ROS 2 与 App 通讯 03：发布 BNO086 IMU 数据app/sketch/lib/Adafruit_BNO08x_Ventuno/src/sh2.h
/*
* Copyright 2015-2018 Hillcrest Laboratories, Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License and
* any applicable agreements you may have with Hillcrest Laboratories, Inc.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
/**
* @file sh2.h
* @author David Wheeler
* @date 22 Sept 2015
* @brief API Definition for Hillcrest SH-2 Sensor Hub.
*
* The sh2 API provides an interface to the Hillcrest Labs sensor hub devices.
*/
#ifndef SH2_H
#define SH2_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stdbool.h>
#include "sh2_hal.h"
/***************************************************************************************
* Public type definitions
***************************************************************************************/
/**
* @brief Sensor Event
*
* See the SH-2 Reference Manual for more detail.
*/
#define SH2_MAX_SENSOR_EVENT_LEN (16)
typedef struct sh2_SensorEvent {
uint64_t timestamp_uS;
uint8_t len;
uint8_t reportId;
uint8_t report[SH2_MAX_SENSOR_EVENT_LEN];
} sh2_SensorEvent_t;
typedef void (sh2_SensorCallback_t)(void * cookie, sh2_SensorEvent_t *pEvent);
/**
* @brief Product Id value
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_ProductId_s {
uint8_t resetCause;
uint8_t swVersionMajor;
uint8_t swVersionMinor;
uint32_t swPartNumber;
uint32_t swBuildNumber;
uint16_t swVersionPatch;
uint8_t reserved0;
uint8_t reserved1;
} sh2_ProductId_t;
#define SH2_MAX_PROD_ID_ENTRIES (5)
typedef struct sh2_ProductIds_s {
sh2_ProductId_t entry[SH2_MAX_PROD_ID_ENTRIES];
uint8_t numEntries;
} sh2_ProductIds_t;
/**
* @brief List of sensor types supported by the hub
*
* See the SH-2 Reference Manual for more information on each type.
*/
enum sh2_SensorId_e {
SH2_RAW_ACCELEROMETER = 0x14,
SH2_ACCELEROMETER = 0x01,
SH2_LINEAR_ACCELERATION = 0x04,
SH2_GRAVITY = 0x06,
SH2_RAW_GYROSCOPE = 0x15,
SH2_GYROSCOPE_CALIBRATED = 0x02,
SH2_GYROSCOPE_UNCALIBRATED = 0x07,
SH2_RAW_MAGNETOMETER = 0x16,
SH2_MAGNETIC_FIELD_CALIBRATED = 0x03,
SH2_MAGNETIC_FIELD_UNCALIBRATED = 0x0f,
SH2_ROTATION_VECTOR = 0x05,
SH2_GAME_ROTATION_VECTOR = 0x08,
SH2_GEOMAGNETIC_ROTATION_VECTOR = 0x09,
SH2_PRESSURE = 0x0a,
SH2_AMBIENT_LIGHT = 0x0b,
SH2_HUMIDITY = 0x0c,
SH2_PROXIMITY = 0x0d,
SH2_TEMPERATURE = 0x0e,
SH2_RESERVED = 0x17,
SH2_TAP_DETECTOR = 0x10,
SH2_STEP_DETECTOR = 0x18,
SH2_STEP_COUNTER = 0x11,
SH2_SIGNIFICANT_MOTION = 0x12,
SH2_STABILITY_CLASSIFIER = 0x13,
SH2_SHAKE_DETECTOR = 0x19,
SH2_FLIP_DETECTOR = 0x1a,
SH2_PICKUP_DETECTOR = 0x1b,
SH2_STABILITY_DETECTOR = 0x1c,
SH2_PERSONAL_ACTIVITY_CLASSIFIER = 0x1e,
SH2_SLEEP_DETECTOR = 0x1f,
SH2_TILT_DETECTOR = 0x20,
SH2_POCKET_DETECTOR = 0x21,
SH2_CIRCLE_DETECTOR = 0x22,
SH2_HEART_RATE_MONITOR = 0x23,
SH2_ARVR_STABILIZED_RV = 0x28,
SH2_ARVR_STABILIZED_GRV = 0x29,
SH2_GYRO_INTEGRATED_RV = 0x2A,
SH2_IZRO_MOTION_REQUEST = 0x2B,
// UPDATE to reflect greatest sensor id
SH2_MAX_SENSOR_ID = 0x2B,
};
typedef uint8_t sh2_SensorId_t;
/**
* @brief Sensor Configuration settings
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_SensorConfig {
/* Change sensitivity enabled */
bool changeSensitivityEnabled; /**< @brief Enable reports on change */
/* Change sensitivity - true if relative; false if absolute */
bool changeSensitivityRelative; /**< @brief Change reports relative (vs absolute) */
/* Wake-up enabled */
bool wakeupEnabled; /**< @brief Wake host on event */
/* Always on enabled */
bool alwaysOnEnabled; /**< @brief Sensor remains on in sleep state */
/* 16-bit signed fixed point integer representing the value a
* sensor output must exceed in order to trigger another input
* report. A setting of 0 causes all reports to be sent.
