IMU.h

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#ifndef DW_SENSORS_IMU_IMU_H_
#define DW_SENSORS_IMU_IMU_H_
 
#include <dw/core/base/Config.h>
#include <dw/core/base/Exports.h>
#include <dw/core/base/Types.h>
 
#include <dw/sensors/Sensors.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef enum dwIMUFlags {
 
    DW_IMU_HEADING DW_DEPRECATED_ENUM("Use dwIMUFrame.validityInfo.heading instead") = 1U << 1, 
 
    DW_IMU_ROLL DW_DEPRECATED_ENUM("Use dwIMUFrame.validityInfo.orientation[0] instead")  = 1U << 2, 
    DW_IMU_PITCH DW_DEPRECATED_ENUM("Use dwIMUFrame.validityInfo.orientation[1] instead") = 1U << 3, 
    DW_IMU_YAW DW_DEPRECATED_ENUM("Use dwIMUFrame.validityInfo.orientation[2] instead")   = 1U << 4, 
 
    DW_IMU_QUATERNION_X DW_DEPRECATED_ENUM("Use dwIMUFrame.validityInfo.orientationQuaternion instead") = 1U << 5, 
    DW_IMU_QUATERNION_Y DW_DEPRECATED_ENUM("Use dwIMUFrame.validityInfo.orientationQuaternion instead") = 1U << 6, 
    DW_IMU_QUATERNION_Z DW_DEPRECATED_ENUM("Use dwIMUFrame.validityInfo.orientationQuaternion instead") = 1U << 7, 
    DW_IMU_QUATERNION_W DW_DEPRECATED_ENUM("Use dwIMUFrame.validityInfo.orientationQuaternion instead") = 1U << 8, 
 
    DW_IMU_ROLL_RATE DW_DEPRECATED_ENUM("Use dwIMUFrame.validityInfo.turnrate[0] instead")  = 1U << 9,  
    DW_IMU_PITCH_RATE DW_DEPRECATED_ENUM("Use dwIMUFrame.validityInfo.turnrate[1] instead") = 1U << 10, 
    DW_IMU_YAW_RATE DW_DEPRECATED_ENUM("Use dwIMUFrame.validityInfo.turnrate[2] instead")   = 1U << 11, 
 
    DW_IMU_ACCELERATION_X DW_DEPRECATED_ENUM("Use dwIMUFrame.validityInfo.acceleration[0] instead") = 1U << 12, 
    DW_IMU_ACCELERATION_Y DW_DEPRECATED_ENUM("Use dwIMUFrame.validityInfo.acceleration[1] instead") = 1U << 13, 
    DW_IMU_ACCELERATION_Z DW_DEPRECATED_ENUM("Use dwIMUFrame.validityInfo.acceleration[2] instead") = 1U << 14, 
 
    DW_IMU_MAGNETOMETER_X DW_DEPRECATED_ENUM("Use dwIMUFrame.validityInfo.magnetometer[0] instead") = 1U << 15, 
    DW_IMU_MAGNETOMETER_Y DW_DEPRECATED_ENUM("Use dwIMUFrame.validityInfo.magnetometer[1] instead") = 1U << 16, 
    DW_IMU_MAGNETOMETER_Z DW_DEPRECATED_ENUM("Use dwIMUFrame.validityInfo.magnetometer[2] instead") = 1U << 17, 
 
    DW_IMU_ALIGNMENTSTATUS DW_DEPRECATED_ENUM("Use dwIMUFrame.validityInfo.alignmentStatus instead") = 1U << 18 
 
} dwIMUFlags
    DW_DEPRECATED("dwIMUFlags is deprecated and will be removed in the future, use dwIMUFrame.validityInfo and APIs from IMUGetterSetter.h instead");
 
typedef enum dwIMUHeadingType {
 
    DW_IMU_HEADING_TRUE DW_DEPRECATED_ENUM("dwIMUHeadingType will be removed") = 0, 
 
    DW_IMU_HEADING_MAGNETIC DW_DEPRECATED_ENUM("dwIMUHeadingType will be removed") = 1, 
 
    DW_IMU_HEADING_FORCE32 = 0x7FFFFFFF
} dwIMUHeadingType
    DW_DEPRECATED("dwIMUHeadingType is deprecated and will be removed in the future");
 
typedef enum dwIMUAlignmentStatus {
 
    DW_IMU_ALIGNMENT_STATUS_UNKNOWN = 0,
    DW_IMU_ALIGNMENT_STATUS_INVALID = 1,
    DW_IMU_ALIGNMENT_STATUS_COARSE = 2,
    DW_IMU_ALIGNMENT_STATUS_FINE    = 3,
    DW_IMU_ALIGNMENT_STATUS_FORCE32 = 0x7FFFFFFF
} dwIMUAlignmentStatus;
 
typedef enum dwIMUImuTempQuality {
    DW_IMU_IMU_TEMP_QUALITY_INIT = 0,
    DW_IMU_IMU_TEMP_QUALITY_UNCALIB = 1,
    DW_IMU_IMU_TEMP_QUALITY_OK = 2,
    DW_IMU_IMU_TEMP_QUALITY_TMP_FAIL = 3,
    DW_IMU_IMU_TEMP_QUALITY_PRMNT_FAIL = 4,
    DW_IMU_IMU_TEMP_QUALITY_SENS_NOT_INST = 5,
 
