sbgEComCmdMag.h

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#ifndef SBG_ECOM_CMD_MAG_H
#define SBG_ECOM_CMD_MAG_H
 
// sbgCommonLib headers
#include <sbgCommon.h>
 
// Project headers
#include <sbgECom.h>
 
// Local headers
#include "sbgEComCmdCommon.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
//----------------------------------------------------------------------//
//- Magnetometer definitions                                           -//
//----------------------------------------------------------------------//
 
typedef enum _SbgEComMagCalibMode
{
    SBG_ECOM_MAG_CALIB_MODE_2D          = 1,                    
    SBG_ECOM_MAG_CALIB_MODE_3D          = 2                     
} SbgEComMagCalibMode;
 
typedef enum _SbgEComMagCalibBandwidth
{
    SBG_ECOM_MAG_CALIB_LOW_BW       = 0,                        
    SBG_ECOM_MAG_CALIB_MEDIUM_BW    = 1,                        
    SBG_ECOM_MAG_CALIB_HIGH_BW      = 2                         
} SbgEComMagCalibBandwidth;
 
typedef enum _SbgEComMagCalibQuality
{
    SBG_ECOM_MAG_CALIB_QUAL_OPTIMAL = 0,                        
    SBG_ECOM_MAG_CALIB_QUAL_GOOD    = 1,                        
    SBG_ECOM_MAG_CALIB_QUAL_POOR    = 2,                        
    SBG_ECOM_MAG_CALIB_QUAL_INVALID = 3                         
} SbgEComMagCalibQuality;
 
typedef enum _SbgEComMagCalibConfidence
{
    SBG_ECOM_MAG_CALIB_TRUST_HIGH   = 0,                        
    SBG_ECOM_MAG_CALIB_TRUST_MEDIUM = 1,                        
    SBG_ECOM_MAG_CALIB_TRUST_LOW    = 2                         
} SbgEComMagCalibConfidence;
 
#define SBG_ECOM_MAG_CALIB_NOT_ENOUGH_POINTS    (0x0001u << 0)  
#define SBG_ECOM_MAG_CALIB_TOO_MUCH_DISTORTIONS (0x0001u << 1)  
#define SBG_ECOM_MAG_CALIB_X_MOTION_ISSUE       (0x0001u << 2)  
#define SBG_ECOM_MAG_CALIB_Y_MOTION_ISSUE       (0x0001u << 3)  
#define SBG_ECOM_MAG_CALIB_Z_MOTION_ISSUE       (0x0001u << 4)  
#define SBG_ECOM_MAG_CALIB_ALIGNMENT_ISSUE      (0x0001u << 5)  
typedef enum _SbgEComMagModelsStdIds
{
    SBG_ECOM_MAG_MODEL_INTERNAL_NORMAL          = 201,          
    SBG_ECOM_MAG_MODEL_INTERNAL_RESERVED        = 202,          
    SBG_ECOM_MAG_MODEL_ECOM_NORMAL              = 203,          
} SbgEComMagModelsStdId;
 
//----------------------------------------------------------------------//
//- Magnetometer configuration                                         -//
//----------------------------------------------------------------------//
 
typedef struct _SbgEComMagRejectionConf
{
    SbgEComRejectionMode    magneticField;                  
} SbgEComMagRejectionConf;
 
typedef struct _SbgEComMagCalibResults
{
    SbgEComMagCalibQuality      quality;                    
    SbgEComMagCalibConfidence   confidence;                 
    uint16_t                    advancedStatus;             
    float                       beforeMeanError;            
    float                       beforeStdError;             
    float                       beforeMaxError;             
    float                       afterMeanError;             
    float                       afterStdError;              
    float                       afterMaxError;              
    float                       meanAccuracy;               
    float                       stdAccuracy;                
    float                       maxAccuracy;                
    uint16_t                    numPoints;                  
    uint16_t                    maxNumPoints;               
    float                       offset[3];                  
    float                       matrix[9];                  
} SbgEComMagCalibResults;
 
//----------------------------------------------------------------------//
//- Magnetometer commands                                              -//
//----------------------------------------------------------------------//
 
SbgErrorCode sbgEComCmdMagSetModelId(SbgEComHandle *pHandle, SbgEComMagModelsStdId modelId);
 
SbgErrorCode sbgEComCmdMagGetModelId(SbgEComHandle *pHandle, SbgEComMagModelsStdId *pModelId);
 
SbgErrorCode sbgEComCmdMagGetRejection(SbgEComHandle *pHandle, SbgEComMagRejectionConf *pRejectConf);
 
SbgErrorCode sbgEComCmdMagSetRejection(SbgEComHandle *pHandle, const SbgEComMagRejectionConf *pRejectConf);
 
SbgErrorCode sbgEComCmdMagSetCalibData(SbgEComHandle *pHandle, const float *pOffset, const float *pMatrix);
 
SbgErrorCode sbgEComCmdMagSetCalibData2(SbgEComHandle *pHandle, const float *pOffset, const float *pMatrix, SbgEComMagCalibMode mode);
 
//----------------------------------------------------------------------//
//- Magnetometer on-board calibration commands                         -//
//----------------------------------------------------------------------//
 
SbgErrorCode sbgEComCmdMagStartCalib(SbgEComHandle *pHandle, SbgEComMagCalibMode mode, SbgEComMagCalibBandwidth bandwidth);
 
SbgErrorCode sbgEComCmdMagComputeCalib(SbgEComHandle *pHandle, SbgEComMagCalibResults *pCalibResults);
 
//----------------------------------------------------------------------//
//- DEPRECATED - Used for backward compatibility                       -//
//----------------------------------------------------------------------//
 
#ifdef SBG_ECOM_USE_DEPRECATED_MACROS
    #define SBG_ECOM_MAG_MODEL_NORMAL               (SBG_ECOM_MAG_MODEL_INTERNAL_NORMAL)
    #define SBG_ECOM_MAG_MODEL_NOISY_MAG_TOLERANT   (SBG_ECOM_MAG_MODEL_INTERNAL_RESERVED)
#endif
 
 
#ifdef __cplusplus
}
#endif
 
#endif // SBG_ECOM_CMD_MAG_H