cyberatom.h

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#pragma once

#include <stdint.h>
#include <stddef.h>

#ifdef __cplusplus
    #define EXTERN_C extern "C"
#else
    #define EXTERN_C
#endif

#ifdef _MSC_VER
#   define APICALL EXTERN_C  __declspec(dllexport)
#   define APIENTRY __cdecl
#else
    #define APICALL  EXTERN_C
    #define APIENTRY 
#endif
            
enum Exception
{
    E_OK = 0x00,                
    E_UnsupportedMessageIdException ,   
    E_DataTransferException ,   
    E_CannotOpenPortException , 
    E_DeviceNotFoundException , 
    E_CannotOpenDeviceException ,   

    
    E_UnspecifiedException = 0xffff,    
};
  

typedef struct _IDevice *IDeviceHandle;

typedef struct _IConnection *IConnectionHandle;

    typedef  void (APIENTRY *FUNC_sysInfo)(void* userData ,const char* model, const char* firmwareVersion);

    typedef  void (APIENTRY *FUNC_quatData)(void* userData ,float q0, float q1, float q2, float q3);

    typedef  void (APIENTRY *FUNC_eulerData)(void* userData ,float p, float r, float y);

    typedef  void (APIENTRY *FUNC_rotRateData)(void* userData ,float x, float y, float z);

    typedef  void (APIENTRY *FUNC_accCalibMatrix)(void* userData ,float* cal, float* bias);

    typedef  void (APIENTRY *FUNC_magCalibMatrix)(void* userData ,float* cal, float* bias);

    typedef  void (APIENTRY *FUNC_gyrCalibMatrix)(void* userData ,float* cal, float* bias);

    typedef  void (APIENTRY *FUNC_filterMagMatrix)(void* userData ,float* mat);

    typedef  void (APIENTRY *FUNC_filterAccMatrix)(void* userData ,float* mat);

    typedef  void (APIENTRY *FUNC_filterGyrMatrix)(void* userData ,float* mat);

    typedef  void (APIENTRY *FUNC_filterProcMatrix)(void* userData ,float* mat);

    typedef  void (APIENTRY *FUNC_temperature)(void* userData ,float temp);

    typedef  void (APIENTRY *FUNC_baudRate)(void* userData ,uint8_t rate);

    typedef  void (APIENTRY *FUNC_i2cAddress)(void* userData ,uint8_t addr);

    typedef  void (APIENTRY *FUNC_confirm)(void* userData );

    typedef  void (APIENTRY *FUNC_rawAccData)(void* userData ,int16_t x, int16_t y, int16_t z);

    typedef  void (APIENTRY *FUNC_rawMagData)(void* userData ,int16_t x, int16_t y, int16_t z);

    typedef  void (APIENTRY *FUNC_rawGyrData)(void* userData ,int16_t x, int16_t y, int16_t z);

    typedef  void (APIENTRY *FUNC_normAccData)(void* userData ,float x, float y, float z);

    typedef  void (APIENTRY *FUNC_normMagData)(void* userData ,float x, float y, float z);

    typedef  void (APIENTRY *FUNC_normGyrData)(void* userData ,float x, float y, float z);

    typedef  void (APIENTRY *FUNC_calibAccData)(void* userData ,float x, float y, float z);

    typedef  void (APIENTRY *FUNC_calibMagData)(void* userData ,float x, float y, float z);

    typedef  void (APIENTRY *FUNC_calibGyrData)(void* userData ,float x, float y, float z);

    typedef  void (APIENTRY *FUNC_stats)(void* userData ,uint32_t perf0, uint32_t perf1, uint32_t perf2, uint32_t perf3, uint32_t perf4, uint32_t perf5, uint32_t perf6, uint32_t perf7);


struct IResponseCallbacks
{
    void* userData; 
    

    FUNC_sysInfo sysInfo;

    FUNC_quatData quatData;

    FUNC_eulerData eulerData;

    FUNC_rotRateData rotRateData;

    FUNC_accCalibMatrix accCalibMatrix;

    FUNC_magCalibMatrix magCalibMatrix;

    FUNC_gyrCalibMatrix gyrCalibMatrix;

    FUNC_filterMagMatrix filterMagMatrix;

    FUNC_filterAccMatrix filterAccMatrix;

    FUNC_filterGyrMatrix filterGyrMatrix;

    FUNC_filterProcMatrix filterProcMatrix;

    FUNC_temperature temperature;

    FUNC_baudRate baudRate;

    FUNC_i2cAddress i2cAddress;

    FUNC_confirm confirm;

    FUNC_rawAccData rawAccData;

    FUNC_rawMagData rawMagData;

    FUNC_rawGyrData rawGyrData;

    FUNC_normAccData normAccData;

    FUNC_normMagData normMagData;

