70 lines
2.7 KiB
C#
70 lines
2.7 KiB
C#
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Runtime.InteropServices;
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using System.Text;
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namespace DM_CalibrationTools
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{
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struct Quaternion{
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public float w, x, y, z;
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};
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struct mVector3
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{
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public float x, y, z;
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};
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struct MagCaliParam
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{
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public float xOffset;
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public float yOffset;
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public float zOffset;
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public float xScale;
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public float yScale;
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public float zScale;
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};
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[StructLayoutAttribute(LayoutKind.Sequential, CharSet = CharSet.Ansi)]
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class CaliAPI
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{
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[DllImport("libDM.dll", EntryPoint = "Init", CallingConvention = CallingConvention.Cdecl)]
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public extern static int InitCaliAPI([MarshalAs(UnmanagedType.LPStr)]string devpath);
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[DllImport("libDM.dll", EntryPoint = "CheckDevice", CallingConvention = CallingConvention.Cdecl)]
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public extern static int CheckDevice();
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[DllImport("libDM.dll", EntryPoint = "GyroCali", CallingConvention = CallingConvention.Cdecl)]
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public extern static int GyroCali();
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[DllImport("libDM.dll", EntryPoint = "GetGyroCali", CallingConvention = CallingConvention.Cdecl)]
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public extern static mVector3 GetGyroCali();
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[DllImport("libDM.dll", EntryPoint = "GetMagCali", CallingConvention = CallingConvention.Cdecl)]
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public extern static MagCaliParam GetMagCali();
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[DllImport("libDM.dll", EntryPoint = "MagCali", CallingConvention = CallingConvention.Cdecl)]
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public extern static int MagCali();
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[DllImport("libDM.dll", EntryPoint = "FinishMagCali", CallingConvention = CallingConvention.Cdecl)]
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public extern static int FinishMagCali();
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[DllImport("libDM.dll", EntryPoint = "SetMagCali", CallingConvention = CallingConvention.Cdecl)]
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public extern static int SetMagCali(float x, float y, float z, float x0, float y0, float z0);
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[DllImport("libDM.dll", EntryPoint = "CalculateMagParam", CallingConvention = CallingConvention.Cdecl)]
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public extern static MagCaliParam CalculateMagParam();
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[DllImport("libDM.dll", EntryPoint = "GetPoint", CallingConvention = CallingConvention.Cdecl)]
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public extern static mVector3 GetPoint();
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[DllImport("libDM.dll", EntryPoint = "GetEulerianAngle", CallingConvention = CallingConvention.Cdecl)]
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public extern static mVector3 GetEulerianAngle();
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[DllImport("libDM.dll", EntryPoint = "Correction", CallingConvention = CallingConvention.Cdecl)]
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public extern static int Correction();
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[DllImport("libDM.dll", EntryPoint = "GetQuaternion", CallingConvention = CallingConvention.Cdecl)]
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public extern static Quaternion GetQuaternion();
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}
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}
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