vmu931.h

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/*
 * vmu931 library header
 *
 * Copyright 2018 (C) Bartosz Meglicki <meglickib@gmail.com>
 *
 * This Source Code Form is subject to the terms of the Mozilla Public
 * License, v. 2.0. If a copy of the MPL was not distributed with this
 * file, You can obtain one at http://mozilla.org/MPL/2.0/. 
 *
 */
 
#ifndef VMU931_H_
#define VMU931_H_

#ifdef __cplusplus
extern "C" {
#endif

#include <stdint.h>

struct vmu;

struct vmu_tx
{
    uint32_t timestamp_ms; 
    float x; 
};

struct vmu_txyz
{
    uint32_t timestamp_ms; 
    float x; 
    float y; 
    float z; 
};

struct vmu_twxyz
{
    uint32_t timestamp_ms; 
    float w; 
    float x; 
    float y; 
    float z; 
};

/* TEXT RELATED */

enum {VMU_MAX_STRING_SIZE=255};

struct vmu_text
{
    char text[VMU_MAX_STRING_SIZE]; 
};

/* STATUS RELATED */

enum vmu_sensors_enum {VMU_SENSORS_ACCEL=0x01, VMU_SENSORS_GYRO=0x02, VMU_SENSORS_MAG=0x04};

enum vmu_resolution_enum {VMU_RESOLUTION_ACCEL_2G=0x01, VMU_RESOLUTION_ACCEL_4G=0x02,
      VMU_RESOLUTION_ACCEL_8G=0x04, VMU_RESOLUTION_ACCEL_16G=0x08,
      VMU_RESOLUTION_GYRO_250DPS=0x10, VMU_RESOLUTION_GYRO_500DPS=0x20,
      VMU_RESOLUTION_GYRO_1000DPS=0x40, VMU_RESOLUTION_GYRO_2000DPS=0x80};

enum vmu_stream_enum { VMU_STREAM_ACCEL=0x01,  VMU_STREAM_GYRO = 0x02, VMU_STREAM_QUAT=0x04,  
    VMU_STREAM_MAG=0x08, VMU_STREAM_EULER=0x10, VMU_STREAM_HEAD=0x40 };

struct vmu_status
{
    uint8_t sensors; 
    uint8_t resolution; 
    uint8_t low_rate; 
    uint32_t stream; 
};

struct vmu_size
{
    int accel;
    int gyro;
    int mag;
    int euler;
    int quat;
    int head;   
    int text;
    int status;
};

struct vmu_data
{
    struct vmu_txyz *accel;
    struct vmu_txyz *gyro;
    struct vmu_txyz *mag;
    struct vmu_txyz *euler;
    struct vmu_twxyz *quat;
    struct vmu_tx *head;
    struct vmu_text *text;
    struct vmu_status *status;

    struct vmu_size size; //array sizes
};

enum vmu_retval_enum {
    VMU_ERROR=-1, 
    VMU_OK=0, 
    VMU_DATA_PENDING=1 
    };

    
struct vmu *vmu_init(const char *tty);

int vmu_close(struct vmu *v);



int vmu_accel(struct vmu *v, struct vmu_txyz *data, int size);
int vmu_gyro(struct vmu *v, struct vmu_txyz *data, int size);
int vmu_mag(struct vmu *v, struct vmu_txyz *data, int size);
int vmu_euler(struct vmu *v, struct vmu_txyz *data, int size);
int vmu_quat(struct vmu *v, struct vmu_twxyz *data, int size);
int vmu_head(struct vmu *v, struct vmu_tx *data, int size);

int vmu_read_all(struct vmu *v, struct vmu_data *data);

int vmu_stream(struct vmu *v, uint32_t stream);

int vmu_resolution(struct vmu *v, uint32_t resolution);

//commands

int vmu_selftest(struct vmu *v, struct vmu_text *data);

int vmu_calibrate(struct vmu *v, struct vmu_text *data);

int vmu_status(struct vmu *v, struct vmu_status *data);

int vmu_fd(struct vmu *v);

#ifdef __cplusplus
}
#endif

#endif //VMU931_H_