MOTION_FX_Exported_Functions

Functions
void	MotionFX_initialize (void)
	Initialize the MotionFX engine. More...
void	MotionFX_setKnobs (MFX_knobs_t *knobs)
	Set the internal knobs. More...
void	MotionFX_getKnobs (MFX_knobs_t *knobs)
	Get the current internal knobs. More...
MFX_engine_state_t	MotionFX_getStatus_6X (void)
	Get the status of the 6 axes library. More...
MFX_engine_state_t	MotionFX_getStatus_9X (void)
	Get the status of the 9 axes library. More...
void	MotionFX_enable_6X (MFX_engine_state_t enable)
	Enable or disable the 6 axes function (ACC + GYRO) More...
void	MotionFX_enable_9X (MFX_engine_state_t enable)
	Enable or disable the 9 axes function (ACC + GYRO + MAG) More...
void	MotionFX_setGbias (float *gbias)
	Set the initial gbias. More...
void	MotionFX_getGbias (float *gbias)
	Get the initial gbias. More...
void	MotionFX_update (MFX_output_t *data_out, MFX_input_t *data_in, float eml_deltatime, float *eml_q_update)
	Run the Kalman filter update. More...
void	MotionFX_propagate (MFX_output_t *data_out, MFX_input_t *data_in, float eml_deltatime)
	Run the Kalman filter propagate. More...
void	MotionFX_MagCal_init (int sampletime, unsigned short int enable)
	Initialize the compass calibration library. More...
void	MotionFX_MagCal_run (MFX_MagCal_input_t *data_in)
	Run magnetic calibration algorithm. More...
void	MotionFX_MagCal_getParams (MFX_MagCal_output_t *data_out)
	Get magnetic calibration parameters. More...
uint8_t	MotionFX_GetLibVersion (char *version)
	Get the library version. More...

Detailed Description

Function Documentation

void MotionFX_enable_6X

(

MFX_engine_state_t

enable

)

Enable or disable the 6 axes function (ACC + GYRO)

Parameters

enable

1 to enable, 0 to disable

Return values

none

void MotionFX_enable_9X

(

MFX_engine_state_t

enable

)

Enable or disable the 9 axes function (ACC + GYRO + MAG)

Parameters

enable

1 to enable, 0 to disable

Return values

none

void MotionFX_getGbias

(

float *

gbias

)

Get the initial gbias.

Parameters

pointer

to a float array containing the 3 gbias values

Return values

none

void MotionFX_getKnobs

(

MFX_knobs_t *

knobs

)

Get the current internal knobs.

Parameters

knobs

knobs structure

Return values

None

uint8_t MotionFX_GetLibVersion

(

char *

version

)

Get the library version.

Parameters

version

pointer to an array of 35 char

Return values

Number

of characters in the version string

MFX_engine_state_t MotionFX_getStatus_6X

(

void

)

Get the status of the 6 axes library.

Return values

1	if enabled, 0 if disabled

MFX_engine_state_t MotionFX_getStatus_9X

(

void

)

Get the status of the 9 axes library.

Return values

1	if enabled, 0 if disabled

void MotionFX_initialize

(

void

)

Initialize the MotionFX engine.

Parameters

none

Return values

none

void MotionFX_MagCal_getParams

(

MFX_MagCal_output_t *

data_out

)

Get magnetic calibration parameters.

Parameters

data_out

structure containing output data

Return values

none

void MotionFX_MagCal_init	(	int	sampletime,
		unsigned short int	enable
	)

Initialize the compass calibration library.

Parameters

sampletime	period in milliseconds [ms] between the update function call
enable	enable (1) or disable (0) library

Return values

none

void MotionFX_MagCal_run

(

MFX_MagCal_input_t *

data_in

)

Run magnetic calibration algorithm.

Parameters

data_in

structure containing input data

Return values

none

void MotionFX_propagate	(	MFX_output_t *	data_out,
		MFX_input_t *	data_in,
		float	eml_deltatime
	)

Run the Kalman filter propagate.

Parameters

data_out	pointer to the MFX_output_t structure
data_in	pointer to the MFX_input_t structure
eml_deltatime	delta time between two propagate calls [sec]

Return values

none

void MotionFX_setGbias

(

float *

gbias

)

Set the initial gbias.

Parameters

gbias

pointer to a float array containing the 3 gbias values

Return values

none

void MotionFX_setKnobs

(

MFX_knobs_t *

knobs

)

Set the internal knobs.

Parameters

knobs

knobs structure

Return values

None

void MotionFX_update	(	MFX_output_t *	data_out,
		MFX_input_t *	data_in,
		float	eml_deltatime,
		float *	eml_q_update
	)

Run the Kalman filter update.

Parameters

data_out	pointer to the MFX_output_t structure
data_in	pointer to the MFX_input_t structure
eml_deltatime	delta time between two propagate calls [sec]
eml_q_update	set to NULL

Return values

none