diff options
Diffstat (limited to 'libsensors_iio/software/core/mpl')
22 files changed, 691 insertions, 277 deletions
diff --git a/libsensors_iio/software/core/mpl/accel_auto_cal.h b/libsensors_iio/software/core/mpl/accel_auto_cal.h index 6641a7f..5a53213 100644 --- a/libsensors_iio/software/core/mpl/accel_auto_cal.h +++ b/libsensors_iio/software/core/mpl/accel_auto_cal.h @@ -1,38 +1,38 @@ -/* - $License: - Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved. - See included License.txt for License information. - $ - */ - -/******************************************************************************* - * - * $Id$ - * - ******************************************************************************/ - -#ifndef MLDMP_ACCEL_AUTO_CALIBRATION_H__ -#define MLDMP_ACCEL_AUTO_CALIBRATION_H__ - -#include "mltypes.h" - -#ifdef __cplusplus -extern "C" { -#endif - -inv_error_t inv_enable_in_use_auto_calibration(void); -inv_error_t inv_disable_in_use_auto_calibration(void); -inv_error_t inv_stop_in_use_auto_calibration(void); -inv_error_t inv_start_in_use_auto_calibration(void); -inv_error_t inv_in_use_auto_calibration_is_enabled(unsigned char *is_enabled); -inv_error_t inv_init_in_use_auto_calibration(void); -void inv_init_accel_maxmin(void); -void inv_record_good_accel_maxmin(void); -int inv_get_accel_bias_stage(); - -#ifdef __cplusplus -} -#endif - -#endif // MLDMP_ACCEL_AUTO_CALIBRATION_H__ - +/*
+ $License:
+ Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
+ See included License.txt for License information.
+ $
+ */
+
+/*******************************************************************************
+ *
+ * $Id$
+ *
+ ******************************************************************************/
+
+#ifndef MLDMP_ACCEL_AUTO_CALIBRATION_H__
+#define MLDMP_ACCEL_AUTO_CALIBRATION_H__
+
+#include "mltypes.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+inv_error_t inv_enable_in_use_auto_calibration(void);
+inv_error_t inv_disable_in_use_auto_calibration(void);
+inv_error_t inv_stop_in_use_auto_calibration(void);
+inv_error_t inv_start_in_use_auto_calibration(void);
+inv_error_t inv_in_use_auto_calibration_is_enabled(unsigned char *is_enabled);
+inv_error_t inv_init_in_use_auto_calibration(void);
+void inv_init_accel_maxmin(void);
+void inv_record_good_accel_maxmin(void);
+int inv_get_accel_bias_stage();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // MLDMP_ACCEL_AUTO_CALIBRATION_H__
+
diff --git a/libsensors_iio/software/core/mpl/adv_func.h b/libsensors_iio/software/core/mpl/adv_func.h new file mode 100644 index 0000000..3f8595f --- /dev/null +++ b/libsensors_iio/software/core/mpl/adv_func.h @@ -0,0 +1,30 @@ +/* + $License: + Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved. + See included License.txt for License information. + $ + */ + +/****************************************************************************** + * + * $Id$ + * + *****************************************************************************/ + +#ifndef MLDMP_ADVFUNC_H__ +#define MLDMP_ADVFUNC_H__ +#include "mltypes.h" + +#ifdef __cplusplus +extern "C" { +#endif + + float inv_compass_angle(const long *compass, const long *grav, const float *quat); + inv_error_t inv_set_dmp_quaternion(long *q); + +#ifdef __cplusplus +} +#endif + + +#endif // MLDMP_ADVFUNC_H__ diff --git a/libsensors_iio/software/core/mpl/auto_calibration.h b/libsensors_iio/software/core/mpl/auto_calibration.h new file mode 100644 index 0000000..3dd9827 --- /dev/null +++ b/libsensors_iio/software/core/mpl/auto_calibration.h @@ -0,0 +1,33 @@ +/* + $License: + Copyright (C) 2011 InvenSense Corporation, All Rights Reserved. + $ + */ + +/****************************************************************************** + * + * $Id$ + * + *****************************************************************************/ + +#ifndef MLDMP_IN_USE_AUTO_CALIBRATION_H__ +#define MLDMP_IN_USE_AUTO_CALIBRATION_H__ + +#include "mltypes.h" + +#ifdef __cplusplus +extern "C" { +#endif + +inv_error_t inv_enable_in_use_auto_calibration(void); +inv_error_t inv_disable_in_use_auto_calibration(void); +inv_error_t inv_in_use_auto_calibration_is_enabled(unsigned char *is_enabled); +inv_error_t inv_init_in_use_auto_calibration(void); + +#ifdef __cplusplus +} +#endif + + +#endif // MLDMP_IN_USE_AUTO_CALIBRATION_H__ + diff --git a/libsensors_iio/software/core/mpl/build/android/libmplmpu.so b/libsensors_iio/software/core/mpl/build/android/libmplmpu.so Binary files differindex 5e74a60..116b618 100644 --- a/libsensors_iio/software/core/mpl/build/android/libmplmpu.so +++ b/libsensors_iio/software/core/mpl/build/android/libmplmpu.so diff --git a/libsensors_iio/software/core/mpl/build/android/shared.mk b/libsensors_iio/software/core/mpl/build/android/shared.mk index 2e15205..79cf9c1 100644 --- a/libsensors_iio/software/core/mpl/build/android/shared.mk +++ b/libsensors_iio/software/core/mpl/build/android/shared.mk @@ -16,7 +16,6 @@ MPL_DIR = $(INV_ROOT)/software/core/mpl include $(INV_ROOT)/software/build/android/common.mk CFLAGS += $(CMDLINE_CFLAGS) -CFLAGS += $(ANDROID_COMPILE) CFLAGS += -Wall CFLAGS += -fpic CFLAGS += -nostdlib @@ -44,6 +43,11 @@ LLINK += -ldl LFLAGS += $(CMDLINE_LFLAGS) LFLAGS += -shared LFLAGS += -Wl,-soname,$(LIBRARY) +LFLAGS += -nostdlib +LFLAGS += -fpic +LFLAGS += -Wl,-T,$(ANDROID_ROOT)/build/core/armelf.xsc +LFLAGS += -Wl,--gc-sections +LFLAGS += -Wl,--no-whole-archive LFLAGS += -Wl,-shared,-Bsymbolic LFLAGS += $(ANDROID_LINK) LFLAGS += -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib diff --git a/libsensors_iio/software/core/mpl/build/android/static.mk b/libsensors_iio/software/core/mpl/build/android/static.mk new file mode 100644 index 0000000..6ad45de --- /dev/null +++ b/libsensors_iio/software/core/mpl/build/android/static.mk @@ -0,0 +1,110 @@ +MLLITE_LIB_NAME = mllite +LIBRARY = $(LIB_PREFIX)$(MLLITE_LIB_NAME).$(STATIC_LIB_EXT) + +MK_NAME = $(notdir $(CURDIR)/$(firstword $(MAKEFILE_LIST))) + +OBJFOLDER = $(CURDIR)/obj + +CROSS = arm-none-linux-gnueabi- +COMP= $(CROSS)gcc +LINK= $(CROSS)ar cr + +MLLITE_DIR = $(MLSDK_ROOT)/mllite +MPL_DIR = $(MLSDK_ROOT)/mldmp +MLPLATFORM_DIR = $(MLSDK_ROOT)/platform + +include $(MLSDK_ROOT)/Android-common.mk + +CFLAGS += $(CMDLINE_CFLAGS) +CFLAGS += -Wall -fpic +CFLAGS += -mthumb-interwork -fno-exceptions -ffunction-sections -funwind-tables -fstack-protector -fno-short-enums -fmessage-length=0 +CFLAGS += -DNDEBUG +CFLAGS += -D_REENTRANT -DLINUX -DANDROID +CFLAGS += -I$(MLLITE_DIR) +CFLAGS += -I$(MLPLATFORM_DIR)/include +CFLAGS += -I$(MLSDK_ROOT)/mlutils +CFLAGS += -I$(MLSDK_ROOT)/mlapps/common +CFLAGS += $(MLSDK_INCLUDES) +CFLAGS += $(MLSDK_DEFINES) + +VPATH += $(MLLITE_DIR) +VPATH += $(MLSDK_ROOT)/mlutils +VPATH += $(MLLITE_DIR)/accel +VPATH += $(MLLITE_DIR)/compass +VPATH += $(MLLITE_DIR)/pressure +VPATH += $(MLLITE_DIR)/mlapps/common + +#################################################################################################### +## sources + +ML_LIBS = $(MLPLATFORM_DIR)/linux/$(LIB_PREFIX)$(MLPLATFORM_LIB_NAME).