IMUProperties.hpp

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#pragma once
 
#include "depthai-shared/common/optional.hpp"
#include "depthai-shared/datatype/RawIMUData.hpp"
#include "depthai-shared/properties/Properties.hpp"
 
namespace dai {
 
enum class IMUSensor : std::int32_t {
    ACCELEROMETER_RAW = 0x14,
    ACCELEROMETER = 0x01,
    LINEAR_ACCELERATION = 0x04,
    GRAVITY = 0x06,
    GYROSCOPE_RAW = 0x15,
    GYROSCOPE_CALIBRATED = 0x02,
    GYROSCOPE_UNCALIBRATED = 0x07,
    MAGNETOMETER_RAW = 0x16,
    MAGNETOMETER_CALIBRATED = 0x03,
    MAGNETOMETER_UNCALIBRATED = 0x0f,
    ROTATION_VECTOR = 0x05,
    GAME_ROTATION_VECTOR = 0x08,
    GEOMAGNETIC_ROTATION_VECTOR = 0x09,
    ARVR_STABILIZED_ROTATION_VECTOR = 0x28,
    ARVR_STABILIZED_GAME_ROTATION_VECTOR = 0x29,
    // GYRO_INTEGRATED_ROTATION_VECTOR = 0x2A,
};
 
struct IMUSensorConfig {
    /* Sensitivity enabled */
    bool sensitivityEnabled = false;
 
    /* Change sensitivity - true if relative; false if absolute */
    bool sensitivityRelative = false; 
    // TODO write utility function to convert float to Q point notation, sensor specific
    /* 16-bit signed fixed point integer.
     * In case of absolute sensitivity represents the value a
     * sensor output must exceed in order to trigger another input
     * report.
     * In case of relative sensitivity represents the the amount
     * by which a sensor output must change from the previous
     * input report in order to trigger another input report
     * A setting of 0 causes all reports to be sent.
     */
    uint16_t changeSensitivity = 0; 
    /* Rate of reports per second. (hertz)
     * 0 means disabled
     */
    uint32_t reportRate = 100;
 
    IMUSensor sensorId = IMUSensor::ACCELEROMETER;
};
DEPTHAI_SERIALIZE_EXT(IMUSensorConfig, sensitivityEnabled, sensitivityRelative, changeSensitivity, reportRate, sensorId);
 
struct IMUProperties : PropertiesSerializable<Properties, IMUProperties> {
    /* Enabled IMU sensors */
    std::vector<IMUSensorConfig> imuSensors;
    /* Above this packet threshold data will be sent to host, if queue is not blocked */
    std::int32_t batchReportThreshold = 1;
    /* Maximum number of IMU packets in a batch. Maximum 5. */
    std::int32_t maxBatchReports = 5;
    /*
     * Whether to perform firmware update or not.
     * Default value: false.
     */
    tl::optional<bool> enableFirmwareUpdate = false;
};
 
DEPTHAI_SERIALIZE_EXT(IMUProperties, imuSensors, batchReportThreshold, maxBatchReports, enableFirmwareUpdate);
 
}  // namespace dai