IMU.h

Go to the documentation of this file.

 
//
// Notice
// ALL NVIDIA DESIGN SPECIFICATIONS AND CODE ("MATERIALS") ARE PROVIDED "AS IS" NVIDIA MAKES
// NO REPRESENTATIONS, WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ANY IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, OR FITNESS FOR A PARTICULAR PURPOSE.
//
// NVIDIA CORPORATION & AFFILIATES assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA CORPORATION & AFFILIATES. No third party distribution is allowed unless
// expressly authorized by NVIDIA. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA CORPORATION & AFFILIATES products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA CORPORATION & AFFILIATES.
//
// SPDX-FileCopyrightText: Copyright (c) 2016-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: LicenseRef-NvidiaProprietary
//
// NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
// property and proprietary rights in and to this material, related
// documentation and any modifications thereto. Any use, reproduction,
// disclosure or distribution of this material and related documentation
// without an express license agreement from NVIDIA CORPORATION or
// its affiliates is strictly prohibited.
//
 
#ifndef DW_SENSORS_IMU_IMU_H_
#define DW_SENSORS_IMU_IMU_H_
 
#include <dw/core/base/Config.h>
#include <dw/core/base/Exports.h>
#include <dw/core/base/Types.h>
 
#include <dw/sensors/Sensors.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef enum dwIMUFlags {
 
    DW_IMU_HEADING = 1U << 1, 
 
    DW_IMU_ROLL  = 1U << 2, 
    DW_IMU_PITCH = 1U << 3, 
    DW_IMU_YAW   = 1U << 4, 
 
    DW_IMU_QUATERNION_X = 1U << 5, 
    DW_IMU_QUATERNION_Y = 1U << 6, 
    DW_IMU_QUATERNION_Z = 1U << 7, 
    DW_IMU_QUATERNION_W = 1U << 8, 
 
    DW_IMU_ROLL_RATE  = 1U << 9,  
    DW_IMU_PITCH_RATE = 1U << 10, 
    DW_IMU_YAW_RATE   = 1U << 11, 
 
    DW_IMU_ACCELERATION_X = 1U << 12, 
    DW_IMU_ACCELERATION_Y = 1U << 13, 
    DW_IMU_ACCELERATION_Z = 1U << 14, 
 
    DW_IMU_MAGNETOMETER_X  = 1U << 15, 
    DW_IMU_MAGNETOMETER_Y  = 1U << 16, 
    DW_IMU_MAGNETOMETER_Z  = 1U << 17, 
    DW_IMU_ALIGNMENTSTATUS = 1U << 18  
 
} dwIMUFlags;
 
typedef enum dwIMUHeadingType {
 
    DW_IMU_HEADING_TRUE = 0, 
 
    DW_IMU_HEADING_MAGNETIC = 1, 
 
} dwIMUHeadingType;
 
typedef enum dwIMUAlignmentStatus {
 
    DW_IMU_ALIGNMENT_STATUS_UNKNOWN = 0,
    DW_IMU_ALIGNMENT_STATUS_INVALID = 1,
    DW_IMU_ALIGNMENT_STATUS_COARSE = 2,
    DW_IMU_ALIGNMENT_STATUS_FINE    = 3,
    DW_IMU_ALIGNMENT_STATUS_FORCE32 = 0x7FFFFFFF
} dwIMUAlignmentStatus;
 
typedef struct dwIMUFrame
{
    uint32_t flags;
 
    dwTime_t timestamp_us;
 
    float64_t orientation[3];
 
    dwQuaterniond orientationQuaternion;
 
    float64_t turnrate[3];
 
    float64_t acceleration[3];
 
    float64_t magnetometer[3];
 
    float64_t heading;
 
    dwIMUHeadingType headingType;
 
    dwIMUAlignmentStatus alignmentStatus;
 
} dwIMUFrame;
 
typedef enum dwIMUImuTempQuality {
    DW_IMU_IMU_TEMP_QUALITY_INIT = 0,
    DW_IMU_IMU_TEMP_QUALITY_UNCALIB = 1,
    DW_IMU_IMU_TEMP_QUALITY_OK = 2,
    DW_IMU_IMU_TEMP_QUALITY_TMP_FAIL = 3,
    DW_IMU_IMU_TEMP_QUALITY_PRMNT_FAIL = 4,
    DW_IMU_IMU_TEMP_QUALITY_SENS_NOT_INST = 5,
    DW_IMU_IMU_TEMP_QUALITY_FORCE32       = 0x7FFFFFFF
} dwIMUImuTempQuality;
 
typedef enum dwIMUImuAccelerationQuality {
    DW_IMU_IMU_ACCELERATION_QUALITY_INIT = 0,
    DW_IMU_IMU_ACCELERATION_QUALITY_UNCALIB = 1,
    DW_IMU_IMU_ACCELERATION_QUALITY_OK = 2,
    DW_IMU_IMU_ACCELERATION_QUALITY_TMP_FAIL = 3,
    DW_IMU_IMU_ACCELERATION_QUALITY_PRMNT_FAIL = 4,
    DW_IMU_IMU_ACCELERATION_QUALITY_SENS_NOT_INST = 5,
    // Sensor overloaded
    DW_IMU_IMU_ACCELERATION_QUALITY_OVERLOAD = 6,
    // Sensor out of operating temperature
    DW_IMU_IMU_ACCELERATION_QUALITY_TEMPERATURE = 7,
    DW_IMU_IMU_ACCELERATION_QUALITY_FORCE32     = 0x7FFFFFFF
} dwIMUImuAccelerationQuality;
 