$(STATIC_LIB_EXT) + +ML_SOURCES += $(MLLITE_DIR)/mldl_cfg_mpu.c +ML_SOURCES += $(MLLITE_DIR)/mldl_cfg_init_linux.c +ML_SOURCES += $(MLLITE_DIR)/accel.c +ML_SOURCES += $(MLLITE_DIR)/compass.c +ML_SOURCES += $(MLLITE_DIR)/compass_supervisor.c +ML_SOURCES += $(MLLITE_DIR)/compass_supervisor_adv_callbacks.c +ML_SOURCES += $(MLLITE_DIR)/key0_96.c +ML_SOURCES += $(MLLITE_DIR)/pressure.c +ML_SOURCES += $(MLLITE_DIR)/ml.c +ML_SOURCES += $(MLLITE_DIR)/ml_invobj.c +ML_SOURCES += $(MLLITE_DIR)/ml_init.c +ML_SOURCES += $(MLLITE_DIR)/mlarray_lite.c +ML_SOURCES += $(MLLITE_DIR)/mlarray_adv.c +ML_SOURCES += $(MLLITE_DIR)/mlarray_legacy.c +ML_SOURCES += $(MLLITE_DIR)/mlBiasNoMotion.c +ML_SOURCES += $(MLLITE_DIR)/mlFIFO.c +ML_SOURCES += $(MLLITE_DIR)/mlFIFOHW.c +ML_SOURCES += $(MLLITE_DIR)/mlMathFunc.c +ML_SOURCES += $(MLLITE_DIR)/mlcontrol.c +ML_SOURCES += $(MLLITE_DIR)/mldl.c +ML_SOURCES += $(MLLITE_DIR)/mldmp.c +ML_SOURCES += $(MLLITE_DIR)/dmpDefault.c +ML_SOURCES += $(MLLITE_DIR)/mlstates.c +ML_SOURCES += $(MLLITE_DIR)/mlsupervisor.c +ML_SOURCES += $(MLLITE_DIR)/ml_stored_data.c +ML_SOURCES += $(MLLITE_DIR)/ustore_manager.c +ML_SOURCES += $(MLLITE_DIR)/ustore_mlsl_io.c +ML_SOURCES += $(MLLITE_DIR)/ustore_adv_fusion_delegate.c +ML_SOURCES += $(MLLITE_DIR)/ustore_lite_fusion_delegate.c +ML_SOURCES += $(MLLITE_DIR)/temp_comp_legacy.c +ML_SOURCES += $(MLLITE_DIR)/mlSetGyroBias.c +ML_SOURCES += $(MLSDK_ROOT)/mlutils/checksum.c +ML_SOURCES += $(MLSDK_ROOT)/mlutils/mputest.c +ML_SOURCES += $(MLLITE_DIR)/mldl_print_cfg.c +ifeq ($(MPU_NAME),MPU3050) +ML_SOURCES += $(MLSDK_ROOT)/mlutils/mpu3050test.c +else +ML_SOURCES += $(MLSDK_ROOT)/mlutils/mpu6050test.c +endif + +ML_OBJS := $(addsuffix .o,$(ML_SOURCES)) +ML_OBJS_DST = $(addprefix $(OBJFOLDER)/,$(addsuffix .o, $(notdir $(ML_SOURCES)))) + +#################################################################################################### +## rules + +.PHONY: all clean cleanall + +all: $(LIBRARY) $(MK_NAME) + +$(LIBRARY) : $(OBJFOLDER) $(ML_OBJS_DST) $(ML_LIBS) $(MK_NAME) + @$(call echo_in_colors, "\n<linking $(LIBRARY) with objects $(ML_OBJS_DST)\n") + $(LINK) $(LIBRARY) $(ML_OBJS_DST) + $(CROSS)ranlib $(LIBRARY) + +$(OBJFOLDER) : + @$(call echo_in_colors, "\n<creating object's folder 'obj/'>\n") + mkdir obj + +$(ML_OBJS_DST) : $(OBJFOLDER)/%.c.o : %.c $(MK_NAME) + @$(call echo_in_colors, "\n<compile $< to $(OBJFOLDER)/$(notdir $@)>\n") + $(COMP) $(CFLAGS) $(ANDROID_INCLUDES) $(KERNEL_INCLUDES) $(MLSDK_INCLUDES) -o $@ -c $< + +clean : + rm -fR $(OBJFOLDER) + +cleanall : + rm -fR $(LIBRARY) $(OBJFOLDER) + diff --git a/libsensors_iio/software/core/mpl/fast_no_motion.h b/libsensors_iio/software/core/mpl/fast_no_motion.h index 24bc0d5..2a33093 100644 --- a/libsensors_iio/software/core/mpl/fast_no_motion.h +++ b/libsensors_iio/software/core/mpl/fast_no_motion.h @@ -28,14 +28,12 @@ extern "C" { void inv_set_default_number_of_samples(int N); inv_error_t inv_fast_nomot_is_enabled(unsigned char *is_enabled); inv_error_t inv_update_fast_nomot(long *gyro); -
- void inv_get_fast_nomot_accel_param(long *cntr, long long *param);
- void inv_get_fast_nomot_compass_param(long *cntr, long long *param);
- void inv_set_fast_nomot_accel_threshold(long long thresh);
- void inv_set_fast_nomot_compass_threshold(long long thresh);
- void int_set_fast_nomot_gyro_threshold(long long thresh);
-
- void inv_fnm_debug_print(void);
