sbgEComLogImu.h

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#ifndef SBG_ECOM_LOG_IMU_H
#define SBG_ECOM_LOG_IMU_H
 
// sbgCommonLib headers
#include <sbgCommon.h>
#include <streamBuffer/sbgStreamBuffer.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
//----------------------------------------------------------------------//
//- Log Inertial Data definitions                                      -//
//----------------------------------------------------------------------//

#define SBG_ECOM_IMU_COM_OK                 (0x00000001u << 0)      
#define SBG_ECOM_IMU_STATUS_BIT             (0x00000001u << 1)      
 
#define SBG_ECOM_IMU_ACCEL_X_BIT            (0x00000001u << 2)      
#define SBG_ECOM_IMU_ACCEL_Y_BIT            (0x00000001u << 3)      
#define SBG_ECOM_IMU_ACCEL_Z_BIT            (0x00000001u << 4)      
 
#define SBG_ECOM_IMU_GYRO_X_BIT             (0x00000001u << 5)      
#define SBG_ECOM_IMU_GYRO_Y_BIT             (0x00000001u << 6)      
#define SBG_ECOM_IMU_GYRO_Z_BIT             (0x00000001u << 7)      
 
#define SBG_ECOM_IMU_ACCELS_IN_RANGE        (0x00000001u << 8)      
#define SBG_ECOM_IMU_GYROS_IN_RANGE         (0x00000001u << 9)      
#define SBG_ECOM_IMU_GYROS_USE_HIGH_SCALE   (0x00000001u << 10)     
 
//----------------------------------------------------------------------//
//- Log structure definitions                                          -//
//----------------------------------------------------------------------//

typedef struct _SbgEComLogImuLegacy
{
    uint32_t    timeStamp;                 
    uint16_t    status;                       
    float       accelerometers[3];            
    float       gyroscopes[3];                
    float       temperature;             
    float       deltaVelocity[3];          
    float       deltaAngle[3];                
} SbgEComLogImuLegacy;

typedef struct _SbgEComLogImuShort
{
    uint32_t    timeStamp;                 
    uint16_t    status;                       
    int32_t     deltaVelocity[3];          
    int32_t     deltaAngle[3];                
    int16_t     temperature;             
} SbgEComLogImuShort;

typedef struct _SbgEComLogImuFastLegacy
{
    uint32_t    timeStamp;                 
    uint16_t    status;                       
    float       accelerometers[3];            
    float       gyroscopes[3];                
} SbgEComLogImuFastLegacy;
 
//----------------------------------------------------------------------//
//- Public methods                                                     -//
//----------------------------------------------------------------------//

SbgErrorCode sbgEComLogImuLegacyReadFromStream(SbgEComLogImuLegacy *pLogData, SbgStreamBuffer *pStreamBuffer);

SbgErrorCode sbgEComLogImuLegacyWriteToStream(const SbgEComLogImuLegacy *pLogData, SbgStreamBuffer *pStreamBuffer);

SbgErrorCode sbgEComLogImuShortReadFromStream(SbgEComLogImuShort *pLogData, SbgStreamBuffer *pStreamBuffer);

SbgErrorCode sbgEComLogImuShortWriteToStream(const SbgEComLogImuShort *pLogData, SbgStreamBuffer *pStreamBuffer);

SbgErrorCode sbgEComLogImuFastLegacyReadFromStream(SbgEComLogImuFastLegacy *pLogData, SbgStreamBuffer *pStreamBuffer);

SbgErrorCode sbgEComLogImuFastLegacyWriteToStream(const SbgEComLogImuFastLegacy *pLogData, SbgStreamBuffer *pStreamBuffer);
 
//----------------------------------------------------------------------//
//- Public setters/getters                                             -//
//----------------------------------------------------------------------//

float sbgEComLogImuShortGetDeltaAngle(const SbgEComLogImuShort *pImuShort, size_t idx);

void sbgEComLogImuShortSetDeltaAngle(SbgEComLogImuShort *pImuShort, const float *pArray, size_t arraySize);

float sbgEComLogImuShortGetDeltaVelocity(const SbgEComLogImuShort *pImuShort, size_t idx);

void sbgEComLogImuShortSetDeltaVelocity(SbgEComLogImuShort *pImuShort, const float *pArray, size_t arraySize);

float sbgEComLogImuShortGetTemperature(const SbgEComLogImuShort *pImuShort);

void sbgEComLogImuShortSetTemperature(SbgEComLogImuShort *pImuShort, float temperature);
 
//----------------------------------------------------------------------//
//- DEPRECATED - Used for backward compatibility                       -//
//----------------------------------------------------------------------//
 
SBG_DEPRECATED_TYPEDEF(typedef struct _SbgEComLogImuLegacy        SbgLogImuData);
SBG_DEPRECATED_TYPEDEF(typedef struct _SbgEComLogImuShort      SbgLogImuShort);
SBG_DEPRECATED_TYPEDEF(typedef struct _SbgEComLogImuFastLegacy    SbgLogFastImuData);
 
SBG_DEPRECATED(SbgErrorCode sbgEComBinaryLogParseImuData(SbgStreamBuffer *pStreamBuffer, SbgEComLogImuLegacy *pLogData));
SBG_DEPRECATED(SbgErrorCode sbgEComBinaryLogWriteImuData(SbgStreamBuffer *pStreamBuffer, const SbgEComLogImuLegacy *pLogData));
 
SBG_DEPRECATED(SbgErrorCode sbgEComBinaryLogParseImuShort(SbgStreamBuffer *pStreamBuffer, SbgEComLogImuShort *pLogData));
SBG_DEPRECATED(SbgErrorCode sbgEComBinaryLogWriteImuShort(SbgStreamBuffer *pStreamBuffer, const SbgEComLogImuShort *pLogData));
 
SBG_DEPRECATED(SbgErrorCode sbgEComBinaryLogParseFastImuData(SbgStreamBuffer *pStreamBuffer, SbgEComLogImuFastLegacy *pLogData));
SBG_DEPRECATED(SbgErrorCode sbgEComBinaryLogWriteFastImuData(SbgStreamBuffer *pStreamBuffer, const SbgEComLogImuFastLegacy *pLogData));
 
SBG_DEPRECATED(float sbgLogImuShortGetDeltaAngle(const SbgEComLogImuShort *pImuShort, size_t idx));
SBG_DEPRECATED(float sbgLogImuShortGetDeltaVelocity(const SbgEComLogImuShort *pImuShort, size_t idx));
SBG_DEPRECATED(float sbgLogImuShortGetTemperature(const SbgEComLogImuShort *pImuShort));
 
#ifdef __cplusplus
}
#endif
 
#endif // SBG_ECOM_LOG_IMU_H