compass_command.h

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/****************************************************************************
 * modules/include/sensing/logical_sensor/compass_command.h
 *
 *   Copyright 2018 Sony Semiconductor Solutions Corporation
 *
 * 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 Sony Semiconductor Solutions Corporation 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 OWNER 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.
 *
 ****************************************************************************/
 
#ifndef __INCLUDE_SENSING_COMPASS_COMMAND_H
#define __INCLUDE_SENSING_COMPASS_COMMAND_H

 
/****************************************************************************
 * Included Files
 ****************************************************************************/
 
#include <stdint.h>
#include <stddef.h>
 
#include "sensing/logical_sensor/sensor_command.h"
#include "sensing/logical_sensor/physical_command.h"

 
#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */
 
/****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/

#define COMPASS_ACCEL_SAMPLING_MAX 16
#define COMPASS_MAG_SAMPLING_MAX   8
 
/****************************************************************************
 * Public Types
 ****************************************************************************/

typedef enum {
  COMPASS_CMD_UPDATE_ACCEL = 0 ,  
  COMPASS_CMD_UPDATE_MAG ,        
  COMPASS_CMD_SET_SOFTIRON_PARAM, 
  COMPASS_CMD_SET_WALKSTATE,      
  COMPASS_CMD_RESET_CALIB,        
} CompassCmdType;

typedef enum {
  COMPASS_WALK_STATE_DISABLED = -1, 
  COMPASS_WALK_STATE_STOPPING,      
  COMPASS_WALK_STATE_WALKING        
} CompassWalkStateType;
 
/*--------------------------------------------------------------------------
 * Command Structures
 *--------------------------------------------------------------------------
 */
struct CompassDebugDumpInfo
{
  void   *addr;  
  size_t size;   
};
 
/*--------------------------------------------------------------------------*/
typedef struct {
 
  CompassDebugDumpInfo   debug_dump_info;  
 
} SensorInitCompass;
 
/*--------------------------------------------------------------------------*/
typedef struct {
  float tilt_yaw;       
  float tilt_pitch;     
  float rot_dist_yaw;   
  float rot_dist_pitch; 
  float gain_x;         
  float gain_y;         
  float gain_z;         
} CompassSetSoftIron;

typedef struct {
 
  CompassCmdType cmd_type; 
 
  union {
    ThreeAxisSampleData  update_three_axis;  
    CompassSetSoftIron   soft_iron;          
    CompassWalkStateType walk_state; 
  };
 
} SensorExecCompass;
 
/*--------------------------------------------------------------------------*/
typedef struct {
 
} SensorFlushCompass;
 
/*--------------------------------------------------------------------------*/
typedef struct{
 
  float azimuth;     
  float pitch;       
  float roll;        
  float decl;        
  int   acc_azimuth; 
  int   calib_lv;    
 
} CompassData;
 
/*--------------------------------------------------------------------------*/
typedef struct
{
  SensorExecResult exec_result; 
 
  union
    {
      CompassData         compass;      
      SensorAssertionInfo assert_info;  
    };
} SensorResultCompass;
 
/*--------------------------------------------------------------------------*/
 
typedef struct
{
  SensorCmdHeader header;  
 
  union
    {
      SensorInitCompass  init_cmd;  
      SensorExecCompass  exec_cmd;  
      SensorFlushCompass flush_cmd; 
    };
 
  SensorResultCompass result; 
} SensorCmdCompass;
 
#ifdef __cplusplus
};
#endif

 
#endif /*  __INCLUDE_SENSING_COMPASS_COMMAND_H */