*/
uint16_t changeSensitivity; /**< @brief Report-on-change threshold */
/* Interval in microseconds between asynchronous input reports. */
uint32_t reportInterval_us; /**< @brief [uS] Report interval */
/* Reserved field, not used. */
uint32_t batchInterval_us; /**< @brief [uS] Batch interval */
/* Meaning is sensor specific */
uint32_t sensorSpecific; /**< @brief See SH-2 Reference Manual for details. */
} sh2_SensorConfig_t;
/**
* @brief Sensor Metadata Record
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_SensorMetadata {
uint8_t meVersion; /**< @brief Motion Engine Version */
uint8_t mhVersion; /**< @brief Motion Hub Version */
uint8_t shVersion; /**< @brief SensorHub Version */
uint32_t range; /**< @brief Same units as sensor reports */
uint32_t resolution; /**< @brief Same units as sensor reports */
uint16_t revision; /**< @brief Metadata record format revision */
uint16_t power_mA; /**< @brief [mA] Fixed point 16Q10 format */
uint32_t minPeriod_uS; /**< @brief [uS] */
uint32_t maxPeriod_uS; /**< @brief [uS] */
uint32_t fifoReserved; /**< @brief (Unused) */
uint32_t fifoMax; /**< @brief (Unused) */
uint32_t batchBufferBytes; /**< @brief (Unused) */
uint16_t qPoint1; /**< @brief q point for sensor values */
uint16_t qPoint2; /**< @brief q point for accuracy or bias fields */
uint16_t qPoint3; /**< @brief q point for sensor data change sensitivity */
uint32_t vendorIdLen; /**< @brief [bytes] */
char vendorId[48]; /**< @brief Vendor name and part number */
uint32_t sensorSpecificLen; /**< @brief [bytes] */
uint8_t sensorSpecific[48]; /**< @brief See SH-2 Reference Manual */
} sh2_SensorMetadata_t;
/**
* @brief SensorHub Error Record
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_ErrorRecord {
uint8_t severity; /**< @brief Error severity, 0: most severe. */
uint8_t sequence; /**< @brief Sequence number (by severity) */
uint8_t source; /**< @brief 1-MotionEngine, 2-MotionHub, 3-SensorHub, 4-Chip */
uint8_t error; /**< @brief See SH-2 Reference Manual */
uint8_t module; /**< @brief See SH-2 Reference Manual */
uint8_t code; /**< @brief See SH-2 Reference Manual */
} sh2_ErrorRecord_t;
/**
* @brief SensorHub Counter Record
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_Counts {
uint32_t offered; /**< @brief [events] */
uint32_t accepted; /**< @brief [events] */
uint32_t on; /**< @brief [events] */
uint32_t attempted; /**< @brief [events] */
} sh2_Counts_t;
/**
* @brief Values for specifying tare basis
*
* See the SH-2 Reference Manual for more detail.
