1 /*

     2 * Copyright (c) 2008 Nokia Corporation and/or its subsidiary(-ies). 

     3 * All rights reserved.

     4 * This component and the accompanying materials are made available

     5 * under the terms of "Eclipse Public License v1.0"

     6 * which accompanies this distribution, and is available

     7 * at the URL "http://www.eclipse.org/legal/epl-v10.html".

     8 *

     9 * Initial Contributors:

    10 * Nokia Corporation - initial contribution.

    11 *

    12 * Contributors:

    13 *

    14 * Description:  Tilt compensation algorithm interface.

    15 *

    16 */

    17 

    18 

    19 #ifndef TILTCOMPENSATION_H

    20 #define TILTCOMPENSATION_H

    21 

    22 #include <e32std.h>

    23 

    24 // CONSTANT DEFINITIONS

    25 

    26 typedef RArray<TReal> RParamsArray;

    27 

    28 /** 16bit integer vector */

    29 class TInt16vector

    30     {

    31 public:

    32     TInt16 iX;

    33     TInt16 iY;

    34     TInt16 iZ;

    35     };

    36 

    37 /**

    38 * Tilt compensation input.

    39 * Input contains current accelerometer and magnetometer vectors.

    40 *

    41 * @since S60 5.0

    42 */

    43 class TTiltCompensationInput

    44     {

    45 public:

    46     /** Normalized magnetic vector in 12Q4 format */

    47     TInt16vector iMagneticVector;

    48 

    49     /** Normalized acceleration vector 12Q4 format */

    50     TInt16vector iAccelerationVector;

    51     };

    52 

    53 /**

    54 * Tilt compensation output.

    55 * Output contains compensated value from accelerometer and magnetometer

    56 * data.

    57 *

    58 * @since S60 5.0

    59 */

    60 class TTiltCompensationOutput

    61     {

    62 public:

    63     /** Heading (deg). Compensated tilt angle. */

    64     TInt16 iTheta;

    65 

    66     /** Inclination (deg) */

    67     TInt16 iDelta;

    68 

    69     /** Roll (deg) */

    70     TInt16 iRoll;

    71 

    72     /** Pitch (deg) */

    73     TInt16 iPitch;

    74     };

    75 

    76 /** Name of the library providing tilt compensation algorithms. */

    77 _LIT( KTiltCompensationLib, "tiltcompensation.dll" );

    78 

    79 /** Function ordinal definitions for the dynamically loading the library. */

    80 enum TTiltCompensationFuncOrdinal

    81     {

    82     /**

    83     * Ordinal for compensation functions which takes no parameters other than

    84     * input vector, output vector and previous theta value.

    85     */

    86     ECompensateNoParams = 1,

    87 

    88     /**

    89     * Ordinal for compensation functions which takes additional parameters in

    90     * a parameter array.

    91     */

    92     ECompensateWithParams

    93     };

    94 

    95 /** Function prototype for compensation function in ordinal ECompensateNoParams. */

    96 typedef TInt ( *CompensateFuncNoParams )(

    97     const TTiltCompensationInput&,

    98     TTiltCompensationOutput&,

    99     const TInt16 );

   100 

   101 /** Function prototype for compensation function in ordinal ECompensateWithParams. */

   102 typedef TInt ( *CompensateFuncWithParams )(

   103     const TTiltCompensationInput&,

   104     TTiltCompensationOutput&,

   105     const TInt16,

   106     const RParamsArray& );

   107 

   108 /**

   109 * Creates a compensation from accelerometer vector and magnetometer vector.

   110 *

   111 * @lib tiltcompensation.lib

   112 * @since S60 5.0

   113 * @param aInput Input for the compensation.

   114 * @param aOutput Output from the compensation.

   115 * @param aPreviousTheta Theta value from the previous calculation.

   116 * @return KErrNone if no errors. KErrGeneral if compensation error.

   117 */

   118 IMPORT_C TInt Compensate(

   119     const TTiltCompensationInput& aInput,

   120     TTiltCompensationOutput& aOutput,

   121     const TInt16 aPreviousTheta );

   122 

   123 /**

   124 * Creates a compensation from accelerometer vector and magnetometer vector.

   125 *

   126 * @lib tiltcompensation.lib

   127 * @since S60 5.0

   128 * @param aInput Input for the compensation.

   129 * @param aOutput Output from the compensation.

   130 * @param aPreviousTheta Theta value from the previous calculation.

   131 * @param aParamsArray array is used in inputing parameters to the

   132 *        tiltcompensation library.

   133 * @return KErrNone if no errors. KErrGeneral if compensation error.

   134 */

   135 IMPORT_C TInt Compensate(

   136     const TTiltCompensationInput& aInput,

   137     TTiltCompensationOutput& aOutput,

   138     const TInt16 aPreviousTheta,

   139     const RParamsArray& aParamsArray );

   140 

   141 #endif

   142 

   143 // End of File