cphidgetspatial.h

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#ifndef __CPHIDGETSPATIAL
#define __CPHIDGETSPATIAL
#include "cphidget.h"

DPHANDLE(Spatial)
CHDRSTANDARD(Spatial)

typedef struct _CPhidgetSpatial_SpatialEventData
{
        double acceleration[3]; 
        double angularRate[3]; 
        double magneticField[3]; 
        CPhidget_Timestamp timestamp; 
} CPhidgetSpatial_SpatialEventData, *CPhidgetSpatial_SpatialEventDataHandle;

CHDRGET(Spatial,AccelerationAxisCount,int *count)
CHDRGET(Spatial,GyroAxisCount,int *count)
CHDRGET(Spatial,CompassAxisCount,int *count)


CHDRGETINDEX(Spatial,Acceleration,double *acceleration)
CHDRGETINDEX(Spatial,AccelerationMax,double *max)
CHDRGETINDEX(Spatial,AccelerationMin,double *min)


CHDRGETINDEX(Spatial,AngularRate,double *angularRate)
CHDRGETINDEX(Spatial,AngularRateMax,double *max)
CHDRGETINDEX(Spatial,AngularRateMin,double *min)


CHDRGETINDEX(Spatial,MagneticField,double *magneticField)
CHDRGETINDEX(Spatial,MagneticFieldMax,double *max)
CHDRGETINDEX(Spatial,MagneticFieldMin,double *min)


PHIDGET21_API int CCONV CPhidgetSpatial_zeroGyro(CPhidgetSpatialHandle phid);

CHDRGET(Spatial, DataRate, int *milliseconds)
CHDRSET(Spatial, DataRate, int milliseconds)
CHDRGET(Spatial, DataRateMax, int *max)
CHDRGET(Spatial, DataRateMin, int *min)


CHDRSET(Spatial, CompassCorrectionParameters, double magField, double offset0, double offset1, double offset2, double gain0, double gain1, double gain2, double T0, double T1, double T2, double T3, double T4, double T5)
PHIDGET21_API int CCONV CPhidgetSpatial_resetCompassCorrectionParameters(CPhidgetSpatialHandle phid);

CHDREVENT(Spatial,SpatialData,CPhidgetSpatial_SpatialEventDataHandle *data, int dataCount)

//These are for a prototype device - hide until it's released
#if !defined(EXTERNALPROTO) || defined(DEBUG)

#define SPATIAL_ANALOG_AND_DIGITAL      0x00
#define SPATIAL_ANALOG                          0x01
#define SPATIAL_DIGITAL                         0x02

typedef enum {
        PHIDGET_SPATIAL_ANALOG_AND_DIGITAL = 0, 
        PHIDGET_SPATIAL_ANALOG,                                 
        PHIDGET_SPATIAL_DIGITAL,                                
}  CPhidgetSpatial_AnalogDigitalMode;

CHDRSET(Spatial, AnalogDigitalMode, CPhidgetSpatial_AnalogDigitalMode mode)
PHIDGET21_API int CCONV CPhidgetSpatial_unZeroGyro(CPhidgetSpatialHandle phid);
PHIDGET21_API int CCONV CPhidgetSpatial_setDigitalGyroCalibrationValues(CPhidgetSpatialHandle phid,
        double gainPositive[3], double gainNegative[3], double offset[3], double factor1[3], double factor2[3]);
PHIDGET21_API int CCONV CPhidgetSpatial_setAnalogGyroCalibrationValues(CPhidgetSpatialHandle phid,
        double gainPositive[3], double gainNegative[3], double offset[3], double factor1[3], double factor2[3]);
PHIDGET21_API int CCONV CPhidgetSpatial_setDigitalAccelCalibrationValues(CPhidgetSpatialHandle phid,
        double gainPositive[3], double gainNegative[3], double offset[3], double factor1[3], double factor2[3]);
PHIDGET21_API int CCONV CPhidgetSpatial_setAnalogAccelCalibrationValues(CPhidgetSpatialHandle phid,
        double gainPositive[3], double gainNegative[3], double offset[3], double factor1[3], double factor2[3]);

#endif

#ifndef EXTERNALPROTO

#define SPATIAL_MAX_ACCELAXES 3
#define SPATIAL_MAX_GYROAXES 3
#define SPATIAL_MAX_COMPASSAXES 3

//in milliseconds - this is the fastest hardware rate of any device
#define SPATIAL_MAX_DATA_RATE 1
//1 second is the longest between events that we support
#define SPATIAL_MIN_DATA_RATE 1000
//add 200ms for timing differences (late events, etc) - should be plenty
#define SPATIAL_DATA_BUFFER_SIZE ((SPATIAL_MIN_DATA_RATE * 2 + 200)/SPATIAL_MAX_DATA_RATE)
//2 seconds of data to zero the gyro - make sure DATA_BUFFER_SIZE is big enough to hold this much data
#define SPATIAL_ZERO_GYRO_TIME 2000

//packet types
//IN
#define SPATIAL_PACKET_DATA             0x00
#define SPATIAL_PACKET_CALIB    0x80
//OUT
#define SPATIAL_READCALIB                       0x01
#define SPATIAL_SET_POLLING_TYPE        0x02
#define SPATIAL_ZERO_GYRO                       0x03
#define SPATIAL_UNZERO_GYRO                     0x04

