/*****************************************************************************
* Copyright (C), 2019, MEMSIC Inc.
* File Name		: MemsicAlgo.h
* Author		: MEMSIC AE Algoritm Team
* Description	: This file is the head file of MemsicAlgo.lib. It provides the 
* 			      interface function declarations of the lib. 
* History		: 1. Data			: 20190902
* 			  	  2. Author			: YGP
*			  	  3. Modification	: V3.1	
*****************************************************************************/
#ifndef _MEMSICALGORITHM_H_
#define _MEMSICALGORITHM_H_

#define ANDROID_PLATFORM	1
#define EVB_PLATFORM		2
#define WINDOWS_PLATFORM	3
#define PLATFORM			EVB_PLATFORM

#if((PLATFORM == ANDROID_PLATFORM)||(PLATFORM == EVB_PLATFORM))
#define DLL_API
#define _stdcall
#elif(PLATFORM == WINDOWS_PLATFORM)
#define DLL_API extern "C" __declspec(dllexport)
#endif

#if(PLATFORM == ANDROID_PLATFORM)
#include "MemsicConfig.h"
#include <utils/Log.h>	//ALOGE
#endif

#ifndef MEMSIC_ALGORITHM_DATA_TYPES
#define MEMSIC_ALGORITHM_DATA_TYPES
typedef   signed char	int8; 	// signed 8-bit number    (-128 to +127)
typedef unsigned char	uint8; 	// unsigned 8-bit number  (+0 to +255)
typedef   signed short  int16; 	// signed 16-bt number    (-32,768 to +32,767)
typedef unsigned short  uint16; // unsigned 16-bit number (+0 to +65,535)
typedef   signed int	int32; 	// signed 32-bit number   (-2,147,483,648 to +2,147,483,647)
typedef unsigned int	uint32; // unsigned 32-bit number (+0 to +4,294,967,295)
#endif

#if(PLATFORM == ANDROID_PLATFORM)
/*******************************************************************************************
* Function Name	: AlgoInitial
* Description	: Initialize the algorithm.
* Input			: None
* Output		: None.
* Return		: 1 --- succeed.
*				 -1 --- fail.
********************************************************************************************/
int AlgoInitial(void);
#elif((PLATFORM == EVB_PLATFORM)||(PLATFORM == WINDOWS_PLATFORM))
/*******************************************************************************************
* Function Name	: InitialAlgorithm
* Description	: Initial the corrected parameters for magnetic sensor.
* Input			: sim[0-8] ---soft iron corrected parameters;
*				  mag_para[0-2]---mag offset;
*				  mag_para[3]  ---mag radius or magnetic field strength;
* Output		: None.
* Return		: 1 --- succeed.
*				 -1 --- fail.
********************************************************************************************/
DLL_API int _stdcall InitialAlgorithm(float *sim, float *mag_para);
#endif
/*******************************************************************************************
* Function Name	: MainAlgorithmProcess
* Description	: Pass the Acc and Mag raw data to the algorithm library.
* Input			: acc[0-2] --- Acceleration raw data of three axis, unit is g;
* 				  mag[0-2] --- Magnetic raw data of three axis, unit is gauss;
*		          enable_cali --- 1 means automatic mag calibration is enabled, 0 not;
* Output		: None.
* Return		: 1 --- succeed.
*				 -1 --- fail.
********************************************************************************************/
DLL_API int _stdcall MainAlgorithmProcess(float *acc, float *mag, int enable_cali);

/*******************************************************************************************
* Function Name	: GetMagAccuracy
* Description	: Get the accuracy of the calibration algorithm.
* Input			: None
* Output		: None
* Return		: 0 --- Unreliable.
*				: 1 --- Low. 
*				: 2 --- Medium. 
*				: 3 --- High. 
********************************************************************************************/
DLL_API int _stdcall GetMagAccuracy(void);

/*******************************************************************************************
* Function Name	: GetMagSaturation
* Description	: Get the magnetic sensor saturation status.
* Input			: None
* Output		: None
* Return		: 0 --- Indicate that magnetic sensor works normally.
*				: 1 --- Indicate that magnetic sensor is saturated, need to do SET action.
********************************************************************************************/
DLL_API int _stdcall GetMagSaturation(void);

/*******************************************************************************************
* Function Name	: GetCalPara
* Description	: Get the calibrated parameters of magnetic sensor.
* Input			: None
* Output		: cp[0-2] --- magnetic field offset, unit is gauss.
*				  cp[3] --- strength of the magnetic field, unit is gauss. 
* Return		: 0 --- no need to save the calibrated magnetometer parameter.
*				  1 --- need to save the new reliable calibrated magnetometer parameter.
********************************************************************************************/
DLL_API int _stdcall GetCalPara(float *cp);

/*******************************************************************************************
* Function Name	: GetCalMag
* Description	: Get the MEMSIC calibrated magnetic output.
* Input			: None
* Output		: cm[0-2]  --- calibrated magnetic sensor data, unit is gauss.
* Return		: debug use
********************************************************************************************/
DLL_API int _stdcall GetCalMag(float *cm);

/*******************************************************************************************
* Function Name	: InitialCompassAlgo
* Description	: Initial the filter coeficient for the compass filter.
* Input			: fc -- fliter = (1-fc)*old + fc*new; the fc smaller, the filter stronger.
* Output		: None.
* Return		: 1 --- succeed.
*				 -1 --- fail. 
********************************************************************************************/
DLL_API int _stdcall InitialCompassAlgo(float fc);

/*******************************************************************************************
* Function Name	: GetCalOri
* Description	: Get the MEMSIC calibrated orientation vector.
* Input			: acc[0-2] --- Accelerometer data of three axis, unit is g.
*               : mag[0-2] --- Magnetic calibrated data of three axis, unit is gauss.
* Output		: co[0-2]  --- orientation data, azimuth, pitch, roll, unit is degree.
* Return		: 1 --- succeed.
*				 -1 --- fail.
********************************************************************************************/
DLL_API int _stdcall GetCalOri(float *acc, float *mag, float *co);

#endif