165 lines
4.0 KiB
C
Executable File
165 lines
4.0 KiB
C
Executable File
/******************************************************************************
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*
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* $Id: $
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*
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* -- Copyright Notice --
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*
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* Copyright (c) 2004 Asahi Kasei Microdevices Corporation, Japan
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* All Rights Reserved.
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*
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* This software program is the proprietary program of Asahi Kasei Microdevices
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* Corporation("AKM") licensed to authorized Licensee under the respective
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* agreement between the Licensee and AKM only for use with AKM's electronic
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* compass IC.
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*
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* THIS SOFTWARE IS PROVIDED TO YOU "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABLITY, FITNESS FOR A PARTICULAR PURPOSE AND NON INFRINGEMENT OF
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* THIRD PARTY RIGHTS, AND WE SHALL NOT BE LIABLE FOR ANY LOSSES AND DAMAGES
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* WHICH MAY OCCUR THROUGH USE OF THIS SOFTWARE.
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*
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* -- End Asahi Kasei Microdevices Copyright Notice --
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*
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******************************************************************************/
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#ifndef AKMD_INC_AKCOMPASS_H
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#define AKMD_INC_AKCOMPASS_H
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#include "AKCommon.h"
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#include "CustomerSpec.h"
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#include "AKMD_Driver.h" // for using BYTE
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//**************************************
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// Include files for SmartCompass library.
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//**************************************
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#include "AKCertification.h"
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#include "AKConfigure.h"
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#include "AKDecomp.h"
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#include "AKMDevice.h"
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#include "AKMDeviceF.h"
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#include "AKDirection6D.h"
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#include "AKHDOE.h"
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#include "AKHFlucCheck.h"
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#include "AKManualCal.h"
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#include "AKVersion.h"
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#include "AKPseudoGyro.h"
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#include "AKDOEPlus.h"
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/*** Constant definition ******************************************************/
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#define THETAFILTER_SCALE 4128
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#define HFLUCV_TH 2500
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#define PDC_SIZE 27
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/*** Type declaration *********************************************************/
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typedef enum _AKMD_PATNO {
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PAT_INVALID = 0,
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PAT1,
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PAT2,
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PAT3,
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PAT4,
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PAT5,
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PAT6,
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PAT7,
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PAT8
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} AKMD_PATNO;
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/*! A parameter structure which is needed for HDOE and Direction calculation. */
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typedef struct _AKSCPRMS{
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// Variables for magnetic sensor.
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int16vec m_ho;
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int16vec HSUC_HO[CSPEC_NUM_FORMATION];
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int32vec m_ho32;
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int16vec m_hs;
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int16vec HFLUCV_HREF[CSPEC_NUM_FORMATION];
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AKSC_HFLUCVAR m_hflucv;
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// Variable for uncalibrated magnetic field.
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int32vec m_uncalib;
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int32vec m_bias;
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// Variable for magnetic field.
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int16vec m_calib;
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// Variables for DecompS3 .
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int16vec m_hdata[AKSC_HDATA_SIZE];
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int16 m_hn; // Number of acquired data
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int16vec m_hvec; // Averaged value
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int16vec m_asa;
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uint8 m_pdc[PDC_SIZE];
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uint8* m_pdcptr;
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// Variables for DOEPlus.
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int16 akm_device;
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int16 PG_filter;
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int16 m_en_doeplus;
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AKSC_DOEPVAR *m_doep_var;
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int16 m_doep_lv;
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AKSC_FLOAT DOEP_PRMS[CSPEC_NUM_FORMATION][AKSC_DOEP_SIZE];
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int16vec m_hdata_plus[AKSC_HDATA_SIZE];
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// Variables for HDOE.
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AKSC_HDOEVAR m_hdoev;
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AKSC_HDST m_hdst;
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AKSC_HDST HSUC_HDST[CSPEC_NUM_FORMATION];
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// Variables for formation change
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int16 m_form;
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int16 m_cntSuspend;
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// Variables for Direction9D.
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int16 m_d6dRet;
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int16 m_hnave;
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int16vec m_dvec;
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int16 m_theta;
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int16 m_delta;
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int16 m_hr;
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int16 m_hrhoriz;
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int16 m_ar;
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int16 m_phi180;
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int16 m_phi90;
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int16 m_eta180;
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int16 m_eta90;
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I16MATRIX m_mat;
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I16QUAT m_quat;
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// Variables for acceleration sensor.
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int16vec m_AO;
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int16vec m_avec;
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// Layout information
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AKMD_PATNO m_hlayout;
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//AKMD_PATNO m_alayout;
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//AKMD_PATNO m_glayout;
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// Variables for decimation.
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int16 m_callcnt;
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// PseudoGyro
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int16 m_pgRet;
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int16 m_pgdt;
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AKPG_COND m_pgcond;
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AKPG_VAR m_pgvar;
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int32vec m_pgout;
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I16QUAT m_pgquat;
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int16vec m_pgGravity;
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int16vec m_pgLinAcc;
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// Ceritication
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uint8 m_licenser[AKSC_CI_MAX_CHARSIZE+1]; //end with '\0'
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uint8 m_licensee[AKSC_CI_MAX_CHARSIZE+1]; //end with '\0'
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int16 m_key[AKSC_CI_MAX_KEYSIZE];
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// base
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int32vec m_hbase;
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int32vec HSUC_HBASE[CSPEC_NUM_FORMATION];
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} AKSCPRMS;
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/*** Global variables *********************************************************/
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/*** Prototype of function ****************************************************/
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#endif //AKMD_INC_AKCOMPASS_H
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