typedef enum dwIMUImuTurnrateQuality {
    DW_IMU_IMU_TURNRATE_QUALITY_INIT = 0,
    DW_IMU_IMU_TURNRATE_QUALITY_UNCALIB = 1,
    DW_IMU_IMU_TURNRATE_QUALITY_OK = 2,
    DW_IMU_IMU_TURNRATE_QUALITY_TMP_FAIL = 3,
    DW_IMU_IMU_TURNRATE_QUALITY_PRMNT_FAIL = 4,
    DW_IMU_IMU_TURNRATE_QUALITY_SENS_NOT_INST = 5,
    // Sensor overloaded
    DW_IMU_IMU_TURNRATE_QUALITY_OVERLOAD = 6,
    // Sensor out of operating temperature
    DW_IMU_IMU_TURNRATE_QUALITY_TEMPERATURE = 7,
    DW_IMU_IMU_TURNRATE_QUALITY_FORCE32     = 0x7FFFFFFF
} dwIMUImuTurnrateQuality;
 
typedef enum dwIMUImuTurnrateAccelQuality {
    DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_INIT = 0,
    DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_UNCALIB = 1,
    DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_OK = 2,
    DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_TMP_FAIL = 3,
    DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_PRMNT_FAIL = 4,
    DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_SENS_NOT_INST = 5,
    // Sensor overloaded
    DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_OVERLOAD = 6,
    // Sensor out of operating temperature
    DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_TEMPERATURE = 7,
    DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_FORCE32     = 0x7FFFFFFF
} dwIMUImuTurnrateAccelQuality;
 
typedef enum dwIMUImuTimestampQuality {
    DW_IMU_IMU_TIMESTAMP_QUALITY_NOT_INIT = 0,
    DW_IMU_IMU_TIMESTAMP_QUALITY_OK = 2,
    DW_IMU_IMU_TIMESTAMP_QUALITY_SYNC_LOST = 3,
    DW_IMU_IMU_TIMESTAMP_QUALITY_FORCE32   = 0x7FFFFFFF
} dwIMUImuTimestampQuality;
 
typedef enum dwIMUImuStatus {
    DW_IMU_IMU_STATUS_INIT = 0,
    DW_IMU_IMU_STATUS_UNCALIB = 1,
    DW_IMU_IMU_STATUS_OK = 2,
    DW_IMU_IMU_STATUS_TMP_FAIL = 3,
    DW_IMU_IMU_STATUS_PRMNT_FAIL = 4,
    DW_IMU_IMU_STATUS_SENS_NOT_INST = 5,
    DW_IMU_IMU_STATUS_FORCE32       = 0x7FFFFFFF
} dwIMUImuStatus;
 
typedef struct dwIMUFrameNew
{
    struct
    {
        dwSignalValidity timestamp_us;
        dwSignalValidity orientation[3];
        dwSignalValidity orientationQuaternion;
        dwSignalValidity turnrate[3];
        dwSignalValidity acceleration[3];
        dwSignalValidity magnetometer[3];
        dwSignalValidity heading;
        dwSignalValidity temperature;
        dwSignalValidity accelerationOffset[3];
        dwSignalValidity turnrateOffset[3];
        dwSignalValidity turnrateAccel[3];
        dwSignalValidity imuTempQuality;
        dwSignalValidity imuAccelerationQuality[3];
        dwSignalValidity imuTurnrateQuality[3];
        dwSignalValidity imuTurnrateOffsetQuality[3];
        dwSignalValidity imuTurnrateAccelQuality[3];
        dwSignalValidity imuTimestampQuality;
        dwSignalValidity imuStatus;
        dwSignalValidity alignmentStatus;
        dwSignalValidity sequenceCounter;
        dwSignalValidity reserved[63];
    } validityInfo;
 
    dwTime_t timestamp_us;
 
    float64_t orientation[3];
 
    dwQuaterniond orientationQuaternion;
 
    float64_t turnrate[3];
 
    float64_t acceleration[3];
 
    float64_t magnetometer[3];
 
    float64_t heading;
 
    float32_t temperature;
 
    float64_t accelerationOffset[3];
 
    float64_t turnrateOffset[3];
 
    float64_t turnrateAccel[3];
 
    dwIMUImuTempQuality imuTempQuality;
 
    dwIMUImuAccelerationQuality imuAccelerationQuality[3];
 
    dwIMUImuTurnrateQuality imuTurnrateQuality[3];
 
    uint8_t imuTurnrateOffsetQuality[3];
 
    dwIMUImuTurnrateAccelQuality imuTurnrateAccelQuality[3];
 
    dwIMUImuTimestampQuality imuTimestampQuality;
 
    dwIMUImuStatus imuStatus;
 
    dwIMUAlignmentStatus alignmentStatus;
 
    uint8_t sequenceCounter;
 
    uint8_t reserved[508];
} dwIMUFrameNew;
 
DW_API_PUBLIC
dwStatus dwSensorIMU_readFrame(dwIMUFrame* const frame, dwTime_t const timeoutUs, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorIMU_processRawData(uint8_t const* const data, size_t const size, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorIMU_popFrame(dwIMUFrame* const frame, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorIMU_readFrameNew(dwIMUFrameNew* const frame, dwTime_t const timeoutUs, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorIMU_processRawDataNew(uint8_t const* const data, size_t const size, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorIMU_popFrameNew(dwIMUFrameNew* const frame, dwSensorHandle_t const sensor);
 
#ifdef __cplusplus
}
#endif
#endif // DW_SENSORS_IMU_IMU_H_