motion_tl.h

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/* 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****/