motion_ec.h

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/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef _MOTION_EC_H_
#define _MOTION_EC_H_

#ifdef __cplusplus
extern "C"
{
#endif

/* Includes ------------------------------------------------------------------*/
#include <stdint.h>

/* Exported types ------------------------------------------------------------*/

typedef struct
{
  float Acc[3];        /* Accelerometer Data [g] */
  float Mag[3];        /* Magnetometer Data [uT / 50] */
  float DTime;         /* Delta-time [s] */
} MEC_input_t;

typedef struct
{
  float Quaternion[4]; /* Quaternion [x, y, z, w] */
  float Euler[3];      /* Yaw, Pitch, Roll [deg] */
  float IGyro[3];      /* Virtual Gyroscope [dps] */
  float Gravity[3];    /* Gravity [g] */
  float Linear[3];     /* Linear acceleration [g] */
} MEC_output_t;

typedef enum
{
  MEC_DISABLE = 0,
  MEC_ENABLE  = 1
} MEC_state_t;

/* Exported constants --------------------------------------------------------*/
/* Exported variables --------------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/

/* Exported functions ------------------------------------------------------- */

void MotionEC_Initialize(float freq);

void MotionEC_Run(MEC_input_t *data_in, MEC_output_t *data_out);

void MotionEC_GetOrientationEnable(MEC_state_t *state);

void MotionEC_SetOrientationEnable(MEC_state_t state);

void MotionEC_GetVirtualGyroEnable(MEC_state_t *state);

void MotionEC_SetVirtualGyroEnable(MEC_state_t state);

void MotionEC_GetGravityEnable(MEC_state_t *state);

void MotionEC_SetGravityEnable(MEC_state_t state);

void MotionEC_GetLinearAccEnable(MEC_state_t *state);

void MotionEC_SetLinearAccEnable(MEC_state_t state);

void MotionEC_SetFrequency(float freq);

uint8_t MotionEC_GetLibVersion(char *version);

#ifdef __cplusplus
}
#endif

#endif /* _MOTION_EC_H_ */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/