diff options
Diffstat (limited to 'cphidgetspatial.h')
| -rw-r--r-- | cphidgetspatial.h | 92 |
1 files changed, 87 insertions, 5 deletions
diff --git a/cphidgetspatial.h b/cphidgetspatial.h index 8d9fdb7..a24d758 100644 --- a/cphidgetspatial.h +++ b/cphidgetspatial.h @@ -172,6 +172,32 @@ PHIDGET21_API int CCONV CPhidgetSpatial_resetCompassCorrectionParameters(CPhidge */
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, /**< Analog failover to digital */
+ PHIDGET_SPATIAL_ANALOG, /**< Analog only */
+ PHIDGET_SPATIAL_DIGITAL, /**< Digital only */
+} 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
@@ -183,16 +209,72 @@ CHDREVENT(Spatial,SpatialData,CPhidgetSpatial_SpatialEventDataHandle *data, int //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_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
+#define SPATIAL_PACKET_DATA 0x00
+#define SPATIAL_PACKET_CALIB 0x80
//OUT
-#define SPATIAL_READCALIB 0x01
+#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
+
+/**
+ * M3 Spatial constants (1041, 1042, 1043, 1044)
+ * -Values are transmitted as signed integers with a unit of 'bits'
+ * -Values are calibrated in-firmware
+ * -Values are centered at zero
+ *
+ * Precision Voltage Ref is 3.3 V
+ * AD7689 ADC is 16-bit
+ *
+ * LPR410AL x,y Analog Gyro is 2.5 mV/dps and +-400 dps
+ * LY330ALH z-axis Analog Gyro is 3.752 mV/dps and +-300 dps
+ * L3GD20 Digital Gyro is 70 mdps/bit and +-2000 dps
+ *
+ * KXR94-2050 Analog Accelerometer is 660 mV/g and +-2g
+ * MMA8451Q Digital Accelerometer is 1024 bits/g and +-8g
+ *
+ * HMC5883L Digital Compass is 3.03 mG/bit and +-5.6 Gauss
+ **/
+#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;
|