Imported Upstream version 2.1.8.20120216upstream/2.1.8.20120216

1 files changed, 256 insertions, 0 deletions

diff --git a/cphidgetspatial.h b/cphidgetspatial.h
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+#ifndef __CPHIDGETSPATIAL

+#define __CPHIDGETSPATIAL

+#include "cphidget.h"

+

+/** \defgroup phidspatial Phidget Spatial 

+ * \ingroup phidgets

+ * Calls specific to the Phidget Spatial. See the product manual for more specific API details, supported functionality, units, etc.

+ * @{

+ */

+

+DPHANDLE(Spatial)

+CHDRSTANDARD(Spatial)

+

+/**

+ * Timestamped position data returned by the \ref CPhidgetSpatial_set_OnSpatialData_Handler event.

+ */

+typedef struct _CPhidgetSpatial_SpatialEventData

+{

+	double acceleration[3]; /**< Acceleration data for up to 3 axes. */

+	double angularRate[3]; /**< Angular rate data (Gyroscope) for up to 3 axes */

+	double magneticField[3]; /**< Magnetic field data (Compass) for up to 3 axes */

+	CPhidget_Timestamp timestamp; /**< Hardware timestamp */

+} CPhidgetSpatial_SpatialEventData, *CPhidgetSpatial_SpatialEventDataHandle;

+

+/**

+ * Gets the number of acceleration axes supplied by this board.

+ * @param phid An attached phidget spatial handle.

+ * @param count The number of acceleration axes.

+ */

+CHDRGET(Spatial,AccelerationAxisCount,int *count)

+/**

+ * Gets the number of gyroscope axes supplied by this board.

+ * @param phid An attached phidget spatial handle.

+ * @param count The number of gyro axes.

+ */

+CHDRGET(Spatial,GyroAxisCount,int *count)

+/**

+ * Gets the number of compass axes supplied by this board.

+ * @param phid An attached phidget spatial handle.

+ * @param count The number of compass axes.

+ */

+CHDRGET(Spatial,CompassAxisCount,int *count)

+

+/**

+ * Gets the current acceleration of an axis.

+ * @param phid An attached phidget spatial handle.

+ * @param index The acceleration index.

+ * @param acceleration The acceleration in gs.

+ */

+CHDRGETINDEX(Spatial,Acceleration,double *acceleration)

+/**

+ * Gets the maximum accleration supported by an axis.

+ * @param phid An attached phidget spatial handle.

+ * @param index The acceleration index

+ * @param max The maximum acceleration

+ */

+CHDRGETINDEX(Spatial,AccelerationMax,double *max)

+/**

+ * Gets the minimum acceleration supported by an axis.

+ * @param phid An attached phidget spatial handle.

+ * @param index The acceleration index

+ * @param min The minimum acceleration

+ */

+CHDRGETINDEX(Spatial,AccelerationMin,double *min)

+

+/**

+ * Gets the current angular rate of an axis.

+ * @param phid An attached phidget spatial handle.

+ * @param index The angular rate index.

+ * @param angularRate The angular rate in degrees/second.

+ */

+CHDRGETINDEX(Spatial,AngularRate,double *angularRate)

+/**

+ * Gets the maximum angular rate supported by an axis.

+ * @param phid An attached phidget spatial handle.

+ * @param index The angular rate index

+ * @param max The maximum angular rate

+ */

+CHDRGETINDEX(Spatial,AngularRateMax,double *max)

+/**

+ * Gets the minimum angular rate supported by an axis.

+ * @param phid An attached phidget spatial handle.

+ * @param index The angular rate index

+ * @param min The minimum angular rate

+ */

+CHDRGETINDEX(Spatial,AngularRateMin,double *min)

+

+/**

+ * Gets the current magnetic field stregth of an axis.

+ * @param phid An attached phidget spatial handle.

+ * @param index The magnetic field index.

+ * @param magneticField The magnetic field strength in Gauss.

+ */

+CHDRGETINDEX(Spatial,MagneticField,double *magneticField)

+/**

+ * Gets the maximum magnetic field stregth supported by an axis.

+ * @param phid An attached phidget spatial handle.

+ * @param index The magnetic field index

+ * @param max The maximum magnetic field stregth

+ */

+CHDRGETINDEX(Spatial,MagneticFieldMax,double *max)

+/**

+ * Gets the minimum magnetic field stregth supported by an axis.

+ * @param phid An attached phidget spatial handle.

+ * @param index The magnetic field index

+ * @param min The minimum magnetic field stregth

+ */

+CHDRGETINDEX(Spatial,MagneticFieldMin,double *min)

+

+/**

+ * Zeroes the gyroscope. This takes about two seconds and the gyro zxes will report 0 during the process.

+ * This should only be called when the board is not moving.

+ * @param phid An attached phidget spatial handle.

+ */

+PHIDGET21_API int CCONV CPhidgetSpatial_zeroGyro(CPhidgetSpatialHandle phid);

+

+/**

+ * Get the data rate.

+ * @param phid An attached phidget spatial handle.

+ * @param milliseconds The data rate in milliseconds.

+ */

+CHDRGET(Spatial, DataRate, int *milliseconds)

+/**

+ * Sets the data rate. Note that data at rates faster then 8ms will be delivered to events as an array of data.

+ * @param phid An attached phidget spatial handle.

+ * @param milliseconds The data rate in milliseconds.

+ */

+CHDRSET(Spatial, DataRate, int milliseconds)

+/**

+ * Gets the maximum supported data rate.

+ * @param phid An attached phidget spatial handle.

+ * @param max Data rate in ms.

+ */

+CHDRGET(Spatial, DataRateMax, int *max)

+/**

+ * Gets the minimum supported data rate.

+ * @param phid An attached phidget spatial handle.

+ * @param min Data rate in ms.

+ */

+CHDRGET(Spatial, DataRateMin, int *min)

+

+/**

+ * Sets the compass correction factors. This can be used to correcting any sensor errors, including hard and soft iron offsets and sensor error factors.

+ * @param phid An attached phidget spatial handle.

+ * @param magField Local magnetic field strength.

+ * @param offset0 Axis 0 offset correction.

+ * @param offset1 Axis 1 offset correction.

+ * @param offset2 Axis 2 offset correction.

+ * @param gain0 Axis 0 gain correction.

+ * @param gain1 Axis 1 gain correction.

+ * @param gain2 Axis 2 gain correction.

+ * @param T0 Non-orthogonality correction factor 0.

+ * @param T1 Non-orthogonality correction factor 1.

+ * @param T2 Non-orthogonality correction factor 2.

+ * @param T3 Non-orthogonality correction factor 3.

+ * @param T4 Non-orthogonality correction factor 4.

+ * @param T5 Non-orthogonality correction factor 5.

+ */

+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)

+/**

+ * Resets the compass correction factors. Magnetic field data will be presented directly as reported by the sensor.

+ * @param phid An attached phidget spatial handle.

+ */

+PHIDGET21_API int CCONV CPhidgetSpatial_resetCompassCorrectionParameters(CPhidgetSpatialHandle phid);

+

+/**

+ * Set a Data event handler. This is called at /ref CPhidgetSpatial_getDataRate, up to 8ms, for faster then 8ms data, multiple

+ * sets of data are supplied in a single event.

+ * @param phid An attached phidget spatial handle.

+ * @param fptr Callback function pointer.

+ * @param userPtr A pointer for use by the user - this value is passed back into the callback function.

+ */

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

+

+#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 + 200)/SPATIAL_MAX_DATA_RATE)

+//1 second 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

+

+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