    DW_IMU_IMU_TEMP_QUALITY_FORCE32 = 0x7FFFFFFF
} dwIMUImuTempQuality;
 
typedef enum dwIMUImuAccelerationQuality {
    DW_IMU_IMU_ACCELERATION_QUALITY_UNKNOWN = 0,
    DW_IMU_IMU_ACCELERATION_QUALITY_INIT = 1,
    DW_IMU_IMU_ACCELERATION_QUALITY_UNCALIB = 2,
    DW_IMU_IMU_ACCELERATION_QUALITY_OK = 3,
    DW_IMU_IMU_ACCELERATION_QUALITY_TMP_FAIL = 4,
    DW_IMU_IMU_ACCELERATION_QUALITY_PRMNT_FAIL = 5,
    DW_IMU_IMU_ACCELERATION_QUALITY_SENS_NOT_INST = 6,
    DW_IMU_IMU_ACCELERATION_QUALITY_OVERLOAD = 7,
    DW_IMU_IMU_ACCELERATION_QUALITY_TEMPERATURE = 8,
    DW_IMU_IMU_ACCELERATION_QUALITY_FORCE32     = 0x7FFFFFFF
} dwIMUImuAccelerationQuality;
 
typedef enum dwIMUImuTurnrateQuality {
    DW_IMU_IMU_TURNRATE_QUALITY_UNKNOWN = 0,
    DW_IMU_IMU_TURNRATE_QUALITY_INIT = 1,
    DW_IMU_IMU_TURNRATE_QUALITY_UNCALIB = 2,
    DW_IMU_IMU_TURNRATE_QUALITY_OK = 3,
    DW_IMU_IMU_TURNRATE_QUALITY_TMP_FAIL = 4,
    DW_IMU_IMU_TURNRATE_QUALITY_PRMNT_FAIL = 5,
    DW_IMU_IMU_TURNRATE_QUALITY_SENS_NOT_INST = 6,
    DW_IMU_IMU_TURNRATE_QUALITY_OVERLOAD = 7,
    DW_IMU_IMU_TURNRATE_QUALITY_TEMPERATURE = 8,
    DW_IMU_IMU_TURNRATE_QUALITY_FORCE32     = 0x7FFFFFFF
} dwIMUImuTurnrateQuality;
 
typedef enum dwIMUImuTurnrateAccelQuality {
    DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_UNKNOWN = 0,
    DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_INIT = 1,
    DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_UNCALIB = 2,
    DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_OK = 3,
    DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_TMP_FAIL = 4,
    DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_PRMNT_FAIL = 5,
    DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_SENS_NOT_INST = 6,
    DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_OVERLOAD = 7,
    DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_TEMPERATURE = 8,
    DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_FORCE32     = 0x7FFFFFFF
} dwIMUImuTurnrateAccelQuality;
 
typedef enum dwIMUImuTimestampQuality {
    DW_IMU_IMU_TIMESTAMP_QUALITY_NOT_INIT = 0,
    DW_IMU_IMU_TIMESTAMP_QUALITY_OK = 2,
    DW_IMU_IMU_TIMESTAMP_QUALITY_SYNC_LOST = 3,
 
    DW_IMU_IMU_TIMESTAMP_QUALITY_FORCE32 = 0x7FFFFFFF
} dwIMUImuTimestampQuality;
 
typedef enum dwIMUImuStatus {
    DW_IMU_IMU_STATUS_UNKNOWN = 0,
    DW_IMU_IMU_STATUS_INIT = 1,
    DW_IMU_IMU_STATUS_UNCALIB = 2,
    DW_IMU_IMU_STATUS_OK = 3,
    DW_IMU_IMU_STATUS_TMP_FAIL = 4,
    DW_IMU_IMU_STATUS_PRMNT_FAIL = 5,
    DW_IMU_IMU_STATUS_SENS_NOT_INST = 6,
    DW_IMU_IMU_STATUS_FORCE32       = 0x7FFFFFFF
} dwIMUImuStatus;
 
typedef struct dwIMUSignalValidityInfo
{
    dwSignalValidity timestamp_us;
    dwSignalValidity orientation[3];
    dwSignalValidity orientationQuaternion;
    dwSignalValidity turnrate[3];
    dwSignalValidity acceleration[3];
    dwSignalValidity magnetometer[3];
    dwSignalValidity heading;
    dwSignalValidity temperature;
    dwSignalValidity accelerationOffset[3];
    dwSignalValidity turnrateOffset[3];
    dwSignalValidity turnrateAccel[3];
    dwSignalValidity imuTempQuality;
    dwSignalValidity imuAccelerationQuality[3];
    dwSignalValidity imuTurnrateQuality[3];
    dwSignalValidity imuTurnrateOffsetQuality[3];
    dwSignalValidity imuTurnrateAccelQuality[3];
    dwSignalValidity imuTimestampQuality;
    dwSignalValidity imuStatus;
    dwSignalValidity alignmentStatus;
    dwSignalValidity sequenceCounter;
    dwSignalValidity imuTurnrateOffsetQualityStatus[3];
    dwSignalValidity timeSyncStatus;
    dwSignalValidity reserved[58];
} dwIMUSignalValidityInfo;
 
