/home/travis/build/lis-epfl/MAVRIC_Library/drivers/unsupported/curvace.h

/*******************************************************************************
 * Copyright (c) 2009-2016, MAV'RIC Development Team
 * All rights reserved.
 *
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 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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/*******************************************************************************
 * \file curvace.h
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 * \author Geraud L'Eplattenier
 *
 * \brief Driver for the cylindrical curvace
 *
 ******************************************************************************/


#ifndef CURVACE_H_
#define CURVACE_H_

#ifdef __cplusplus
extern "C" {
#endif

#include <stdint.h>
#include "util/quaternions.h"
#include "sensing/ahrs.hpp"
#include "drivers/optic_flow.h"
#include "util/constants.hpp"

#define CURVACE_NB_OF 108


typedef union
{
    int16_t data[2 * CURVACE_NB_OF];                                
    struct
    {
        raw_of_vector_t left_hemisphere[ CURVACE_NB_OF / 2 ];       
        raw_of_vector_t right_hemisphere[ CURVACE_NB_OF / 2 ];      
    };
    struct
    {
        raw_of_vector_t all[ CURVACE_NB_OF ];                       
    };
} curvace_raw_data_t;


typedef union
{
    float data[ 2 * CURVACE_NB_OF ];                            
    struct
    {
        of_vector_t left_hemisphere[ CURVACE_NB_OF / 2 ];       
        of_vector_t right_hemisphere[ CURVACE_NB_OF / 2 ];      
    };
    struct
    {
        of_vector_t all[ CURVACE_NB_OF ];                       
    };
} curvace_data_t;


typedef struct
{
    uint8_t x;      
    uint8_t y;      
} curvace_pixel_coordinates_t;


typedef union
{
    float data[ CURVACE_NB_OF * 2 ];                                
    struct
    {
        viewing_direction_t left_hemisphere[ CURVACE_NB_OF / 2 ];   
        viewing_direction_t right_hemisphere[ CURVACE_NB_OF / 2 ];  
    };
    viewing_direction_t all[ CURVACE_NB_OF ];                       
} curvace_roi_coord_t;


typedef struct
{
    float elevation;        
    float azimuth;          
} curvace_scale_factor_t;


typedef union
{
    float data[ 2 * CURVACE_NB_OF ];                    
    curvace_scale_factor_t  scale[ CURVACE_NB_OF ];     
} curvace_calibration_factor_t;


typedef union
{
    float data[ CURVACE_NB_OF * 6 ];                                    
    struct
    {
        derotation_matrix_t left_hemisphere[ CURVACE_NB_OF / 2 ];       
        derotation_matrix_t right_hemisphere[ CURVACE_NB_OF / 2 ];      
    };
    derotation_matrix_t all[ CURVACE_NB_OF ];                           
} curvace_calibration_matrix_t;


typedef struct
{
    curvace_data_t                  of;                     
    curvace_raw_data_t              raw_of;                 
    curvace_roi_coord_t             roi_coord;              
    curvace_calibration_matrix_t    calib_matrix;           
    curvace_calibration_factor_t    calib_factor;           
    float                           scale_factor_simple;    
    constants_on_off_t              do_derotation;          
    float                           LPF;                    
    float                           derot_factor;           
    quat_t                          orientation;            
    const ahrs_t*                   ahrs;                   
} curvace_t;


void curvace_init(curvace_t* curvace, const ahrs_t* ahrs);


void curvace_update(curvace_t* curvace);


#ifdef __cplusplus
}
#endif

#endif