+ + void inv_get_fast_nomot_accel_param(long *cntr, float *param); + void inv_get_fast_nomot_compass_param(long *cntr, float *param); + void inv_set_fast_nomot_accel_threshold(float thresh); + void inv_set_fast_nomot_compass_threshold(float thresh); + void int_set_fast_nomot_gyro_threshold(float thresh); #ifdef __cplusplus } diff --git a/libsensors_iio/software/core/mpl/fusion_9axis.h b/libsensors_iio/software/core/mpl/fusion_9axis.h index 1ba1ebb..616694a 100644 --- a/libsensors_iio/software/core/mpl/fusion_9axis.h +++ b/libsensors_iio/software/core/mpl/fusion_9axis.h @@ -26,8 +26,6 @@ extern "C" { inv_error_t inv_disable_9x_sensor_fusion(void); inv_error_t inv_start_9x_sensor_fusion(void); inv_error_t inv_stop_9x_sensor_fusion(void); - inv_error_t inv_9x_fusion_set_mag_fb(double fb);
- inv_error_t inv_9x_fusion_enable_jitter_reduction(int en);
#ifdef __cplusplus } diff --git a/libsensors_iio/software/core/mpl/interpolator.h b/libsensors_iio/software/core/mpl/interpolator.h new file mode 100644 index 0000000..5eb571d --- /dev/null +++ b/libsensors_iio/software/core/mpl/interpolator.h @@ -0,0 +1,103 @@ +/* + $License: + Copyright (C) 2011 InvenSense Corporation, All Rights Reserved. + $ + */ +#ifndef INTERPOLATOR_H +#define INTERPOLATOR_H + +#ifdef __cplusplus +extern "C" { +#endif + +//#include "mltypes.h" + + /* ------------ */ + /* - Defines. - */ + /* ------------ */ + +#define MAX_INTERPOLATION (20) + +typedef struct { + long x[2]; + long y[4]; +} tInterpolate2; +typedef struct { + long x[2]; + long y[6]; +} tInterpolate3; +typedef struct { + long x[5]; + long y[10]; + int idx1; +} tInterpolate5; +typedef struct { + tInterpolate2 state1; + tInterpolate2 state2; +} tInterpolate4; +typedef struct { + tInterpolate3 state1; + tInterpolate2 state2; +} tInterpolate6; +typedef struct { + tInterpolate2 state1; + tInterpolate4 state2; +} tInterpolate8; +typedef struct { + tInterpolate3 state1; + tInterpolate3 state2; +} tInterpolate9; +typedef struct { + tInterpolate5 state1; + tInterpolate2 state2; +} tInterpolate10; +typedef struct { + tInterpolate4 state1; + tInterpolate3 state2; +} tInterpolate12; +typedef struct { + tInterpolate5 state1; + tInterpolate3 state2; +} tInterpolate15; +typedef struct { + tInterpolate2 state1; + tInterpolate8 state2; +} tInterpolate16; +typedef struct { + tInterpolate9 state1; + tInterpolate2 state2; +} tInterpolate18; +typedef struct { + tInterpolate10 state1; + tInterpolate2 state2; +} tInterpolate20; + +typedef union { + tInterpolate2 u2; + tInterpolate3 u3; + tInterpolate4 u4; + tInterpolate5 u5; + tInterpolate6 u6; + tInterpolate8 u8; + tInterpolate9 u9; + tInterpolate10 u10; + tInterpolate12 u12; + tInterpolate15 u15; + tInterpolate16 u16; + tInterpolate18 u18; + tInterpolate20 u20; +} tInterpolateState; + + /* --------------------- */ + /* - Function p-types. - */ + /* --------------------- */ +int inv_get_interp_amount( int x ); +int inv_interpolate( int amount, long input, long *output, tInterpolateState *state ); +long inv_fxmult( long x, long y ); + + +#ifdef __cplusplus +} +#endif + +#endif /* INTERPOLATOR_H */ diff --git a/libsensors_iio/software/core/mpl/inv_log.h b/libsensors_iio/software/core/mpl/inv_log.h new file mode 100644 index 0000000..972844b --- /dev/null +++ b/libsensors_iio/software/core/mpl/inv_log.h @@ -0,0 +1,7 @@ +#include "mltypes.h" +#ifndef INV_INV_LOG_H__ +#define INV_INV_LOG_H__ + +#define INV_LOGE(s) + +#endif // INV_INV_LOG_H__ diff --git a/libsensors_iio/software/core/mpl/inv_math.h b/libsensors_iio/software/core/mpl/inv_math.h index 175511a..6620bbf 100644 --- a/libsensors_iio/software/core/mpl/inv_math.h +++ b/libsensors_iio/software/core/mpl/inv_math.h @@ -1,8 +1,8 @@ -/* math.h has many functions and defines that are not consistent across -* platforms. This address that */ - -#ifdef _WINDOWS -#define _USE_MATH_DEFINES -#endif - -#include <math.h> +/* math.h has many functions and defines that are not consistent across
