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