*/
typedef enum sh2_TareBasis {
SH2_TARE_BASIS_ROTATION_VECTOR = 0, /**< @brief Use Rotation Vector */
SH2_TARE_BASIS_GAMING_ROTATION_VECTOR = 1, /**< @brief Use Game Rotation Vector */
SH2_TARE_BASIS_GEOMAGNETIC_ROTATION_VECTOR = 2, /**< @brief Use Geomagnetic R.V. */
} sh2_TareBasis_t;
/**
* @brief Bit Fields for specifying tare axes.
*
* See the SH-2 Reference Manual for more detail.
*/
typedef enum sh2_TareAxis {
SH2_TARE_X = 1, /**< @brief sh2_tareNow() axes bit field */
SH2_TARE_Y = 2, /**< @brief sh2_tareNow() axes bit field */
SH2_TARE_Z = 4, /**< @brief sh2_tareNow() axes bit field */
} sh2_TareAxis_t;
/**
* @brief Quaternion (double precision floating point representation.)
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_Quaternion {
double x;
double y;
double z;
double w;
} sh2_Quaternion_t;
/**
* @brief Oscillator type: Internal or External
*
* See the SH-2 Reference Manual for more detail.
*/
typedef enum {
SH2_OSC_INTERNAL = 0,
SH2_OSC_EXT_CRYSTAL = 1,
SH2_OSC_EXT_CLOCK = 2,
} sh2_OscType_t;
/**
* @brief Calibration result
*
* See the SH-2 Reference Manual, Finish Calibration Response.
*/
typedef enum {
SH2_CAL_SUCCESS = 0,
SH2_CAL_NO_ZRO,
SH2_CAL_NO_STATIONARY_DETECTION,
SH2_CAL_ROTATION_OUTSIDE_SPEC,
SH2_CAL_ZRO_OUTSIDE_SPEC,
SH2_CAL_ZGO_OUTSIDE_SPEC,
SH2_CAL_GYRO_GAIN_OUTSIDE_SPEC,
SH2_CAL_GYRO_PERIOD_OUTSIDE_SPEC,
SH2_CAL_GYRO_DROPS_OUTSIDE_SPEC,
} sh2_CalStatus_t;
// FRS Record Ids
#define STATIC_CALIBRATION_AGM (0x7979)
#define NOMINAL_CALIBRATION (0x4D4D)
#define STATIC_CALIBRATION_SRA (0x8A8A)
#define NOMINAL_CALIBRATION_SRA (0x4E4E)
#define DYNAMIC_CALIBRATION (0x1F1F)
#define ME_POWER_MGMT (0xD3E2)
#define SYSTEM_ORIENTATION (0x2D3E)
#define ACCEL_ORIENTATION (0x2D41)
#define SCREEN_ACCEL_ORIENTATION (0x2D43)
#define GYROSCOPE_ORIENTATION (0x2D46)
#define MAGNETOMETER_ORIENTATION (0x2D4C)
#define ARVR_STABILIZATION_RV (0x3E2D)
#define ARVR_STABILIZATION_GRV (0x3E2E)
#define TAP_DETECT_CONFIG (0xC269)
#define SIG_MOTION_DETECT_CONFIG (0xC274)
#define SHAKE_DETECT_CONFIG (0x7D7D)
#define MAX_FUSION_PERIOD (0xD7D7)
#define SERIAL_NUMBER (0x4B4B)
#define ES_PRESSURE_CAL (0x39AF)
#define ES_TEMPERATURE_CAL (0x4D20)
#define ES_HUMIDITY_CAL (0x1AC9)
#define ES_AMBIENT_LIGHT_CAL (0x39B1)
#define ES_PROXIMITY_CAL (0x4DA2)
#define ALS_CAL (0xD401)
#define PROXIMITY_SENSOR_CAL (0xD402)
#define PICKUP_DETECTOR_CONFIG (0x1B2A)
#define FLIP_DETECTOR_CONFIG (0xFC94)
#define STABILITY_DETECTOR_CONFIG (0xED85)
#define ACTIVITY_TRACKER_CONFIG (0xED88)
#define SLEEP_DETECTOR_CONFIG (0xED87)
