MotionTL Software Library: Middlewares/ST/STM32_MotionTL_Library/Inc/motion_tl.h Source File

Middlewares Motion TL

MotionTL Software Library

MotionTL Software Library Documentation

 
 /* Define to prevent recursive inclusion -------------------------------------*/
 #ifndef _MOTION_TL_H_
 #define _MOTION_TL_H_
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
 /* Includes ------------------------------------------------------------------*/
 #include <stdint.h>
 
 /* Exported constants --------------------------------------------------------*/
 
 /* Exported types ------------------------------------------------------------*/
  typedef struct
 {
  float AccX; /* Acceleration in X axis in [g] */
  float AccY; /* Acceleration in Y axis in [g] */
  float AccZ; /* Acceleration in Z axis in [g] */
  float deltatime_s; /* Time between 2 library calls in [s] */
 } MTL_input_t;
 
 typedef struct
 {
  float Angles_Array[3]; /* Either pitch, roll and gravity inclination or theta, psi and phi */
 } MTL_output_t;
 
 typedef struct
 {
  float offset[3];
  float gain[3];
 } MTL_AccCal_t;
 
 typedef enum
 {
  MODE_PITCH_ROLL_GRAVITY_INCLINATION, /* pitch, roll and gravity inclination */
  MODE_THETA_PSI_PHI /* theta, psi and phi */
 } MTL_AngleMode_t;
 
 typedef enum
 {
  X_UP,
  X_DOWN,
  Y_UP,
  Y_DOWN,
  Z_UP,
  Z_DOWN
 } MTL_CalPosition_t;
 
 typedef enum
 {
  CAL_PASS, /* Calibration passed */
  CAL_NONE, /* Calibration not finished or not performed at all */
  CAL_FAIL /* Calibration failed */
 } MTL_CalResult_t;
 
 /* Exported variables --------------------------------------------------------*/
 /* Exported macro ------------------------------------------------------------*/
 
 /* Exported functions ------------------------------------------------------- */
 
 void MotionTL_Initialize(void);
 
 void MotionTL_SetOrientation_Acc(const char *acc_orientation);
 
 void MotionTL_Update(MTL_input_t *data_in);
 
 void MotionTL_GetAngles(MTL_output_t *data_out, MTL_AngleMode_t angleMode);
 
 uint8_t MotionTL_GetLibVersion(char *version);
 
 void MotionTL_CalibratePosition(float calData[][3], uint32_t nRecords, MTL_CalPosition_t calPosition);
 
 MTL_CalResult_t MotionTL_GetCalValues(MTL_AccCal_t *accCal);
 
 MTL_CalResult_t MotionTL_SetCalValues(MTL_AccCal_t *accCal);
 
 #ifdef __cplusplus
 }
 #endif
 
 #endif /* _MOTION_TL_H_ */
 
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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