typedef struct dwIMUFrame
{
    dwIMUSignalValidityInfo validityInfo;
 
    dwTime_t timestamp_us;
 
    float64_t orientation[3];
 
    dwQuaterniond orientationQuaternion;
 
    float64_t turnrate[3];
 
    float64_t acceleration[3];
 
    float64_t magnetometer[3];
 
    float64_t heading;
 
    float32_t temperature;
 
    float64_t accelerationOffset[3];
 
    float64_t turnrateOffset[3];
 
    float64_t turnrateAccel[3];
 
    dwIMUImuTempQuality imuTempQuality;
 
    dwIMUImuAccelerationQuality imuAccelerationQuality[3];
 
    dwIMUImuTurnrateQuality imuTurnrateQuality[3];
 
    uint8_t imuTurnrateOffsetQuality[3];
 
    dwIMUImuTurnrateAccelQuality imuTurnrateAccelQuality[3];
 
    dwIMUImuTimestampQuality imuTimestampQuality;
 
    dwIMUImuStatus imuStatus;
 
    dwIMUAlignmentStatus alignmentStatus;
 
    uint8_t sequenceCounter;
 
    uint8_t imuTurnrateOffsetQualityStatus[3];
 
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
    dwIMUHeadingType headingType
        DW_DEPRECATED("headingType is deprecated and will be removed in the next major release. Please don't use this field.");
#pragma GCC diagnostic pop
 
    uint32_t flags
        DW_DEPRECATED("flags is deprecated and will be removed in next major release. Please use APIs provided in IMUGetterSetter.h to access and check validity of signals");
 
    uint8_t timeSyncStatus;
 
    uint8_t reserved[495];
} dwIMUFrame;
 
typedef struct dwIMUFrameNew
{
    dwIMUSignalValidityInfo validityInfo;
 
    dwTime_t timestamp_us;
 
    float64_t orientation[3];
 
    dwQuaterniond orientationQuaternion;
 
    float64_t turnrate[3];
 
    float64_t acceleration[3];
 
    float64_t magnetometer[3];
 
    float64_t heading;
 
    float32_t temperature;
 
    float64_t accelerationOffset[3];
 
    float64_t turnrateOffset[3];
 
    float64_t turnrateAccel[3];
 
    dwIMUImuTempQuality imuTempQuality;
 
    dwIMUImuAccelerationQuality imuAccelerationQuality[3];
 
    dwIMUImuTurnrateQuality imuTurnrateQuality[3];
 
    uint8_t imuTurnrateOffsetQuality[3];
 
    dwIMUImuTurnrateAccelQuality imuTurnrateAccelQuality[3];
 
    dwIMUImuTimestampQuality imuTimestampQuality;
 
    dwIMUImuStatus imuStatus;
 
    dwIMUAlignmentStatus alignmentStatus;
 
    uint8_t sequenceCounter;
 
    uint8_t imuTurnrateOffsetQualityStatus[3];
 
    uint8_t reserved[504];
} dwIMUFrameNew
    DW_DEPRECATED("dwIMUFrameNew is deprecated and will be removed soon. Please use dwIMUFrame instead.");
 
DW_API_PUBLIC
dwStatus dwSensorIMU_readFrame(dwIMUFrame* const frame, dwTime_t const timeoutUs, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorIMU_processRawData(uint8_t const* const data, size_t const size, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorIMU_popFrame(dwIMUFrame* const frame, dwSensorHandle_t const sensor);
 
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
DW_API_PUBLIC
dwStatus dwSensorIMU_readFrameNew(dwIMUFrameNew* const frame, dwTime_t const timeoutUs, dwSensorHandle_t const sensor)
    DW_DEPRECATED("dwSensorIMU_readFrameNew() is deprecated and will be removed in next major release. Please use dwSensorIMU_readFrame() instead");
#pragma GCC diagnostic pop
 
DW_API_PUBLIC
dwStatus dwSensorIMU_processRawDataNew(uint8_t const* const data, size_t const size, dwSensorHandle_t const sensor)
    DW_DEPRECATED("dwSensorIMU_processRawDataNew() is deprecated and will be removed in next major release. Please use dwSensorIMU_processRawData() instead");
 
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
DW_API_PUBLIC
dwStatus dwSensorIMU_popFrameNew(dwIMUFrameNew* const frame, dwSensorHandle_t const sensor)
    DW_DEPRECATED("dwSensorIMU_popFrameNew() is deprecated and will be removed in next major release. Please use dwSensorIMU_popFrame() instead");
#pragma GCC diagnostic pop
 
#ifdef __cplusplus
}
#endif
#endif // DW_SENSORS_IMU_IMU_H_