#define TILT_DETECTOR_CONFIG (0xED89)
#define POCKET_DETECTOR_CONFIG (0xEF27)
#define CIRCLE_DETECTOR_CONFIG (0xEE51)
#define USER_RECORD (0x74B4)
#define ME_TIME_SOURCE_SELECT (0xD403)
#define UART_FORMAT (0xA1A1)
#define GYRO_INTEGRATED_RV_CONFIG (0xA1A2)
#define FRS_ID_META_RAW_ACCELEROMETER (0xE301)
#define FRS_ID_META_ACCELEROMETER (0xE302)
#define FRS_ID_META_LINEAR_ACCELERATION (0xE303)
#define FRS_ID_META_GRAVITY (0xE304)
#define FRS_ID_META_RAW_GYROSCOPE (0xE305)
#define FRS_ID_META_GYROSCOPE_CALIBRATED (0xE306)
#define FRS_ID_META_GYROSCOPE_UNCALIBRATED (0xE307)
#define FRS_ID_META_RAW_MAGNETOMETER (0xE308)
#define FRS_ID_META_MAGNETIC_FIELD_CALIBRATED (0xE309)
#define FRS_ID_META_MAGNETIC_FIELD_UNCALIBRATED (0xE30A)
#define FRS_ID_META_ROTATION_VECTOR (0xE30B)
#define FRS_ID_META_GAME_ROTATION_VECTOR (0xE30C)
#define FRS_ID_META_GEOMAGNETIC_ROTATION_VECTOR (0xE30D)
#define FRS_ID_META_PRESSURE (0xE30E)
#define FRS_ID_META_AMBIENT_LIGHT (0xE30F)
#define FRS_ID_META_HUMIDITY (0xE310)
#define FRS_ID_META_PROXIMITY (0xE311)
#define FRS_ID_META_TEMPERATURE (0xE312)
#define FRS_ID_META_TAP_DETECTOR (0xE313)
#define FRS_ID_META_STEP_DETECTOR (0xE314)
#define FRS_ID_META_STEP_COUNTER (0xE315)
#define FRS_ID_META_SIGNIFICANT_MOTION (0xE316)
#define FRS_ID_META_STABILITY_CLASSIFIER (0xE317)
#define FRS_ID_META_SHAKE_DETECTOR (0xE318)
#define FRS_ID_META_FLIP_DETECTOR (0xE319)
#define FRS_ID_META_PICKUP_DETECTOR (0xE31A)
#define FRS_ID_META_STABILITY_DETECTOR (0xE31B)
#define FRS_ID_META_PERSONAL_ACTIVITY_CLASSIFIER (0xE31C)
#define FRS_ID_META_SLEEP_DETECTOR (0xE31D)
#define FRS_ID_META_TILT_DETECTOR (0xE31E)
#define FRS_ID_META_POCKET_DETECTOR (0xE31F)
#define FRS_ID_META_CIRCLE_DETECTOR (0xE320)
#define FRS_ID_META_HEART_RATE_MONITOR (0xE321)
#define FRS_ID_META_ARVR_STABILIZED_RV (0xE322)
#define FRS_ID_META_ARVR_STABILIZED_GRV (0xE323)
#define FRS_ID_META_GYRO_INTEGRATED_RV (0xE324)
/**
* @brief Interactive ZRO Motion Intent
*
* See the SH-2 Reference Manual, 6.4.13
*/
typedef enum {
SH2_IZRO_MI_UNKNOWN = 0,
SH2_IZRO_MI_STATIONARY_NO_VIBRATION,
SH2_IZRO_MI_STATIONARY_WITH_VIBRATION,
SH2_IZRO_MI_IN_MOTION,
} sh2_IZroMotionIntent_t;
/**
* @brief Interactive ZRO Motion Intent
*
* See the SH-2 Reference Manual, 6.4.13
*/
typedef enum {
SH2_IZRO_MR_NO_REQUEST = 0,
SH2_IZRO_MR_STAY_STATIONARY,
SH2_IZRO_MR_STATIONARY_NON_URGENT,
SH2_IZRO_MR_STATIONARY_URGENT,
} sh2_IZroMotionRequest_t;
/**
* @brief Asynchronous Event
*
* Represents reset events and other non-sensor events received from SH-2 sensor hub.
