IMUNew.h

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#ifndef DW_SENSORS_IMU_IMU_NEW_H_
#define DW_SENSORS_IMU_IMU_NEW_H_
 
#include <dw/sensors/imu/IMU.h>
#include <dw/core/signal/SignalStatus.h>
 
#ifdef __cplusplus
extern "C" {
#endif
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,
    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,
    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,
    DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_FORCE32       = 0x7FFFFFFF
} dwIMUImuTurnrateAccelQuality;
 
typedef enum dwIMUImuTimestampQuality {
    DW_IMU_IMU_TIMESTAMP_QUALITY_INIT = 0,
    DW_IMU_IMU_TIMESTAMP_QUALITY_UNCALIB = 1,
    DW_IMU_IMU_TIMESTAMP_QUALITY_OK = 2,
    DW_IMU_IMU_TIMESTAMP_QUALITY_TMP_FAIL = 3,
    DW_IMU_IMU_TIMESTAMP_QUALITY_PRMNT_FAIL = 4,
    DW_IMU_IMU_TIMESTAMP_QUALITY_SENS_NOT_INST = 5,
    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 reserved[64];
    } 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;
 
    uint8_t reserved[512];
} dwIMUFrameNew;
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_SENSOR_IMU_IMU_NEW_H_