IMU.h

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#ifndef DW_SENSORS_IMU_IMU_H_
#define DW_SENSORS_IMU_IMU_H_
 
#include <dw/core/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 = 1U << 1, 
 
    DW_IMU_ROLL  = 1U << 2, 
    DW_IMU_PITCH = 1U << 3, 
    DW_IMU_YAW   = 1U << 4, 
 
    DW_IMU_QUATERNION_X = 1U << 5, 
    DW_IMU_QUATERNION_Y = 1U << 6, 
    DW_IMU_QUATERNION_Z = 1U << 7, 
    DW_IMU_QUATERNION_W = 1U << 8, 
 
    DW_IMU_ROLL_RATE  = 1U << 9,  
    DW_IMU_PITCH_RATE = 1U << 10, 
    DW_IMU_YAW_RATE   = 1U << 11, 
 
    DW_IMU_ACCELERATION_X = 1U << 12, 
    DW_IMU_ACCELERATION_Y = 1U << 13, 
    DW_IMU_ACCELERATION_Z = 1U << 14, 
 
    DW_IMU_MAGNETOMETER_X = 1U << 15, 
    DW_IMU_MAGNETOMETER_Y = 1U << 16, 
    DW_IMU_MAGNETOMETER_Z = 1U << 17  
 
} dwIMUFlags;
 
typedef enum dwIMUHeadingType {
 
    DW_IMU_HEADING_TRUE = 0, 
 
    DW_IMU_HEADING_MAGNETIC = 1, 
 
} dwIMUHeadingType;
 
typedef struct dwIMUFrame
{
    uint32_t flags;
 
    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;
 
    dwIMUHeadingType headingType;
 
} dwIMUFrame;
 
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);
 
#ifdef __cplusplus
}
#endif
#endif // DW_SENSORS_IMU_IMU_H_