*/
enum sh2_AsyncEventId_e {
SH2_RESET,
SH2_SHTP_EVENT,
SH2_GET_FEATURE_RESP,
};
typedef enum sh2_AsyncEventId_e sh2_AsyncEventId_t;
enum sh2_ShtpEvent_e {
SH2_SHTP_TX_DISCARD = 0,
SH2_SHTP_SHORT_FRAGMENT = 1,
SH2_SHTP_TOO_LARGE_PAYLOADS = 2,
SH2_SHTP_BAD_RX_CHAN = 3,
SH2_SHTP_BAD_TX_CHAN = 4,
};
typedef uint8_t sh2_ShtpEvent_t;
typedef struct sh2_SensorConfigResp_e {
sh2_SensorId_t sensorId;
sh2_SensorConfig_t sensorConfig;
} sh2_SensorConfigResp_t;
typedef struct sh2_AsyncEvent {
uint32_t eventId;
union {
sh2_ShtpEvent_t shtpEvent;
sh2_SensorConfigResp_t sh2SensorConfigResp;
};
} sh2_AsyncEvent_t;
typedef void (sh2_EventCallback_t)(void * cookie, sh2_AsyncEvent_t *pEvent);
/***************************************************************************************
* Public API
**************************************************************************************/
/**
* @brief Open a session with a sensor hub.
*
* This function should be called before others in this API.
* An instance of an SH2 HAL should be passed in.
* This call will result in the open() function of the HAL being called.
*
* As part of the initialization process, a callback function is registered that will
* be invoked when the device generates certain events. (See sh2_AsyncEventId)
*
* @param pHal Pointer to an SH2 HAL instance, provided by the target system.
* @param eventCallback Will be called when events, such as reset complete, occur.
* @param eventCookie Will be passed to eventCallback.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_open(sh2_Hal_t *pHal,
sh2_EventCallback_t *eventCallback, void *eventCookie);
/**
* @brief Close a session with a sensor hub.
*
* This should be called at the end of a sensor hub session.
* The underlying SHTP and HAL instances will be closed.
*
*/
void sh2_close(void);
/**
* @brief Service the SH2 device, reading any data that is available and dispatching callbacks.
*
* This function should be called periodically by the host system to service an open sensor hub.
*
*/
void sh2_service(void);
/**
* @brief Register a function to receive sensor events.
*
* @param callback A function that will be called each time a sensor event is received.
* @param cookie A value that will be passed to the sensor callback function.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_setSensorCallback(sh2_SensorCallback_t *callback, void *cookie);
/**
* @brief Reset the sensor hub device by sending RESET (1) command on "device" channel.
*
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_devReset(void);
/**
* @brief Turn sensor hub on by sending ON (2) command on "device" channel.
*
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_devOn(void);
/**
* @brief Put sensor hub in sleep state by sending SLEEP (3) command on "device" channel.
*
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_devSleep(void);
/**
* @brief Get Product ID information from Sensorhub.
*
* @param prodIds Pointer to structure that will receive results.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_getProdIds(sh2_ProductIds_t *prodIds);
/**
* @brief Get sensor configuration.
*
* @param sensorId Which sensor to query.
* @param config SensorConfig structure to store results.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_getSensorConfig(sh2_SensorId_t sensorId, sh2_SensorConfig_t *config);
/**
* @brief Set sensor configuration. (e.g enable a sensor at a particular rate.)
*
* @param sensorId Which sensor to configure.
* @param pConfig Pointer to structure holding sensor configuration.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_setSensorConfig(sh2_SensorId_t sensorId, const sh2_SensorConfig_t *pConfig);
/**
* @brief Get metadata related to a sensor.
*
* @param sensorId Which sensor to query.
* @param pData Pointer to structure to receive the results.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_getMetadata(sh2_SensorId_t sensorId, sh2_SensorMetadata_t *pData);
/**
* @brief Get an FRS record.
