92 lines
2.5 KiB
C
92 lines
2.5 KiB
C
/*
|
|
$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: compass.h 5629 2011-06-11 03:13:08Z mcaramello $
|
|
*
|
|
*******************************************************************************/
|
|
|
|
#ifndef COMPASS_H
|
|
#define COMPASS_H
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
#include "mltypes.h"
|
|
#include "mpu.h"
|
|
#ifdef INV_INCLUDE_LEGACY_HEADERS
|
|
#include "compass_legacy.h"
|
|
#endif
|
|
/* ------------ */
|
|
/* - Defines. - */
|
|
/* ------------ */
|
|
|
|
#define YAS_MAX_FILTER_LEN (20)
|
|
#define YAS_DEFAULT_FILTER_LEN (20)
|
|
#define YAS_DEFAULT_FILTER_THRESH (300) /* 300 nT */
|
|
#define YAS_DEFAULT_FILTER_NOISE (2000 * 2000) /* standard deviation 2000 nT */
|
|
|
|
/* --------------- */
|
|
/* - Structures. - */
|
|
/* --------------- */
|
|
|
|
struct yas_adaptive_filter {
|
|
int num;
|
|
int index;
|
|
int len;
|
|
float noise;
|
|
float sequence[YAS_MAX_FILTER_LEN];
|
|
};
|
|
|
|
struct yas_thresh_filter {
|
|
float threshold;
|
|
float last;
|
|
};
|
|
|
|
typedef struct {
|
|
struct yas_adaptive_filter adap_filter[3];
|
|
struct yas_thresh_filter thresh_filter[3];
|
|
} yas_filter_handle_t;
|
|
|
|
typedef struct {
|
|
int (*init)(yas_filter_handle_t *t);
|
|
int (*update)(yas_filter_handle_t *t, float *input, float *output);
|
|
} yas_filter_if_s;
|
|
|
|
/* --------------------- */
|
|
/* - Function p-types. - */
|
|
/* --------------------- */
|
|
|
|
unsigned char inv_compass_present(void);
|
|
unsigned char inv_get_compass_slave_addr(void);
|
|
inv_error_t inv_get_compass_data(long *data);
|
|
inv_error_t inv_set_compass_bias(long *bias);
|
|
unsigned short inv_get_compass_id(void);
|
|
inv_error_t inv_set_compass_offset(void);
|
|
inv_error_t inv_compass_check_range(void);
|
|
inv_error_t inv_compass_write_reg(unsigned char reg, unsigned char val);
|
|
inv_error_t inv_compass_read_reg(unsigned char reg, unsigned char *val);
|
|
inv_error_t inv_compass_read_scale(long *val);
|
|
|
|
int yas_filter_init(yas_filter_if_s *f);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
#endif // COMPASS_H
|