//M3 Spatial calibration table indexes
#define SPATIAL_DIGITAL_ACCEL_CALIB_TABLE_INDEX         0
#define SPATIAL_ANALOG_ACCEL_CALIB_TABLE_INDEX          1
#define SPATIAL_DIGITAL_GYRO_CALIB_TABLE_INDEX          2
#define SPATIAL_ANALOG_GYRO_CALIB_TABLE_INDEX           3
#define SPATIAL_COMPASS_CALIB_TABLE_INDEX                       4
#define SPATIAL_COMPASS_TEMP_CALIB_TABLE_INDEX          5

#define SPATIAL_ACCEL_GYRO_CALIB_TABLE_LENGTH           64
#define SPATIAL_COMPASS_CALIB_TABLE_LENGTH                      56

#define SPATIAL_GyroCalibTable_ID               1000
#define SPATIAL_AccelCalibTable_ID              1001

#define SPATIAL_VOLTAGE_REF 3.3
#define SPATIAL_AD7689_BITS_PER_VOLT (0x10000 / SPATIAL_VOLTAGE_REF)

#define SPATIAL_LPR410AL_VOLTS_PER_DPS 0.0025
#define SPATIAL_LRP410AL_w_AD7689_BITS_PER_DPS (SPATIAL_LPR410AL_VOLTS_PER_DPS * SPATIAL_AD7689_BITS_PER_VOLT)

#define SPATIAL_LY330ALH_VOLTS_PER_DPS 0.003752
#define SPATIAL_LY330ALH_w_AD7689_BITS_PER_DPS (SPATIAL_LY330ALH_VOLTS_PER_DPS * SPATIAL_AD7689_BITS_PER_VOLT)

#define SPATIAL_L3GD20_DPS_PER_BIT 0.07
#define SPATIAL_L3GD20_BITS_PER_DPS (1 / SPATIAL_L3GD20_DPS_PER_BIT)

#define SPATIAL_KXR94_2050_VOLTS_PER_G 0.660
#define SPATIAL_KXR94_2050_w_AD7689_BITS_PER_G (SPATIAL_KXR94_2050_VOLTS_PER_G * SPATIAL_AD7689_BITS_PER_VOLT)

#define SPATIAL_MMA8451Q_BITS_PER_G 1024

#define SPATIAL_HMC5883L_GAUSS_PER_BIT 0.00303
#define SPATIAL_HMC5883L_BITS_PER_GAUSS (1 / SPATIAL_HMC5883L_GAUSS_PER_BIT)


struct _CPhidgetSpatial {
        CPhidget phid;
        int (CCONV *fptrSpatialData)(CPhidgetSpatialHandle, void *, CPhidgetSpatial_SpatialEventDataHandle *, int);           
        void *fptrSpatialDataptr;

        double accelAxis[SPATIAL_MAX_ACCELAXES];
        double gyroAxis[SPATIAL_MAX_GYROAXES];
        double compassAxis[SPATIAL_MAX_COMPASSAXES];

        double gryoCorrection[SPATIAL_MAX_GYROAXES];
        unsigned char doZeroGyro;
        int gyroZeroReadPtr;

        CPhidgetSpatial_SpatialEventData dataBuffer[SPATIAL_DATA_BUFFER_SIZE];
        int bufferReadPtr, bufferWritePtr;

        double accelerationMax, accelerationMin;
        double angularRateMax, angularRateMin;
        double magneticFieldMax, magneticFieldMin;

        unsigned char calDataValid;

        double accelGain1[SPATIAL_MAX_ACCELAXES];
        double accelGain2[SPATIAL_MAX_ACCELAXES];
        double accelOffset[SPATIAL_MAX_ACCELAXES];
        double accelFactor1[SPATIAL_MAX_ACCELAXES];
        double accelFactor2[SPATIAL_MAX_ACCELAXES];

        double gyroGain1[SPATIAL_MAX_GYROAXES];
        double gyroGain2[SPATIAL_MAX_GYROAXES];
        double gyroOffset[SPATIAL_MAX_GYROAXES];
        double gyroFactor1[SPATIAL_MAX_GYROAXES];
        double gyroFactor2[SPATIAL_MAX_GYROAXES];

        int compassGain[SPATIAL_MAX_COMPASSAXES];
        int compassOffset[SPATIAL_MAX_COMPASSAXES];

        double userMagField;
        double userCompassGain[SPATIAL_MAX_COMPASSAXES];
        double userCompassOffset[SPATIAL_MAX_COMPASSAXES];
        double userCompassTransform[SPATIAL_MAX_COMPASSAXES*(SPATIAL_MAX_COMPASSAXES-1)];
        
        CPhidget_Timestamp timestamp, lastEventTime, latestDataTime;

        unsigned char lastTimeCounterValid;
        int lastTimeCounter;
        int flip;

        char *compassCorrectionParamsString;
        unsigned char spatialDataNetwork;

        int dataRate, interruptRate;
        int dataRateMax, dataRateMin;

} typedef CPhidgetSpatialInfo;
#endif

#endif