motion_fx.h

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/* 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****/