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- /************************************************************************
- * Copyright (C) 2018, Hisilicon Tech. Co., Ltd.
- * ALL RIGHTS RESERVED
- * FileName: mpi_montionfusion.h
- * Description: init draft
- *
- *************************************************************************/
- #ifndef __MPI_MONTIONFUSION_H__
- #define __MPI_MONTIONFUSION_H__
- #include "hi_type.h"
- #include "hi_comm_motionfusion.h"
- #ifdef __cplusplus
- #if __cplusplus
- extern "C" {
- #endif
- #endif /* End of #ifdef __cplusplus */
- //-------------------------set fusion attr --------------------------------------------
- HI_S32 HI_MPI_MOTIONFUSION_SetAttr(const MFUSION_ATTR_S *pstMFusionAttr);
- HI_S32 HI_MPI_MOTIONFUSION_GetAttr(MFUSION_ATTR_S *pstMFusionAttr);
- //-------------------------set calibration param --------------------------------------------
- /* gyro drift cal */
- HI_S32 HI_MPI_MONTIONFUSION_SetGyroDrift(HI_BOOL bEnDrift, IMU_DRIFT aGyroDrift);
- HI_S32 HI_MPI_MONTIONFUSION_GetGyroDrift(HI_BOOL *pbEnDrift, IMU_DRIFT aGyroDrift);
- /* gyro six side cal */
- HI_S32 HI_MPI_MONTIONFUSION_SetGyroSixSideCal(HI_BOOL bEnSixSideCal, IMU_MATRIX aRotationMatrix);
- HI_S32 HI_MPI_MONTIONFUSION_GetGyroSixSideCal(HI_BOOL *pbEnSixSideCal, IMU_MATRIX aRotationMatrix);
- /* gyro temp cal */
- /* acc offset drift cal */
- HI_S32 HI_MPI_MONTIONFUSION_SetACCDrift(HI_BOOL bEnDrift, IMU_DRIFT aACCDrift);
- HI_S32 HI_MPI_MONTIONFUSION_GetACCDrift(HI_BOOL *pbEnDrift, IMU_DRIFT aACCDrift);
- /* acc six side cal */
- HI_S32 HI_MPI_MONTIONFUSION_SetACCSixSideCal(HI_BOOL bEnSixSideCal, IMU_MATRIX aRotationMatrix);
- HI_S32 HI_MPI_MONTIONFUSION_GetAccSixSideCal(HI_BOOL *pbEnSixSideCal, IMU_MATRIX aRotationMatrix);
- #ifdef __cplusplus
- #if __cplusplus
- }
- #endif
- #endif /* End of #ifdef __cplusplus */
- #endif/* End of #ifndef __MPI_MONTIONFUSION_H__*/
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