/** Main callback to generate HAL outputs. Typically not called by library users. */
inv_error_t inv_generate_datalogger_outputs(struct inv_sensor_cal_t *sensor_cal)
{
memcpy(&dl_out.sc, sensor_cal, sizeof(struct inv_sensor_cal_t));
inv_get_quaternion_set(dl_out.quat, &dl_out.quat_accuracy,
&dl_out.quat_timestamp);
return INV_SUCCESS;
}
static inv_error_t inv_generate_eMPL_outputs
(struct inv_sensor_cal_t *sensor_cal)
{
int use_sensor;
long sr = 1000;
inv_get_quaternion_set(eMPL_out.quat, &eMPL_out.quat_accuracy, &eMPL_out.nine_axis_timestamp);
eMPL_out.gyro_status = sensor_cal->gyro.status;
eMPL_out.accel_status = sensor_cal->accel.status;
eMPL_out.compass_status = sensor_cal->compass.status;
/* Find the highest sample rate and tie sensor fusion timestamps to that one. */
if (sensor_cal->gyro.status & INV_SENSOR_ON) {
sr = sensor_cal->gyro.sample_rate_ms;
use_sensor = 0;
}
if ((sensor_cal->accel.status & INV_SENSOR_ON) && (sr > sensor_cal->accel.sample_rate_ms)) {
sr = sensor_cal->accel.sample_rate_ms;
use_sensor = 1;
}
if ((sensor_cal->compass.status & INV_SENSOR_ON) && (sr > sensor_cal->compass.sample_rate_ms)) {
sr = sensor_cal->compass.sample_rate_ms;
use_sensor = 2;
}
if ((sensor_cal->quat.status & INV_SENSOR_ON) && (sr > sensor_cal->quat.sample_rate_ms)) {
sr = sensor_cal->quat.sample_rate_ms;
use_sensor = 3;
}
switch (use_sensor) {
default:
case 0:
eMPL_out.nine_axis_status = (sensor_cal->gyro.status & INV_NEW_DATA) ? 1 : 0;
eMPL_out.nine_axis_timestamp = sensor_cal->gyro.timestamp;
break;
case 1:
eMPL_out.nine_axis_status = (sensor_cal->accel.status & INV_NEW_DATA) ? 1 : 0;
eMPL_out.nine_axis_timestamp = sensor_cal->accel.timestamp;
break;
case 2:
eMPL_out.nine_axis_status = (sensor_cal->compass.status & INV_NEW_DATA) ? 1 : 0;
eMPL_out.nine_axis_timestamp = sensor_cal->compass.timestamp;
break;
case 3:
eMPL_out.nine_axis_status = (sensor_cal->quat.status & INV_NEW_DATA) ? 1 : 0;
eMPL_out.nine_axis_timestamp = sensor_cal->quat.timestamp;
break;
}
return INV_SUCCESS;
}