+* platforms. This address that */
+
+#ifdef _WINDOWS
+#define _USE_MATH_DEFINES
+#endif
+
+#include <math.h>
diff --git a/libsensors_iio/software/core/mpl/invensense_adv.h b/libsensors_iio/software/core/mpl/invensense_adv.h index 12932c9..9e59c18 100644 --- a/libsensors_iio/software/core/mpl/invensense_adv.h +++ b/libsensors_iio/software/core/mpl/invensense_adv.h @@ -28,4 +28,3 @@ #include "quaternion_supervisor.h" #include "mag_disturb.h" #include "quat_accuracy_monitor.h" -#include "shake.h" diff --git a/libsensors_iio/software/core/mpl/mlsetinterrupts.h b/libsensors_iio/software/core/mpl/mlsetinterrupts.h new file mode 100644 index 0000000..a81dabb --- /dev/null +++ b/libsensors_iio/software/core/mpl/mlsetinterrupts.h @@ -0,0 +1,23 @@ +/* + $License: + Copyright (c) 2008 InvenSense Corporation, All Rights Reserved. + $ + */ + +#ifndef MLSETINTERRUPT_H +#define MLSETINTERRUPT_H + +#include "mltypes.h" + +#ifdef __cplusplus +extern "C" { +#endif + + /* DEPRECATED - Scheduled for removal. Do not use */ + inv_error_t MLSetInterrupts(unsigned short interrupts); + +#ifdef __cplusplus +} +#endif + +#endif /* MLSETINTERRUPT_H */ diff --git a/libsensors_iio/software/core/mpl/mlsupervisor_9axis.h b/libsensors_iio/software/core/mpl/mlsupervisor_9axis.h new file mode 100644 index 0000000..3779381 --- /dev/null +++ b/libsensors_iio/software/core/mpl/mlsupervisor_9axis.h @@ -0,0 +1,57 @@ +/* + $License: + Copyright (C) 2011 InvenSense Corporation, All Rights Reserved. + $ + */ + +/****************************************************************************** + * + * $Id: mlsupervisor_9axis.h 6123 2011-09-30 18:21:11Z mcaramello $ + * + *****************************************************************************/ + +#ifndef MLDMP_MLSUPERVISOR_H__ +#define MLDMP_MLSUPERVISOR_H__ + +#include "mltypes.h" + +//#include "temp_comp.h" + +struct inv_fusion_t { + int compassCount; + long quat[4]; +}; + +#ifdef __cplusplus +extern "C" { +#endif + +inv_error_t inv_enable_9x_fusion(void); +inv_error_t inv_disable_9x_fusion(void); + +inv_error_t inv_enable_9x_fusion_legacy(void); +inv_error_t inv_disable_9x_fusion_legacy(void); + +inv_error_t inv_enable_9x_fusion_new(void); +inv_error_t inv_disable_9x_fusion_new(void); + +inv_error_t inv_enable_9x_fusion_basic(void); +inv_error_t inv_disable_9x_fusion_basic(void); + +inv_error_t inv_enable_9x_fusion_external(void); +inv_error_t inv_disable_9x_fusion_external(void); + +inv_error_t inv_enable_maintain_heading(void); +inv_error_t inv_disable_maintain_heading(void); + +void inv_set_compass_state(long compassState, long accState, + unsigned long deltaTime, + int magDisturb, int gotBias, + int *new_state, + int *new_accuracy); + +#ifdef __cplusplus +} +#endif + +#endif // MLDMP_MLSUPERVISOR_H__ diff --git a/libsensors_iio/software/core/mpl/motion_no_motion.h b/libsensors_iio/software/core/mpl/motion_no_motion.h index 188c78b..01cf1c0 100644 --- a/libsensors_iio/software/core/mpl/motion_no_motion.h +++ b/libsensors_iio/software/core/mpl/motion_no_motion.h @@ -1,28 +1,28 @@ -/* - $License: - Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved. - See included License.txt for License information. - $ +/*
+ $License:
+ Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
+ See included License.txt for License information.
