-
Notifications
You must be signed in to change notification settings - Fork 12
/
bhy2_head_tracker_defs.h
138 lines (117 loc) · 5.04 KB
/
bhy2_head_tracker_defs.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bhy2_head_tracker_defs.h
* @date 2023-03-24
* @version v1.6.0
*
*/
#ifndef _BHY2_HEAD_TRACKER_DEFS_H_
#define _BHY2_HEAD_TRACKER_DEFS_H_
/* Start of CPP Guard */
#ifdef __cplusplus
extern "C" {
#endif /*__cplusplus */
#include <stdint.h>
#include <stdlib.h>
#include <stdlib.h>
#include "bhy2.h"
/*! Virtual Sensor Macros */
#define BHY2_SENSOR_ID_HEAD_ORI_MIS_ALG UINT8_C(120) /*Head Orientation Misalignment*/
#define BHY2_SENSOR_ID_IMU_HEAD_ORI_Q UINT8_C(121) /*IMU Head Orientation Quaternion*/
#define BHY2_SENSOR_ID_NDOF_HEAD_ORI_Q UINT8_C(122) /*NDOF Head Orientation Quaternion*/
#define BHY2_SENSOR_ID_IMU_HEAD_ORI_E UINT8_C(123) /*IMU Head Orientation Euler*/
#define BHY2_SENSOR_ID_NDOF_HEAD_ORI_E UINT8_C(124) /*NDOF Head Orientation Euler*/
#define BHY2_HEAD_ORI_PAGE UINT16_C(12)
#define BHY2_HEAD_ORI_PARAM(id) (((BHY2_HEAD_ORI_PAGE) << 8) | (id))
#define BHY2_HEAD_ORI_HMC_TRIGGER_CALIB UINT8_C(1)
#define BHY2_HEAD_ORI_HMC_TRIGGER_CALIB_LENGTH UINT8_C(4)
#define BHY2_HEAD_ORI_HMC_TRIGGER_CALIB_SET UINT8_C(1)
#define BHY2_HEAD_ORI_HMC_CONFIG UINT8_C(2)
#define BHY2_HEAD_ORI_HMC_CONFIG_LENGTH UINT8_C(8)
#define BHY2_HEAD_ORI_HMC_SET_DEF_CONFIG UINT8_C(3)
#define BHY2_HEAD_ORI_HMC_SET_DEF_CONFIG_LENGTH UINT8_C(4)
#define BHY2_HEAD_ORI_HMC_SET_DEF_CONFIG_SET UINT8_C(1)
#define BHY2_HEAD_ORI_HMC_VERSION UINT8_C(4)
#define BHY2_HEAD_ORI_HMC_VERSION_LENGTH UINT8_C(4)
#define BHY2_HEAD_ORI_HMC_QUAT_CALIB_CORR UINT8_C(5)
#define BHY2_HEAD_ORI_HMC_QUAT_CALIB_CORR_WLENGTH UINT8_C(16)
#define BHY2_HEAD_ORI_HMC_QUAT_CALIB_CORR_RLENGTH UINT8_C(20)
#define BHY2_HEAD_ORI_QUAT_INITIAL_HEAD_CORR UINT8_C(10)
#define BHY2_HEAD_ORI_QUAT_INITIAL_HEAD_CORR_LENGTH UINT8_C(4)
#define BHY2_HEAD_ORI_QUAT_INITIAL_HEAD_CORR_DISABLE UINT8_C(0)
#define BHY2_HEAD_ORI_QUAT_INITIAL_HEAD_CORR_ENABLE UINT8_C(1)
#define BHY2_HEAD_ORI_VERSION UINT8_C(11)
#define BHY2_HEAD_ORI_VERSION_LENGTH UINT8_C(4)
#define BHY2_HEAD_ORI_EUL_INITIAL_HEAD_CORR UINT8_C(12)
#define BHY2_HEAD_ORI_EUL_INITIAL_HEAD_CORR_LENGTH UINT8_C(4)
#define BHY2_HEAD_ORI_EUL_INITIAL_HEAD_CORR_DISABLE UINT8_C(0)
#define BHY2_HEAD_ORI_EUL_INITIAL_HEAD_CORR_ENABLE UINT8_C(1)
/*! Sensor Structure for Head Orientation Quaternion */
struct bhy2_head_tracker_quat_data
{
int16_t x, y, z, w;
uint8_t accuracy;
};
/*! Sensor Structure for Head Orientation Euler */
struct bhy2_head_tracker_eul_data
{
int16_t heading, pitch, roll;
uint8_t accuracy;
};
/*! Structure for Head Misalignment Configuration */
struct bhy2_head_tracker_misalignment_config
{
uint8_t still_phase_max_dur;
uint8_t still_phase_min_dur;
uint8_t still_phase_max_samples;
int32_t acc_diff_threshold;
};
/*! Structure for Head Orientation /Head Misalignment version */
struct bhy2_head_tracker_ver
{
uint8_t major, minor, patch, reserved;
};
/*! Structure for Head Misalignment Quaternion Correction */
struct bhy2_head_tracker_misalignment_quat_corr
{
int32_t quaternion_x;
int32_t quaternion_y;
int32_t quaternion_z;
int32_t quaternion_w;
int32_t accuracy;
};
/* End of CPP Guard */
#ifdef __cplusplus
}
#endif /*__cplusplus */
#endif /* _BHY2_HEAD_TRACKER_DEFS_H_ */