long sf; }; struct inv_accel_param { long bias[3]; long scaled_bias[3]; long sens; }; struct inv_pressure_data { long meas; }; struct inv_litefusion_data { int got_no_motion_bias; int acc_state; unsigned long motion_duration; unsigned short motion_state; unsigned short last_motion; long accel_lpf_gain; long accel_lpf[3]; unsigned long poll_no_motion_time; long no_motion_accel_threshold; unsigned long no_motion_accel_time; }; struct inv_advfusion_data { long compass_scale[3]; long compass_test_bias[3]; long compass_test_scale[3]; long compass_bias_error[3]; int got_compass_bias; int compass_state; int large_field; int got_coarse_heading; long prog_no_motion_bias[3]; long compass_correction[4]; long compass_correction_relative[4]; long compass_disturb_correction[4]; long compass_correction_offset[4]; long relative_quat[4]; long local_field[3]; long new_local_field; long sync_grav_body[3]; int gyro_bias_err; // prog no motion double compass_bias_ptr[9]; double compass_bias_v[3]; double compass_prev_m[36]; double compass_prev_xty[6]; int compass_peaks[18]; int all_sensors_no_motion; long init_compass_bias[3]; int got_init_compass_bias; int resetting_compass; int external_slave_library; int compass_accuracy; unsigned short biascalc_suspend; inv_error_t (*mode_change_cb)(unsigned long, unsigned long); }; struct inv_mag_data { long bias[3]; long asa[3]; long sens; unsigned char raw_data[24]; long sensor_data[3]; long calibrated_data[3]; }; struct inv_tempcomp_data { int factory_temp_comp; long temp_bias[3]; long temp_slope[3]; float x_gyro_coef[3]; float y_gyro_coef[3]; float z_gyro_coef[3]; float x_gyro_temp_data[BINS][PTS_PER_BIN]; float y_gyro_temp_data[BINS][PTS_PER_BIN]; float z_gyro_temp_data[BINS][PTS_PER_BIN]; float temp_data[BINS][PTS_PER_BIN]; int temp_ptrs[BINS]; long temp_valid_data[BINS]; }; struct inv_cal_params { long accel[9]; long gyro[GYRO_NUM_AXES * GYRO_NUM_AXES]; long gyro_orient[GYRO_NUM_AXES * GYRO_NUM_AXES]; // straight back to pdata? long compass[9]; }; struct inv_system_data { int cal_loaded_flag; unsigned short flags[7]; unsigned short interrupt_sources; }; /** * struct inv_obj_t * * Each member of inv_obj is a struct pointer. * ml_features.h contains the INV_FEATURE macros which * serve as contracts for the existence of pointees * for each pointer. * Each contract is described below. * */ struct inv_obj_t { /* gyro is always non-null. */ struct inv_gyro_param * gyro; /* accel is always non-null. */ struct inv_accel_param * accel; /* mag is non-null iff INV_FEATURE_MAGNETOMETER */ struct inv_mag_data * mag; /* pressure is non-null iff INV_FEATURE_PRESSURE */ struct inv_pressure_data * pressure; /* gyro_tc is non-null iff INV_FEATURE_GYROTC_LEGACY */ struct inv_tempcomp_data * gyro_tc; /* lite_fusion is always non-null. */ struct inv_litefusion_data * lite_fusion; /* adv_fusion is non-null iff INV_FEATURE_ADVFUSION */ struct inv_advfusion_data * adv_fusion; /* calmat is non-null iff INV_FEATURE_CALMATS */ struct inv_cal_params * calmat; /* sys is non-null iff INV_FEATURE_SYSSTRUCT */ struct inv_system_data * sys; }; typedef inv_error_t(*inv_obj_func) (struct inv_obj_t *); extern struct inv_obj_t inv_obj; /* --------------------- */ /* - Params Structure. - */ /* --------------------- */ struct inv_params_obj { unsigned short bias_mode; // A function or bitwise OR of functions that determine how the gyroscope bias will be automatically updated. // Functions include INV_BIAS_FROM_NO_MOTION, INV_BIAS_FROM_GRAVITY, and INV_BIAS_FROM_TEMPERATURE. // The engine INV_BIAS_UPDATE must be enabled for these algorithms to run. unsigned short orientation_mask; // Allows a user to register which orientations will trigger the user defined callback function. // The orientations are INV_X_UP, INV_X_DOWN, INV_Y_UP, INV_Y_DOWN, INV_Z_UP, and INV_Z_DOWN. // INV_ORIENTATION_ALL is equivalent to INV_X_UP | INV_X_DOWN | INV_Y_UP | INV_Y_DOWN | INV_Z_UP | INV_Z_DOWN. void (*fifo_processed_func) (void); // Callback function that triggers when all the processing has been finished by the motion processing engines. void (*orientation_cb_func) (unsigned short orient); // Callback function that will run when a change of orientation is detected. // The new orientation. May be one of INV_X_UP, INV_X_DOWN, INV_Y_UP, INV_Y_DOWN, INV_Z_UP, or INV_Z_DOWN. void (*motion_cb_func) (unsigned short motion_state); // Callback function that will run when a change of motion state is detected. // The new motion state. May be one of INV_MOTION, or INV_NO_MOTION. unsigned char state; }; extern struct inv_params_obj inv_params_obj; /* --------------------- */ /* - Function p-types. - */ /* --------------------- */ inv_error_t inv_serial_start(char const *port); inv_error_t inv_serial_stop(void); inv_error_t inv_set_mpu_sensors(unsigned long sensors); void *inv_get_serial_handle(void); /*API for handling the buffer */ inv_error_t inv_update_data(void); /*API for handling polling */ int inv_check_flag(int flag); /*API for setting bias update function */ inv_error_t inv_set_bias_update(unsigned short biasFunction); #if defined CONFIG_MPU_SENSORS_MPU6050A2 || \ defined CONFIG_MPU_SENSORS_MPU6050B1 inv_error_t inv_turn_on_bias_from_no_motion(void); inv_error_t inv_turn_off_bias_from_no_motion(void); inv_error_t inv_set_mpu_6050_config(void); #endif /* Legacy functions for handling augmented data*/ inv_error_t inv_get_array(int dataSet, long *data); inv_error_t inv_get_float_array(int dataSet, float *data); inv_error_t inv_set_array(int dataSet, long *data); inv_error_t inv_set_float_array(int dataSet, float *data); /* Individual functions for augmented data, per specific dataset */ /* Select which mlarray features are available : * ml_lite.h is always included. It contains mlarray functions * which depend only on inv_obj->lite_fusion. */ #include "ml_lite.h" /* ml_adv contains mlarray functions which depend on * inv_obj->adv_fusion. * It is excluded when INV_FEATURE_ADVFUSION is not defined. */ #ifdef INV_FEATURE_ADVFUSION #include "ml_adv.h" #endif inv_error_t inv_apply_endian_accel(void); inv_error_t inv_apply_calibration(void); inv_error_t inv_set_gyro_calibration(float range, signed char *orientation); inv_error_t inv_set_accel_calibration(float range, signed char *orientation); inv_error_t inv_set_compass_calibration(float range, signed char *orientation); inv_error_t inv_gyro_var_cal(); inv_error_t inv_gyro_dmp_cal(); void inv_set_accel_mounting(signed char *mount); inv_error_t inv_accel_var_cal(); inv_error_t inv_accel_dmp_cal(); unsigned short inv_orientation_matrix_to_scalar(const signed char *mtx); inv_error_t inv_set_compass_calibration(float range, signed char *orientation); /*API for detecting change of state */ inv_error_t inv_set_motion_callback(void (*func) (unsigned short motion_state)); int inv_get_motion_state(void); /*API for getting ML version. */ inv_error_t inv_get_version(unsigned char **version); inv_error_t inv_set_motion_interrupt(unsigned char on); inv_error_t inv_set_fifo_interrupt(unsigned char on); int inv_get_interrupts(void); /* Simulated DMP */ int inv_get_gyro_present(void); inv_error_t inv_set_no_motion_time(float time); inv_error_t inv_set_no_motion_thresh(float thresh); inv_error_t inv_set_no_motion_threshAccel(long thresh); inv_error_t inv_reset_motion(void); inv_error_t inv_update_bias(void); inv_error_t inv_set_dead_zone(void); void inv_start_bias_calc(void); void inv_stop_bias_calc(void); // Private functions shared accross modules void inv_init_ml(void); void inv_init_ml_cb(void); inv_error_t inv_read_compass_asa( long * asa ); inv_error_t inv_register_dmp_interupt_cb(inv_obj_func func); inv_error_t inv_unregister_dmp_interupt_cb(inv_obj_func func); void inv_run_dmp_interupt_cb(void); void inv_set_mode_change(inv_error_t(*mode_change_func) (unsigned long, unsigned long)); #ifdef __cplusplus } #endif #endif // INV_H /** * @} */