+ $
*/ -#ifndef INV_MOTION_NO_MOTION_H__ -#define INV_MOTION_NO_MOTION_H__ - -#include "mltypes.h" - -#ifdef __cplusplus -extern "C" { -#endif - -inv_error_t inv_enable_motion_no_motion(void); -inv_error_t inv_disable_motion_no_motion(void); -inv_error_t inv_init_motion_no_motion(void); -inv_error_t inv_start_motion_no_motion(void); -inv_error_t inv_stop_motion_no_motion(void); - -inv_error_t inv_set_no_motion_time(long time_ms); - -#ifdef __cplusplus -} -#endif - -#endif // INV_MOTION_NO_MOTION_H__ +#ifndef INV_MOTION_NO_MOTION_H__
+#define INV_MOTION_NO_MOTION_H__
+
+#include "mltypes.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+inv_error_t inv_enable_motion_no_motion(void);
+inv_error_t inv_disable_motion_no_motion(void);
+inv_error_t inv_init_motion_no_motion(void);
+inv_error_t inv_start_motion_no_motion(void);
+inv_error_t inv_stop_motion_no_motion(void);
+
+inv_error_t inv_set_no_motion_time(long time_ms);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // INV_MOTION_NO_MOTION_H__
diff --git a/libsensors_iio/software/core/mpl/orientation.h b/libsensors_iio/software/core/mpl/orientation.h new file mode 100644 index 0000000..ab4e45e --- /dev/null +++ b/libsensors_iio/software/core/mpl/orientation.h @@ -0,0 +1,42 @@ +/* + $License: + Copyright (C) 2011 InvenSense Corporation, All Rights Reserved. + $ + */ +#ifndef MLDMP_ORIENTATION_H__ +#define MLDMP_ORIENTATION_H__ + +#include "mltypes.h" +/*******************************************************************************/ +/* Orientations */ +/*******************************************************************************/ + +#define INV_X_UP 0x01 +#define INV_X_DOWN 0x02 +#define INV_Y_UP 0x04 +#define INV_Y_DOWN 0x08 +#define INV_Z_UP 0x10 +#define INV_Z_DOWN 0x20 +#define INV_ORIENTATION_ALL 0x3F + +#ifdef __cplusplus +extern "C" { +#endif + + inv_error_t inv_enable_orientation(void); + inv_error_t inv_disable_orientation(void); + inv_error_t inv_set_orientation(int orientation); + inv_error_t inv_set_orientation_cb(void (*callback)(unsigned short)); + inv_error_t inv_get_orientation(int *orientation); + inv_error_t inv_get_orientation_state(int * state); + inv_error_t inv_set_orientation_interrupt(unsigned char on); + inv_error_t inv_set_orientation_thresh(float angle, + float hysteresis, + unsigned long time, + unsigned int axis); + +#ifdef __cplusplus +} +#endif + +#endif // MLDMP_ORIENTATION_H__ diff --git a/libsensors_iio/software/core/mpl/progressive_no_motion.h b/libsensors_iio/software/core/mpl/progressive_no_motion.h new file mode 100644 index 0000000..99333e3 --- /dev/null +++ b/libsensors_iio/software/core/mpl/progressive_no_motion.h @@ -0,0 +1,39 @@ +/* + $License: + Copyright (C) 2011 InvenSense Corporation, All Rights Reserved. + $ + */ + +/****************************************************************************** + * + * $Id:$ + * + *****************************************************************************/ + +#ifndef MLDMP_PROG_NO_MOTION_H__ +#define MLDMP_PROG_NO_MOTION_H__ + +#include "mltypes.h" + +#define PROG_NO_MOTION 1 +#define PROG_MOTION 2 + +#ifdef __cplusplus +extern "C" { +#endif + +/* APIs */ +inv_error_t inv_enable_prog_no_motion(void); +inv_error_t inv_disable_prog_no_motion(void); + +/* internal use */ +int inv_get_prog_no_motion_enabled(void); +void inv_get_prog_no_motion_bias_changed(void); +int inv_get_prog_no_motion_state(void); + +#ifdef __cplusplus +} +#endif + + +#endif // MLDMP_PROG_NO_MOTION_H__ diff --git a/libsensors_iio/software/core/mpl/quat_accuracy_monitor.h b/libsensors_iio/software/core/mpl/quat_accuracy_monitor.h index 5ee0573..2cf7a50 100644 --- a/libsensors_iio/software/core/mpl/quat_accuracy_monitor.h +++ b/libsensors_iio/software/core/mpl/quat_accuracy_monitor.h @@ -1,71 +1,70 @@ -/* - quat_accuracy_monitor.h - $License: - Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved. - See included License.txt for License information. - $ - */ - -/******************************************************************************* - * - * $Id:$ - * - ******************************************************************************/ - -#ifndef QUAT_ACCURARCY_MONITOR_H__ -#define QUAT_ACCURARCY_MONITOR_H__ - -#include "mltypes.h" - -#ifdef __cplusplus -extern "C" { -#endif -enum accuracy_signal_type_e { - TYPE_NAV_QUAT, - TYPE_GAM_QUAT, - TYPE_NAV_QUAT_ADVANCED, - TYPE_GAM_QUAT_ADVANCED, - TYPE_NAV_QUAT_BASIC, - TYPE_GAM_QUAT_BASIC, - TYPE_MAG, - TYPE_GYRO, - TYPE_ACCEL, -}; - -inv_error_t inv_init_quat_accuracy_monitor(void); - -void set_accuracy_threshold(enum accuracy_signal_type_e type, double threshold); -double get_accuracy_threshold(enum accuracy_signal_type_e type); -void set_accuracy_weight(enum accuracy_signal_type_e type, int weight); -int get_accuracy_weight(enum accuracy_signal_type_e type); - -int8_t get_accuracy_accuracy(enum accuracy_signal_type_e type); - -void inv_reset_quat_accuracy(void); -double get_6axis_correction_term(void); -double get_9axis_correction_term(void); -int get_9axis_accuracy_state(); - -void set_6axis_error_average(double value); -double get_6axis_error_bound(void); -double get_compass_correction(void); -double get_9axis_error_bound(void); - -float get_confidence_interval(void); -void set_compass_uncertainty(float value); - -inv_error_t inv_enable_quat_accuracy_monitor(void); -inv_error_t inv_disable_quat_accuracy_monitor(void); -inv_error_t inv_start_quat_accuracy_monitor(void); -inv_error_t inv_stop_quat_accuracy_monitor(void); - -double get_compassNgravity(void); -double get_init_compassNgravity(void); - -float inv_heading_accuracy_check(float orient[3], float *heading, int8_t *accuracy); - -#ifdef __cplusplus -} -#endif - -#endif // QUAT_ACCURARCY_MONITOR_H__ +/*
+ quat_accuracy_monitor.h
+ $License:
+ Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
+ See included License.txt for License information.