*
* @param recordId Which FRS Record to retrieve.
* @param pData pointer to buffer to receive the results
* @param[in] words Size of pData buffer, in 32-bit words.
* @param[out] words Number of 32-bit words retrieved.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_getFrs(uint16_t recordId, uint32_t *pData, uint16_t *words);
/**
* @brief Set an FRS record
*
* @param recordId Which FRS Record to set.
* @param pData pointer to buffer containing the new data.
* @param words number of 32-bit words to write. (0 to delete record.)
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_setFrs(uint16_t recordId, uint32_t *pData, uint16_t words);
/**
* @brief Get error counts.
*
* @param severity Only errors of this severity or greater are returned.
* @param pErrors Buffer to receive error codes.
* @param numErrors size of pErrors array
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_getErrors(uint8_t severity, sh2_ErrorRecord_t *pErrors, uint16_t *numErrors);
/**
* @brief Read counters related to a sensor.
*
* @param sensorId Which sensor to operate on.
* @param pCounts Pointer to Counts structure that will receive data.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_getCounts(sh2_SensorId_t sensorId, sh2_Counts_t *pCounts);
/**
* @brief Clear counters related to a sensor.
*
* @param sensorId which sensor to operate on.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_clearCounts(sh2_SensorId_t sensorId);
/**
* @brief Perform a tare operation on one or more axes.
*
* @param axes Bit mask specifying which axes should be tared.
* @param basis Which rotation vector to use as the basis for Tare adjustment.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_setTareNow(uint8_t axes, // SH2_TARE_X | SH2_TARE_Y | SH2_TARE_Z
sh2_TareBasis_t basis);
/**
* @brief Clears the previously applied tare operation.
*
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_clearTare(void);
/**
* @brief Persist the results of last tare operation to flash.
*
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_persistTare(void);
/**
* @brief Set the current run-time sensor reorientation. (Set to zero to clear tare.)
*
* @param orientation Quaternion rotation vector to apply as new tare.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_setReorientation(sh2_Quaternion_t *orientation);
/**
* @brief Command the sensorhub to reset.
*
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_reinitialize(void);
/**
* @brief Save Dynamic Calibration Data to flash.
*
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_saveDcdNow(void);
/**
* @brief Get Oscillator type.
*
* @param pOscType pointer to data structure to receive results.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_getOscType(sh2_OscType_t *pOscType);
// Flags for sensors field of sh_calConfig
#define SH2_CAL_ACCEL (0x01)
#define SH2_CAL_GYRO (0x02)
#define SH2_CAL_MAG (0x04)
#define SH2_CAL_PLANAR (0x08)
/**
* @brief Enable/Disable dynamic calibration for certain sensors
*
* @param sensors Bit mask to configure which sensors are affected.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_setCalConfig(uint8_t sensors);
/**
* @brief Get dynamic calibration configuration settings.
*
* @param pSensors pointer to Bit mask, set on return.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_getCalConfig(uint8_t *pSensors);
/**
* @brief Configure automatic saving of dynamic calibration data.
*
* @param enabled Enable or Disable DCD auto-save.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_setDcdAutoSave(bool enabled);
/**
* @brief Immediately issue all buffered sensor reports from a given sensor.
*
* @param sensorId Which sensor reports to flush.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_flush(sh2_SensorId_t sensorId);
/**
* @brief Command clear DCD in RAM, then reset sensor hub.
*
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_clearDcdAndReset(void);
/**
* @brief Start simple self-calibration procedure.
*
* @parameter interval_us sensor report interval, uS.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_startCal(uint32_t interval_us);
/**
* @brief Finish simple self-calibration procedure.
*
* @parameter status contains calibration status code on return.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_finishCal(sh2_CalStatus_t *status);
/**
* @brief send Interactive ZRO Request.
*
* @parameter intent Inform the sensor hub what sort of motion should be in progress.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_setIZro(sh2_IZroMotionIntent_t intent);
#ifdef __cplusplus
} // extern "C"
#endif
#endif