MotionFX Software Library: algorithms/Middlewares/ST/STM32_MotionFX_Library/Inc/motion_fx.h Source File

Motion FX

MotionFX Software Library
MotionFX Software Library Documentation
 
 /* Define to prevent recursive inclusion -------------------------------------*/
 #ifndef _MOTION_FX_H_
 #define _MOTION_FX_H_
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
 /* Includes ------------------------------------------------------------------*/
 #include <stdint.h>
 
 /* Exported constants --------------------------------------------------------*/
 #define MFX_NUM_AXES 3
 #define MFX_QNUM_AXES 4
 
 /* Exported types ------------------------------------------------------------*/
 typedef enum
 {
  MFX_ENGINE_DISABLE = 0,
  MFX_ENGINE_ENABLE = 1
 } MFX_engine_state_t;
 
 typedef enum
 {
  MFX_ENGINE_OUTPUT_NED = 0,
  MFX_ENGINE_OUTPUT_ENU = 1
 } MFX_engine_output_ref_sys;
 
 typedef struct
 {
  float ATime; /* merge rate to the accel */
  float MTime; /* merge rate to the mag */
  float FrTime; /* merge rate to the accel when external accelerations occours */
  unsigned char LMode; /* gyro bias learn mode: 1-static learning, 2-dynamic learning */
  float gbias_mag_th_sc_6X; /* 6 axes scaler for the gyro bias mag threshold nominal */
  float gbias_acc_th_sc_6X; /* 6 axes scaler for the gyro bias acc threshold nominal */
  float gbias_gyro_th_sc_6X; /* 6 axes scaler for the gyro bias gyro threshold nominal */
  float gbias_mag_th_sc_9X; /* 9 axes scaler for the gyro bias mag threshold nominal */
  float gbias_acc_th_sc_9X; /* 9 axes scaler for the gyro bias acc threshold nominal */
  float gbias_gyro_th_sc_9X; /* 9 axes scaler for the gyro bias gyro threshold nominal */
  unsigned char modx; /* setting to indicate the decimation, set to 1 in smartphone/tablet, set to >=1 in embedded solutions */
  char acc_orientation[MFX_QNUM_AXES]; /* accelerometer data orientation */
  char gyro_orientation[MFX_QNUM_AXES]; /* gyroscope data orientation */
  char mag_orientation[MFX_QNUM_AXES]; /* magnetometer data orientation */
  MFX_engine_output_ref_sys output_type; /* 0: NED, 1: ENU */
  int start_automatic_gbias_calculation;
 } MFX_knobs_t;
 
 typedef struct
 {
  float mag[MFX_NUM_AXES]; /* Calibrated mag [uT]/50 */
  float acc[MFX_NUM_AXES]; /* Acceleration in [g] */
  float gyro[MFX_NUM_AXES]; /* Angular rate [dps] */
 } MFX_input_t;
 
 typedef struct
 {
  float rotation_9X[MFX_NUM_AXES]; /* 9 axes yaw, pitch and roll */
  float quaternion_9X[MFX_QNUM_AXES]; /* 9 axes quaternion */
  float gravity_9X[MFX_NUM_AXES]; /* 9 axes device frame gravity */
  float linear_acceleration_9X[MFX_NUM_AXES]; /* 9 axes device frame linear acceleration */
  float heading_9X; /* 9 axes heading */
  float rotation_6X[MFX_NUM_AXES]; /* 6 axes yaw, pitch and roll */
  float quaternion_6X[MFX_QNUM_AXES]; /* 6 axes quaternion */
  float gravity_6X[MFX_NUM_AXES]; /* 6 axes device frame gravity */
  float linear_acceleration_6X[MFX_NUM_AXES]; /* 6 axes device frame linear acceleration */
  float heading_6X; /* 6 axes heading */
 } MFX_output_t;
 
 typedef enum
 {
  MFX_MAGCALUNKNOWN = 0,
  MFX_MAGCALPOOR,
  MFX_MAGCALOK,
  MFX_MAGCALGOOD
 } MFX_MagCal_quality_t;
 
 typedef struct {
  float mag[MFX_NUM_AXES]; /* Uncalibrated mag [uT]/50 */
  int time_stamp; /* Timestamp [ms] */
 } MFX_MagCal_input_t;
 
 typedef struct {
  float hi_bias[3]; /* Hard iron offset array [uT]/50 */
  MFX_MagCal_quality_t cal_quality; /* Calibration quality factor */
 } MFX_MagCal_output_t;
 
 /* Exported variables --------------------------------------------------------*/
 /* Exported macro ------------------------------------------------------------*/
 
 /* Exported functions ------------------------------------------------------- */
 
 void MotionFX_initialize(void);
 
 void MotionFX_setKnobs(MFX_knobs_t *knobs);
 
 void MotionFX_getKnobs(MFX_knobs_t *knobs);
 
 MFX_engine_state_t MotionFX_getStatus_6X(void);
 
 MFX_engine_state_t MotionFX_getStatus_9X(void);
 
 void MotionFX_enable_6X(MFX_engine_state_t enable);
 
 void MotionFX_enable_9X(MFX_engine_state_t enable);
 
 void MotionFX_setGbias(float *gbias);
 
 void MotionFX_getGbias(float *gbias);
 
 void MotionFX_update(MFX_output_t *data_out, MFX_input_t *data_in, float eml_deltatime, float *eml_q_update);
 
 void MotionFX_propagate(MFX_output_t *data_out, MFX_input_t *data_in, float eml_deltatime);
 
 void MotionFX_MagCal_init(int sampletime, unsigned short int enable);
 
 void MotionFX_MagCal_run(MFX_MagCal_input_t *data_in);
 
 void MotionFX_MagCal_getParams(MFX_MagCal_output_t *data_out);
 
 uint8_t MotionFX_GetLibVersion(char *version);
 
 #ifdef __cplusplus
 }
 #endif
 
 #endif /* _MOTION_FX_H_ */
 
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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