+ $
+ */
+
+/*******************************************************************************
+ *
+ * $Id:$
+ *
+ ******************************************************************************/
+
+#ifndef QUAT_ACCURARCY_MONITOR_H__
+#define QUAT_ACCURARCY_MONITOR_H__
+
+#include "mltypes.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+enum accuracy_signal_type_e {
+ TYPE_NAV_QUAT,
+ TYPE_GAM_QUAT,
+ TYPE_NAV_QUAT_ADVANCED,
+ TYPE_GAM_QUAT_ADVANCED,
+ TYPE_NAV_QUAT_BASIC,
+ TYPE_GAM_QUAT_BASIC,
+ TYPE_MAG,
+ TYPE_GYRO,
+ TYPE_ACCEL,
+};
+
+inv_error_t inv_init_quat_accuracy_monitor(void);
+
+void set_accuracy_threshold(enum accuracy_signal_type_e type, double threshold);
+double get_accuracy_threshold(enum accuracy_signal_type_e type);
+void set_accuracy_weight(enum accuracy_signal_type_e type, int weight);
+int get_accuracy_weight(enum accuracy_signal_type_e type);
+
+int8_t get_accuracy_accuracy(enum accuracy_signal_type_e type);
+
+void inv_reset_quat_accuracy(void);
+double get_6axis_correction_term(void);
+double get_9axis_correction_term(void);
+int get_9axis_accuracy_state();
+
+void set_6axis_error_average(double value);
+double get_6axis_error_bound(void);
+double get_compass_correction(void);
+double get_9axis_error_bound(void);
+
+float get_confidence_interval(void);
+void set_compass_uncertainty(float value);
+
+inv_error_t inv_enable_quat_accuracy_monitor(void);
+inv_error_t inv_disable_quat_accuracy_monitor(void);
+inv_error_t inv_start_quat_accuracy_monitor(void);
+inv_error_t inv_stop_quat_accuracy_monitor(void);
+
+double get_compassNgravity(void);
+double get_init_compassNgravity(void);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // QUAT_ACCURARCY_MONITOR_H__
diff --git a/libsensors_iio/software/core/mpl/quaternion_supervisor.h b/libsensors_iio/software/core/mpl/quaternion_supervisor.h index 722c0d9..532e8af 100644 --- a/libsensors_iio/software/core/mpl/quaternion_supervisor.h +++ b/libsensors_iio/software/core/mpl/quaternion_supervisor.h @@ -1,27 +1,26 @@ -/* - $License: - Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved. - See included License.txt for License information. - $ - */ -#ifndef INV_QUATERNION_SUPERVISOR_H__ -#define INV_QUATERNION_SUPERVISOR_H__ - -#include "mltypes.h" - - -#ifdef __cplusplus -extern "C" { -#endif - -inv_error_t inv_enable_quaternion(void); -inv_error_t inv_disable_quaternion(void); -inv_error_t inv_init_quaternion(void); -inv_error_t inv_start_quaternion(void); -void inv_set_quaternion(long *quat); - -#ifdef __cplusplus -} -#endif - -#endif // INV_QUATERNION_SUPERVISOR_H__ +/*
+ $License:
+ Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
+ See included License.txt for License information.
