/* $License: Copyright (C) 2011 InvenSense Corporation, All Rights Reserved. $ */ /******************************************************************************* * * $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. /*******************************************************************************/ /* 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 */