motion_gc.h

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

#ifdef __cplusplus
extern "C"
{
#endif

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

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

typedef struct
{
  float Acc[3];         /* Acceleration in X, Y, Z axis in [g] */
  float Gyro[3];        /* Angular rate along X, Y, Z axis in [dps] */
} MGC_input_t;

typedef struct
{
  float GyroBiasX;     /* Gyroscope offset value in X axis in [dps] */
  float GyroBiasY;     /* Gyroscope offset value in Y axis in [dps] */
  float GyroBiasZ;     /* Gyroscope offset value in Z axis in [dps] */
} MGC_output_t;


typedef struct
{
  float AccThr;         /* Accelerometer threshold to detect steady state in [g] in range 0.003-0.05 g, defualt value 0.01 g */
  float GyroThr;        /* Gyroscope threshold to detect steady state in [dps] in range 0.008-0.4 dps , default value 0.2 dps */
  float FilterConst;    /* Constant for internal filter [0..1], default value 0.002 */
  int FastStart;      /* Set to 1 for fast convergence at the initialization, default value 1 */
  float MaxGyro;        /* Maximum expected angular rate offset when still in [dps], default value 15 dps */
  float MaxAcc;         /* Maximum acceleration module when still in [g], default value 1.3g */
} MGC_knobs_t;

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

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

void MotionGC_Initialize(float freq);

void MotionGC_GetKnobs(MGC_knobs_t *knobs);

void MotionGC_SetKnobs(MGC_knobs_t *knobs);

void MotionGC_Update(MGC_input_t *data_in, MGC_output_t *gyro_bias, int *bias_update);

void MotionGC_GetCalParams(MGC_output_t *gyro_bias);

void MotionGC_SetCalParams(MGC_output_t *gyro_bias);

void MotionGC_SetFrequency(float freq);


uint8_t MotionGC_GetLibVersion(char *version);

#ifdef __cplusplus
}
#endif

#endif /* _MOTION_GC_H_ */

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