+ $
+ */
+#ifndef INV_QUATERNION_SUPERVISOR_H__
+#define INV_QUATERNION_SUPERVISOR_H__
+
+#include "mltypes.h"
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+inv_error_t inv_enable_quaternion(void);
+inv_error_t inv_disable_quaternion(void);
+inv_error_t inv_init_quaternion(void);
+inv_error_t inv_start_quaternion(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // INV_QUATERNION_SUPERVISOR_H__
diff --git a/libsensors_iio/software/core/mpl/sensor_moments.h b/libsensors_iio/software/core/mpl/sensor_moments.h new file mode 100644 index 0000000..73eb363 --- /dev/null +++ b/libsensors_iio/software/core/mpl/sensor_moments.h @@ -0,0 +1,42 @@ +/* + $License: + Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved. + See included License.txt for License information. + $ + */ + +/****************************************************************************** + * + * $Id$ + * + *****************************************************************************/ + +#ifndef MLDMP_SENSOR_MOMENTS_H__ +#define MLDMP_SENSOR_MOMENTS_H__ + +#include "mltypes.h" + +enum moment_ord { + SECOND_ORD=0, + THIRD_ORD, + FOURTH_ORD, + MAX_ORD +}; + +#ifdef __cplusplus +extern "C" { +#endif + + inv_error_t inv_enable_sm(void);
+ inv_error_t inv_disable_sm(void);
+ inv_error_t inv_sm_record_data(float sample, void *sensor);
+ inv_error_t inv_sm_update_evt_act_state(int motion);
+ void *inv_init_sm(enum moment_ord);
+ float inv_sm_get_filtered_data(void *sensor); + +#ifdef __cplusplus +} +#endif + +#endif // MLDMP_SENSOR_MOMENTS_H__ + diff --git a/libsensors_iio/software/core/mpl/shake.h b/libsensors_iio/software/core/mpl/shake.h deleted file mode 100644 index 8775a4c..0000000 --- a/libsensors_iio/software/core/mpl/shake.h +++ /dev/null @@ -1,94 +0,0 @@ -/* - $License: - Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved. - See included License.txt for License information. - $ - */ -#ifndef INV_SHAKE_H__ -#define INV_SHAKE_H__ - -#include "mltypes.h" - - -#ifdef __cplusplus -extern "C" { -#endif - - /* ------------ */ - /* - Defines. - */ - /* ------------ */ - - #define STATE_ZERO 0 - #define STATE_INIT_1 1 - #define STATE_INIT_2 2 - #define STATE_DETECT 3 - - struct t_shake_config_params { - long shake_time_min_ms; - long shake_time_max_ms; - long shake_time_min; - long shake_time_max; - unsigned char shake_time_set; - long shake_time_saved; - float shake_deriv_thr; - int zero_cross_thr; - float accel_delta_min; - float accel_delta_max; - unsigned char interp_enable; - }; - - struct t_shake_state_params { - unsigned char state; - float accel_peak_high; - float accel_peak_low; - float accel_range; - int num_zero_cross; - short curr_shake_time; - int deriv_major_change; - int deriv_major_sign; - float accel_buffer[200]; - float delta_buffer[200]; - }; - - struct t_shake_data_params { - float accel_prev; - float accel_curr; - float delta_prev; - float delta_curr; - float delta_prev_buffer; - }; - - struct t_shake_results { - //unsigned char shake_int; - int shake_number; - }; - - struct t_shake_cb { - void (*shake_callback)(struct t_shake_results *shake_results); - }; - - - /* --------------------- */ - /* - Function p-types. - */ - /* --------------------- */ - inv_error_t inv_enable_shake(void); - inv_error_t inv_disable_shake(void); - inv_error_t inv_init_shake(void); - inv_error_t inv_start_shake(void); - int inv_set_shake_cb(void (*callback)(struct t_shake_results *shake_results)); - void inv_config_shake_time_params(long sample_time_ms); - void inv_set_shake_accel_delta_min(float accel_g); - void inv_set_shake_accel_delta_max(float accel_g); - void inv_set_shake_zero_cross_thresh(int num_zero_cross); - void inv_set_shake_deriv_thresh(float shake_deriv_thresh); - void inv_set_shake_time_min_ms(long time_ms); - void inv_set_shake_time_max_ms(long time_ms); - void inv_enable_shake_data_interpolation(unsigned char en); - - - -#ifdef __cplusplus -} -#endif - -#endif // INV_SHAKE__
\ No newline at end of file diff --git a/libsensors_iio/software/core/mpl/state_storage.h b/libsensors_iio/software/core/mpl/state_storage.h new file mode 100644 index 0000000..c1eb47b --- /dev/null +++ b/libsensors_iio/software/core/mpl/state_storage.h @@ -0,0 +1,25 @@ +/* + $License: + Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved. + See included License.txt for License information. + $ + */ +#ifndef INV_STATE_STORAGE_H__ +#define INV_STATE_STORAGE_H__ + +#include "mltypes.h" + +#ifdef __cplusplus +extern "C" { +#endif + +inv_error_t inv_store_data(const void *data, size_t size, unsigned long module, + unsigned long version); +inv_error_t inv_load_data(void *data, size_t size, unsigned long module, + unsigned long version); + +#ifdef __cplusplus +} +#endif + +#endif // INV_STATE_STORAGE_H__ |