/*
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* Copyright (c) 2021 Rockchip Corporation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef COMMON_RK_AIQ_SENSOR_H
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#define COMMON_RK_AIQ_SENSOR_H
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#include <stdint.h>
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#include <sys/types.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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typedef enum mems_sensor_type_e {
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SENSOR_INVALID_TYPE = 0,
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SENSOR_GRYO_TYPE,
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SENSOR_ACCEL_TYPE,
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SENSOR_TEMP_TYPE,
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SENSOR_ALL_TYPE,
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SENSOR_MAX_TYPE,
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} mems_sensor_type_t;
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typedef enum mems_sensor_return_e {
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SENSOR_NO_ERR = 0,
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SENSOR_ERR_DEV_BUSY,
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SENSOR_ERR_INVALID_PARAM,
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SENSOR_ERR_MISMATCH_SENSOR,
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SENSOR_ERR_REACH_MAX,
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SENSOR_ERR_FAIL,
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SENSOR_ERR_TIMEOUT,
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SENSOR_ERR_NULL_PTR,
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} mems_sensor_return_t;
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typedef struct mems_sensor_capabilities_s {
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mems_sensor_type_t type;
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double* resolutions;
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uint8_t num_resolutions;
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double* scale;
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uint8_t num_scale;
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double* sample_rates;
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uint8_t num_sample_rates;
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bool is_data_valid;
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} mems_sensor_capabilities_t;
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typedef struct mems_sensor_config_s {
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double resolution;
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double scale;
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double sample_rate;
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uint32_t max_data_count;
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uint32_t buf_count;
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} mems_sensor_config_t;
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typedef struct sensor_vec_s {
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union {
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double v[3];
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struct {
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double x;
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double y;
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double z;
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};
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};
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}sensor_vec_t;
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typedef struct uncalib_event_s {
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union {
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double uncalib[3];
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struct {
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double x_uncalib;
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double y_uncalib;
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double z_uncalib;
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};
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};
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union {
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double bias[3];
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struct {
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double x_bias;
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double y_bias;
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double z_bias;
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};
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};
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}uncalib_event_t;
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typedef sensor_vec_t gyro_data_t;
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typedef sensor_vec_t accel_data_t;
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typedef int temperature_data_t;
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typedef struct sensor_vec_all_s {
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gyro_data_t gyro;
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accel_data_t accel;
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temperature_data_t temperature;
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}sensor_vec_all_t;
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typedef struct mems_sensor_event_s {
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uint64_t id;
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uint64_t timestamp_us;
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union {
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double data[16];
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accel_data_t accel;
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gyro_data_t gyro;
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temperature_data_t temperature;
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sensor_vec_all_t all;
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uncalib_event_t uncalib_gyro;
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uncalib_event_t uncalib_accel;
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};
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} mems_sensor_event_t;
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typedef struct mems_sensor_list_s {
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int count;
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char** key_list;
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} mems_sensor_list_t;
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typedef void* mems_sensor_ctx_t;
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typedef void* mems_sensor_handle_t;
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typedef void* mems_sensor_data_t;
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typedef mems_sensor_ctx_t (*rk_aiq_mems_sensor_createContext)();
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typedef mems_sensor_return_t (*rk_aiq_mems_sensor_destroyContext)(mems_sensor_ctx_t ctx);
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typedef mems_sensor_return_t (*rk_aiq_mems_sensor_getSensorList)(mems_sensor_ctx_t ctx,
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mems_sensor_type_t type,
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mems_sensor_list_t* list);
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typedef mems_sensor_return_t (*rk_aiq_mems_sensor_releaseSensorList)(
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mems_sensor_list_t* sensors_list);
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typedef mems_sensor_return_t (*rk_aiq_mems_sensor_getSensorCapabilities)(
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const mems_sensor_ctx_t ctx,const mems_sensor_type_t type, const char* sensor_key,
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mems_sensor_capabilities_t* caps);
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typedef mems_sensor_return_t (*rk_aiq_mems_sensor_releaseSensorCapabilities)(
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mems_sensor_capabilities_t* caps);
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typedef mems_sensor_return_t (*rk_aiq_mems_sensor_getConfig)(const mems_sensor_ctx_t ctx,
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const mems_sensor_type_t type,
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const char* sensor_key,
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mems_sensor_config_t* cfg);
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typedef mems_sensor_return_t (*rk_aiq_mems_sensor_setConfig)(const mems_sensor_ctx_t ctx,
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const mems_sensor_type_t type,
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const char* sensor_key,
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mems_sensor_config_t cfg);
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typedef mems_sensor_handle_t (*rk_aiq_mems_sensor_createHandle)(const mems_sensor_ctx_t ctx,
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const mems_sensor_type_t type,
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const char* sensor_key,
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const uint32_t max_data_num,
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const uint32_t buf_cnt);
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typedef mems_sensor_return_t (*rk_aiq_mems_sensor_destroyHandle)(mems_sensor_handle_t handle);
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typedef mems_sensor_data_t (*rk_aiq_mems_sensor_getData)(mems_sensor_handle_t handle,
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size_t* num_samples);
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typedef mems_sensor_data_t (*rk_aiq_mems_sensor_getLastNSamples)(mems_sensor_handle_t handle,
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size_t num_samples);
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typedef mems_sensor_return_t (*rk_aiq_mems_sensor_releaseSamplesData)(mems_sensor_handle_t handle,
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mems_sensor_data_t data);
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typedef struct rk_aiq_mems_sensor_intf_s {
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rk_aiq_mems_sensor_createContext createContext;
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rk_aiq_mems_sensor_destroyContext destroyContext;
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rk_aiq_mems_sensor_getSensorList getSensorList;
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rk_aiq_mems_sensor_releaseSensorList releaseSensorList;
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rk_aiq_mems_sensor_getSensorCapabilities getSensorCapabilities;
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rk_aiq_mems_sensor_releaseSensorCapabilities releaseSensorCapabilities;
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rk_aiq_mems_sensor_getConfig getConfig;
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rk_aiq_mems_sensor_setConfig setConfig;
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rk_aiq_mems_sensor_createHandle createHandle;
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rk_aiq_mems_sensor_destroyHandle destroyHandle;
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rk_aiq_mems_sensor_getData getData;
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rk_aiq_mems_sensor_getLastNSamples getLastNSamples;
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rk_aiq_mems_sensor_releaseSamplesData releaseSamplesData;
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} rk_aiq_mems_sensor_intf_t;
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#ifdef __cplusplus
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} // extern "C"
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#endif
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#endif // COMMON_RK_AIQ_SENSOR_H
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