OSX MotionFX Software Library: Inc/osx_motion_fx.h Source File

OSX MotionFX

OSX MotionFX Software Library
 
 /* Define to prevent recursive inclusion -------------------------------------*/
 #ifndef _OSX_MOTION_FX_H_
 #define _OSX_MOTION_FX_H_
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
 /* Includes ------------------------------------------------------------------*/
 #include "stdint.h"
 
 /* Exported types ------------------------------------------------------------*/
 #define NUM_AXES 3
 #define QNUM_AXES 4
 
 typedef enum
 {
  OSXMFX_ENGINE_DISABLE = 0,
  OSXMFX_ENGINE_ENABLE = 1
 } osxMFX_Engine_State;
 
 typedef enum
 {
  OSXMFX_ENGINE_OUTPUT_NED = 0,
  OSXMFX_ENGINE_OUTPUT_ENU = 1
 } osxMFX_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[QNUM_AXES]; /* accelerometer data orientation */
  char gyro_orientation[QNUM_AXES]; /* gyroscope data orientation */
  char mag_orientation[QNUM_AXES]; /* magnetometer data orientation */
  osxMFX_Engine_Output_Ref_Sys output_type; /* 0: NED, 1: ENU */
  int start_automatic_gbias_calculation;
 } osxMFX_knobs;
 
 typedef struct
 {
  float mag[NUM_AXES]; /* calibrated mag [uT]/50 */
  float acc[NUM_AXES]; /* acc [g] */
  float gyro[NUM_AXES]; /* gyro [dps] */
 } osxMFX_input;
 
 typedef struct
 {
  float rotation_9X[NUM_AXES]; /* 9 axes yaw, pitch and roll */
  float quaternion_9X[QNUM_AXES]; /* 9 axes quaternion */
  float gravity_9X[NUM_AXES]; /* 9 axes device frame gravity */
  float linear_acceleration_9X[NUM_AXES]; /* 9 axes device frame linear acceleration */
  float heading_9X; /* 9 axes heading */
  float rotation_6X[NUM_AXES]; /* 6 axes yaw, pitch and roll */
  float quaternion_6X[QNUM_AXES]; /* 6 axes quaternion */
  float gravity_6X[NUM_AXES]; /* 6 axes device frame gravity */
  float linear_acceleration_6X[NUM_AXES]; /* 6 axes device frame linear acceleration */
  float heading_6X; /* 6 axes heading */
 } osxMFX_output;
 
 typedef struct
 {
  signed short magOffX; /* X axis Offset */
  signed short magOffY; /* Y axis Offset */
  signed short magOffZ; /* Z axis Offset */
  float magGainX; /* X axis Gain */
  float magGainY; /* Y axis Gain */
  float magGainZ; /* Z axis Gain */
  float expMagVect; /* expected magnetic field */
 } osxMFX_calibFactor;
 /* Exported constants --------------------------------------------------------*/
 /* Exported variables --------------------------------------------------------*/
 /* Exported macro ------------------------------------------------------------*/
 /* Exported functions ------------------------------------------------------- */
 uint8_t osx_MotionFX_initialize(void);
 
 void osx_MotionFX_setKnobs(osxMFX_knobs *knobs);
 
 void osx_MotionFX_getKnobs(osxMFX_knobs *knobs);
 
 osxMFX_Engine_State osx_MotionFX_getStatus_6X(void);
 
 osxMFX_Engine_State osx_MotionFX_getStatus_9X(void);
 
 void osx_MotionFX_enable_6X(osxMFX_Engine_State enable);
 
 void osx_MotionFX_enable_9X(osxMFX_Engine_State enable);
 
 void osx_MotionFX_setGbias(float *gbias);
 
 void osx_MotionFX_getGbias(float *gbias);
 
 void osx_MotionFX_update(osxMFX_output *data_out, osxMFX_input *data_in, float eml_deltatime, float *eml_q_update);
 
 void osx_MotionFX_propagate(osxMFX_output *data_out, osxMFX_input *data_in, float eml_deltatime);
 
 int osx_MotionFX_getLibVersion(char *version);
 
 void osx_MotionFX_compass_init(void);
 
 void osx_MotionFX_compass_saveAcc(int acc_x, int acc_y, int acc_z);
 
 void osx_MotionFX_compass_saveMag(int mag_x, int mag_y, int mag_z);
 
 int osx_MotionFX_compass_run(void);
 
 unsigned char osx_MotionFX_compass_isCalibrated(void);
 
 void osx_MotionFX_compass_forceReCalibration(void);
 
 void osx_MotionFX_getCalibrationData(osxMFX_calibFactor* CalibrationData);
 
 void osx_MotionFX_setCalibrationData(osxMFX_calibFactor* CalibrationData);
 
 #ifdef __cplusplus
 }
 #endif
 
 #endif /* _OSX_MOTION_FX_H_ */
 
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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