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Add calibration and separate the interface

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Signed-off-by: TheJackiMonster <thejackimonster@gmail.com>
This commit is contained in:
TheJackiMonster 2023-04-02 23:08:28 +02:00
parent a863ff6b9f
commit 2c23021a5e
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GPG key ID: D850A5F772E880F9
8 changed files with 760 additions and 367 deletions
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135
interface_lib/include/device3.h Normal file
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#pragma once
//
// Created by thejackimonster on 30.03.23.
//
// Copyright (c) 2023 thejackimonster. All rights reserved.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
// THE SOFTWARE.
//
#include <stdbool.h>
#include <stdint.h>
struct __attribute__((__packed__)) device3_packet_t {
uint8_t signature [2];
uint8_t _padding0 [2];
uint64_t timestamp;
uint8_t _padding1 [6];
uint8_t angular_velocity_x [3];
uint8_t angular_velocity_y [3];
uint8_t angular_velocity_z [3];
uint8_t _padding2 [6];
uint8_t acceleration_x [3];
uint8_t acceleration_y [3];
uint8_t acceleration_z [3];
uint8_t _padding3 [6];
int16_t magnetic_x;
int16_t magnetic_y;
int16_t magnetic_z;
uint32_t checksum;
uint8_t _padding4 [6];
};
enum device3_event_t {
DEVICE3_EVENT_UNKNOWN = 0,
DEVICE3_EVENT_INIT = 1,
DEVICE3_EVENT_UPDATE = 2,
};
struct device3_ahrs_t;
struct device3_calibration_t;
struct device3_vec3_t {
float x;
float y;
float z;
};
struct device3_quat_t {
float x;
float y;
float z;
float w;
};
typedef struct device3_packet_t device3_packet_type;
typedef enum device3_event_t device3_event_type;
typedef struct device3_ahrs_t device3_ahrs_type;
typedef struct device3_calibration_t device3_calibration_type;
typedef struct device3_vec3_t device3_vec3_type;
typedef struct device3_quat_t device3_quat_type;
typedef void (*device3_event_callback)(
uint64_t timestamp,
device3_event_type event,
const device3_ahrs_type* ahrs
);
struct device3_t {
uint16_t vendor_id;
uint16_t product_id;
void* context;
void* handle;
uint8_t interface_number;
uint8_t endpoint_address_in;
uint8_t max_packet_size_in;
uint8_t endpoint_address_out;
uint8_t max_packet_size_out;
bool detached;
bool claimed;
uint64_t last_timestamp;
void* offset;
device3_ahrs_type* ahrs;
device3_event_callback callback;
device3_calibration_type* calibration;
};
typedef struct device3_t device3_type;
device3_type* device3_open(device3_event_callback callback);
void device3_reset_calibration(device3_type* device);
int device3_load_calibration(device3_type* device, const char* path);
int device3_save_calibration(device3_type* device, const char* path);
int device3_calibrate(device3_type* device, uint32_t iterations, bool gyro, bool accel, bool magnet);
int device3_read(device3_type* device, int timeout);
device3_vec3_type device3_get_earth_acceleration(const device3_ahrs_type* ahrs);
device3_vec3_type device3_get_linear_acceleration(const device3_ahrs_type* ahrs);
device3_quat_type device3_get_orientation(const device3_ahrs_type* ahrs);
device3_vec3_type device3_get_euler(device3_quat_type quat);
void device3_close(device3_type* device);

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interface_lib/include/device4.h Normal file
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#pragma once
//
// Created by thejackimonster on 29.03.23.
//
// Copyright (c) 2023 thejackimonster. All rights reserved.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
// THE SOFTWARE.
//
#include <stdbool.h>
#include <stdint.h>
#define DEVICE4_ACTION_PASSIVE_POLL_START 0b00010
#define DEVICE4_ACTION_BRIGHTNESS_COMMAND 0b00011
#define DEVICE4_ACTION_MANUAL_POLL_CLICK 0b00101
#define DEVICE4_ACTION_ACTIVE_POLL 0b01001
#define DEVICE4_ACTION_PASSIVE_POLL_END 0b10010
#define DEVICE4_BUTTON_DISPLAY_TOGGLE 0x1
#define DEVICE4_BUTTON_BRIGHTNESS_UP 0x2
#define DEVICE4_BUTTON_BRIGHTNESS_DOWN 0x3
struct __attribute__((__packed__)) device4_packet_t {
uint8_t signature;
uint32_t checksum;
uint16_t length;
uint8_t _padding0 [4];
uint32_t timestamp;
uint8_t action;
uint8_t _padding1 [6];
union {
char text [42];
uint8_t data [42];
};
};
enum device4_event_t {
DEVICE4_EVENT_UNKNOWN = 0,
DEVICE4_EVENT_SCREEN_ON = 1,
DEVICE4_EVENT_SCREEN_OFF = 2,
DEVICE4_EVENT_BRIGHTNESS_SET = 3,
DEVICE4_EVENT_BRIGHTNESS_UP = 4,
DEVICE4_EVENT_BRIGHTNESS_DOWN = 5,
DEVICE4_EVENT_MESSAGE = 6,
};
typedef struct device4_packet_t device4_packet_type;
typedef enum device4_event_t device4_event_type;
typedef void (*device4_event_callback)(
uint32_t timestamp,
device4_event_type event,
uint8_t brightness,
const char* msg
);
struct device4_t {
uint16_t vendor_id;
uint16_t product_id;
void* context;
void* handle;
uint8_t interface_number;
uint8_t endpoint_address_in;
uint8_t max_packet_size_in;
uint8_t endpoint_address_out;
uint8_t max_packet_size_out;
bool detached;
bool claimed;
bool active;
uint8_t brightness;
device4_event_callback callback;
};
typedef struct device4_t device4_type;
device4_type* device4_open(device4_event_callback callback);
int device4_read(device4_type* device, int timeout);
void device4_close(device4_type* device);