1 files changed, 256 insertions, 0 deletions
diff --git a/cphidgetspatial.h b/cphidgetspatial.h
new file mode 100644
index 0000000..8d9fdb7
--- /dev/null
+++ b/cphidgetspatial.h
@@ -0,0 +1,256 @@
+#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