MotionEC Software Library: algorithms/Middlewares/ST/STM32_MotionEC_Library/Inc/motion_ec.h Source File

Motion EC

MotionEC Software Library

MotionEC Software Library Documentation

 
 /* 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****/

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