/* * * Copyright (c) [2017] by InvenSense, Inc. * * Permission to use, copy, modify, and/or distribute this software for any * purpose with or without fee is hereby granted. * * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY * SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION * OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN * CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. * */ /** @defgroup Apex APEX * @brief High-level functions to drive APEX features * @{ */ /** @file inv_imu_apex.h */ #ifndef _INV_IMU_APEX_H_ #define _INV_IMU_APEX_H_ #ifdef __cplusplus extern "C" { #endif #include "imu/inv_imu_driver.h" /** IMU APEX inputs parameters definition */ typedef struct { APEX_CONFIG3_PEDO_AMP_TH_t pedo_amp_th; uint8_t pedo_step_cnt_th; uint8_t pedo_step_det_th; APEX_CONFIG4_PEDO_SB_TIMER_TH_t pedo_sb_timer_th; APEX_CONFIG4_PEDO_HI_ENRGY_TH_t pedo_hi_enrgy_th; APEX_CONFIG5_TILT_WAIT_TIME_t tilt_wait_time; APEX_CONFIG2_DMP_POWER_SAVE_TIME_t power_save_time; APEX_CONFIG0_DMP_POWER_SAVE_t power_save; APEX_CONFIG9_SENSITIVITY_MODE_t sensitivity_mode; APEX_CONFIG2_LOW_ENERGY_AMP_TH_t low_energy_amp_th; APEX_CONFIG9_SMD_SENSITIVITY_t smd_sensitivity; APEX_CONFIG9_FF_DEBOUNCE_DURATION_t ff_debounce_duration; APEX_CONFIG12_FF_MAX_DURATION_t ff_max_duration_cm; APEX_CONFIG12_FF_MIN_DURATION_t ff_min_duration_cm; APEX_CONFIG10_LOWG_PEAK_TH_t lowg_peak_th; APEX_CONFIG5_LOWG_PEAK_TH_HYST_t lowg_peak_hyst; APEX_CONFIG10_LOWG_TIME_TH_SAMPLES_t lowg_samples_th; APEX_CONFIG11_HIGHG_PEAK_TH_t highg_peak_th; APEX_CONFIG5_HIGHG_PEAK_TH_HYST_t highg_peak_hyst; APEX_CONFIG11_HIGHG_TIME_TH_SAMPLES_t highg_samples_th; } inv_imu_apex_parameters_t; /** APEX pedometer outputs */ typedef struct inv_imu_apex_step_activity { /** Number of steps taken */ uint16_t step_cnt; /** Walk/run cadence in number of samples. * Format is u6.2. (at 50Hz and 2Hz walk frequency, if the cadence * is 25 samples, the register will output 100). */ uint8_t step_cadence; /** Detected activity. * Unknown (0), Walk (1) or Run (2) */ uint8_t activity_class; } inv_imu_apex_step_activity_t; /** @brief Enable Free Fall. * @param[in] s Pointer to device. * @return 0 on success, negative value on error. */ int inv_imu_apex_enable_ff(inv_imu_device_t *s); /** @brief Disable Free Fall. * @param[in] s Pointer to device. * @return 0 on success, negative value on error. */ int inv_imu_apex_disable_ff(inv_imu_device_t *s); /** @brief Enable Significant Motion Detection. * @param[in] s Pointer to device. * @return 0 on success, negative value on error. * @warning SMD requires to have the pedometer enabled to work. */ int inv_imu_apex_enable_smd(inv_imu_device_t *s); /** @brief Disable Significant Motion Detection. * @param[in] s Pointer to device. * @return 0 on success, negative value on error. */ int inv_imu_apex_disable_smd(inv_imu_device_t *s); /** @brief Fill the APEX parameters structure with all the default parameters for APEX algorithms. * @param[in] s Pointer to device. * @param[out] apex_inputs Default input parameters. * @return 0 on success, negative value on error. */ int inv_imu_apex_init_parameters_struct(inv_imu_device_t * s, inv_imu_apex_parameters_t *apex_inputs); /** @brief Configures DMP parameters for APEX algorithms. * @param[in] s Pointer to device. * @param[in] apex_inputs The requested input parameters. * @return 0 on success, negative value on error. * @warning APEX inputs can't change on the fly, this should be called before enabling * any APEX features. * @warning This API can't be called twice within 10 ms. */ int inv_imu_apex_configure_parameters(inv_imu_device_t * s, const inv_imu_apex_parameters_t *apex_inputs); /** @brief Returns current DMP parameters for APEX algorithms. * @param[in] s Pointer to device. * @param[out] apex_params The current parameter, fetched from registers. * @return 0 on success, negative value on error. */ int inv_imu_apex_get_parameters(inv_imu_device_t *s, inv_imu_apex_parameters_t *apex_params); /** @brief Configure DMP Output Data Rate for APEX algorithms. * @param[in] s Pointer to device. * @param[in] frequency The requested frequency. * @return 0 on success, negative value on error. * @warning Accel frequency must be higher or equal to DMP frequency. */ int inv_imu_apex_set_frequency(inv_imu_device_t *s, const APEX_CONFIG1_DMP_ODR_t frequency); /** @brief Enable APEX algorithm Pedometer. * @param[in] s Pointer to device. * @return 0 on success, negative value on error. */ int inv_imu_apex_enable_pedometer(inv_imu_device_t *s); /** @brief Disable APEX algorithm Pedometer. * @param[in] s Pointer to device. * @return 0 on success, negative value on error. */ int inv_imu_apex_disable_pedometer(inv_imu_device_t *s); /** @brief Enable APEX algorithm Tilt. * @param[in] s Pointer to device. * @return 0 on success, negative value on error. */ int inv_imu_apex_enable_tilt(inv_imu_device_t *s); /** @brief Disable APEX algorithm Tilt. * @param[in] s Pointer to device. * @return 0 on success, negative value on error. */ int inv_imu_apex_disable_tilt(inv_imu_device_t *s); /** @brief Retrieve APEX pedometer outputs and format them * @param[in] s Pointer to device. * @param[out] apex_activity Apex step and activity data value. * @return 0 on success, negative value on error. */ int inv_imu_apex_get_data_activity(inv_imu_device_t * s, inv_imu_apex_step_activity_t *apex_activity); /** @brief Retrieve APEX free fall outputs and format them * @param[in] s Pointer to device. * @param[out] freefall_duration Free fall duration in number of sample. * @return 0 on success, negative value on error. */ int inv_imu_apex_get_data_free_fall(inv_imu_device_t *s, uint16_t *freefall_duration); #ifdef __cplusplus } #endif #endif /* _INV_IMU_APEX_H_ */ /** @} */