    FUNC_normGyrData normGyrData;

    FUNC_calibAccData calibAccData;

    FUNC_calibMagData calibMagData;

    FUNC_calibGyrData calibGyrData;

    FUNC_stats stats;
};
typedef struct IResponseCallbacks* IResponseHandle;

// from interface IDevice
APICALL void APIENTRY IDevice_release(IDeviceHandle handle);


    APICALL void APIENTRY  IDevice_checkForMessages(IDeviceHandle handle, enum Exception *exception);
// from interface IConnection
APICALL void APIENTRY IConnection_release(IConnectionHandle handle);




APICALL IDeviceHandle APIENTRY Device_create(IConnectionHandle connection, IResponseHandle response);

    APICALL void APIENTRY  Device_getSysInfo(IDeviceHandle handle);
    APICALL void APIENTRY  Device_getQuatData(IDeviceHandle handle);
    APICALL void APIENTRY  Device_getEulerData(IDeviceHandle handle);
    APICALL void APIENTRY  Device_getRotRateData(IDeviceHandle handle);
    APICALL void APIENTRY  Device_reboot(IDeviceHandle handle);
    APICALL void APIENTRY  Device_factoryReset(IDeviceHandle handle);
    APICALL void APIENTRY  Device_setAccCalibMatrix(IDeviceHandle handle, float* cal, float* bias);
    APICALL void APIENTRY  Device_setMagCalibMatrix(IDeviceHandle handle, float* cal, float* bias);
    APICALL void APIENTRY  Device_setGyrCalibMatrix(IDeviceHandle handle, float* cal, float* bias);
    APICALL void APIENTRY  Device_setFilterMagMatrix(IDeviceHandle handle, float* mat);
    APICALL void APIENTRY  Device_setFilterAccMatrix(IDeviceHandle handle, float* mat);
    APICALL void APIENTRY  Device_setFilterGyrMatrix(IDeviceHandle handle, float* mat);
    APICALL void APIENTRY  Device_setFilterProcMatrix(IDeviceHandle handle, float* mat);
    APICALL void APIENTRY  Device_getFilterMagMatrix(IDeviceHandle handle);
    APICALL void APIENTRY  Device_getFilterAccMatrix(IDeviceHandle handle);
    APICALL void APIENTRY  Device_getFilterGyrMatrix(IDeviceHandle handle);
    APICALL void APIENTRY  Device_getFilterProcMatrix(IDeviceHandle handle);
    APICALL void APIENTRY  Device_getTemperature(IDeviceHandle handle);
    APICALL void APIENTRY  Device_setBaudRate(IDeviceHandle handle, uint8_t rate);
    APICALL void APIENTRY  Device_setI2cAddress(IDeviceHandle handle, uint8_t address);
    APICALL void APIENTRY  Device_getI2cAddress(IDeviceHandle handle);
    APICALL void APIENTRY  Device_getBaudRate(IDeviceHandle handle);
    APICALL void APIENTRY  Device_resetGyr(IDeviceHandle handle);
    APICALL void APIENTRY  Device_writeFlash(IDeviceHandle handle);
    APICALL void APIENTRY  Device_getRawAccData(IDeviceHandle handle);
    APICALL void APIENTRY  Device_getRawMagData(IDeviceHandle handle);
    APICALL void APIENTRY  Device_getRawGyrData(IDeviceHandle handle);
    APICALL void APIENTRY  Device_getNormAccData(IDeviceHandle handle);
    APICALL void APIENTRY  Device_getNormMagData(IDeviceHandle handle);
    APICALL void APIENTRY  Device_getNormGyrData(IDeviceHandle handle);
    APICALL void APIENTRY  Device_getCalibAccData(IDeviceHandle handle);
    APICALL void APIENTRY  Device_getCalibMagData(IDeviceHandle handle);
    APICALL void APIENTRY  Device_getCalibGyrData(IDeviceHandle handle);
    APICALL void APIENTRY  Device_getAccCalibMatrix(IDeviceHandle handle);
    APICALL void APIENTRY  Device_getMagCalibMatrix(IDeviceHandle handle);
    APICALL void APIENTRY  Device_getGyrCalibMatrix(IDeviceHandle handle);
    APICALL void APIENTRY  Device_getStats(IDeviceHandle handle);

APICALL IConnectionHandle APIENTRY SerialConnection_create(const char* portName, int baudRate,  enum Exception *exception);


APICALL IConnectionHandle APIENTRY UsbConnection_create( enum Exception *exception);

APICALL IConnectionHandle APIENTRY UsbConnection_createWithSerial(const char* serialNumber,  enum Exception *exception);


    APICALL int APIENTRY  UsbConnection_enumerateDevices(char* buffer, size_t maxStringSize, size_t maxNumString );